WO2020257969A1 - Appareil de projection de lumière structurée, procédé de projection de lumière structurée et système de mesure en trois dimensions - Google Patents

Appareil de projection de lumière structurée, procédé de projection de lumière structurée et système de mesure en trois dimensions Download PDF

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Publication number
WO2020257969A1
WO2020257969A1 PCT/CN2019/092534 CN2019092534W WO2020257969A1 WO 2020257969 A1 WO2020257969 A1 WO 2020257969A1 CN 2019092534 W CN2019092534 W CN 2019092534W WO 2020257969 A1 WO2020257969 A1 WO 2020257969A1
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Prior art keywords
target object
distance
ranging
signal
light
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PCT/CN2019/092534
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English (en)
Chinese (zh)
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侯俊科
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深圳市汇顶科技股份有限公司
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Priority to PCT/CN2019/092534 priority Critical patent/WO2020257969A1/fr
Priority to CN201980001085.6A priority patent/CN110462438A/zh
Publication of WO2020257969A1 publication Critical patent/WO2020257969A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement

Definitions

  • the embodiments of the present application relate to the field of data processing technology, and in particular to a structured light projection device, a structured light projection method, and a three-dimensional measurement system.
  • the basic principle of structured light technology is that a light signal (structured light) with certain structural characteristics is projected onto a target object through a projector, and then an image of the target object is collected by an image sensor.
  • This kind of optical signal with a certain structure will collect different image phase information due to the different optical path of the target object, and then convert the change of this structure into depth information through the arithmetic unit to obtain a three-dimensional structure.
  • the three-dimensional structure of the object being photographed is obtained by optical means, and then the obtained information is further applied.
  • one of the technical problems solved by the embodiments of the present invention is to provide a structured light projection device, a structured light projection method, and a three-dimensional measurement system to effectively control the projection of structured light.
  • An embodiment of the application provides a structured light projection device, which includes: a time-of-flight ranging module, a driver, and a projector.
  • the time-of-flight ranging module is used to calculate the target object and the projection by counting the flight time of the light signal.
  • the driver is used to adjust the intensity of the drive signal according to the distance
  • the projector is used to adjust the intensity of the structured light directed to the target object according to the intensity of the drive signal to pass the image
  • the sensor generates a structured image of the target object.
  • it further includes: an application processor configured to control the driver to adjust the intensity of the driving signal according to the distance.
  • the time-of-flight ranging module is further configured to transmit a ranging optical signal to the target object and receive the ranging optical signal reflected by the target object , And the distance between the target object and the projector is estimated based on the distance measuring light signal emitted to the target object and the flight time of the distance measuring light signal reflected by the target object.
  • the time-of-flight ranging module is further configured to transmit at least two frequency-relatively primed ranging optical signals to the target object, and the time-of-flight ranging module further It is used to receive the at least two frequency-relatively primed ranging optical signals reflected by the target object, and according to the ranging optical signal of each frequency emitted to the target object and the target object The flight time of the corresponding distance-finding optical signal reflected back respectively estimates the distance between the target object and the projector, and further estimates the distance between the target object and the projector according to at least two Distance to get the final estimated distance.
  • the time-of-flight ranging module is further configured to transmit a single-frequency ranging optical signal to the target object, and the time-of-flight ranging module is further configured to receive The ranging optical signal of a single frequency reflected back by the target object, and based on the ranging optical signal of a single frequency emitted to the target object and the ranging optical signal reflected back by the target object
  • the flight time of the integer wavelength and the fractional wavelength is estimated to estimate the distance between the target object and the projector.
  • the time-of-flight ranging module is further configured to use the ranging light signal emitted to the target object and the ranging light reflected back by the target object.
  • the phase difference of the signal is used to calculate the flight time to estimate the distance between the target object and the projector.
  • the driver generates a drive signal with an intensity less than a preset intensity threshold, and the projector emits a light intensity less than a preset intensity to the target under the drive of the drive signal. Ranging light signal of light intensity threshold.
  • the intensity of the structured light directed to the target object is in a proportional relationship with the distance.
  • the time-of-flight ranging module is further configured to detect the image of the target object, so as to perform light intensity analysis on the image of the target object to obtain the Image depth.
  • the time-of-flight ranging module is further configured to perform differential processing on the received optical signal to extract the ranging light reflected by the target object therefrom. signal.
  • the driver is further used to integrate link signal-to-noise ratio and human eye safety light intensity, and adjust the strength of the driving signal according to the distance.
  • the time-of-flight ranging module and the projector share a light source, the light source emits a ranging light signal to the target object in the ranging mode, and the light source is In the structured light mode, the structured light signal forming the structured image is projected to the target object.
  • the image sensor is further used to sense the ranging light signal reflected by the target in the ranging mode.
  • This application provides a structured light projection method, which includes:
  • the intensity of the structured light directed to the target object is adjusted according to the intensity of the driving signal to generate a structured image of the target object through an image sensor.
  • calculating the distance between the target object and the projector by counting the flight time of the optical signal includes: transmitting a ranging optical signal to the target object; The distance measuring light signal reflected by the target object, and the distance measurement light signal emitted to the target object and the flight time of the distance measuring light signal reflected by the target object are estimated to The distance between the projectors.
  • transmitting a ranging optical signal to the target object includes: transmitting at least two mutually primed ranging optical signals to the target object; At least two of the distance-finding optical signals with relatively prime frequencies reflected back by the object;
  • estimating the distance between the target object and the projector according to the distance measuring light signal emitted to the target object and the flight time of the distance measuring light signal reflected back by the target object includes : Estimating the target object and the projection respectively according to the distance measuring light signal of each frequency emitted to the target object and the flight time of the corresponding distance measuring light signal reflected back by the target object The distance between the projectors; according to the estimated at least two distances between the target object and the projector, the final estimated distance is obtained.
  • transmitting a ranging optical signal to the target object includes: transmitting a single-frequency ranging optical signal to the target object;
  • estimating the distance between the target object and the projector according to the distance measuring light signal emitted to the target object and the flight time of the distance measuring light signal reflected back by the target object includes : Receiving the ranging optical signal of a single frequency reflected by the target object, and according to the ranging optical signal of a single frequency emitted to the target object and the ranging optical signal reflected by the target object The flight time of the integer wavelength and the decimal wavelength of the ranging optical signal estimates the distance between the target object and the projector.
  • the target object is estimated based on the range-finding light signal emitted to the target object and the flight time of the range-finding light signal reflected by the target object
  • the distance to the projector includes: calculating the flight time based on the phase difference between the distance measuring light signal emitted to the target object and the distance measuring light signal reflected back by the target object to predict Estimate the distance between the target object and the projector.
  • the method further includes: generating a driving signal with an intensity less than a preset intensity threshold, and under the driving of the driving signal, emitting a light intensity less than the preset light intensity threshold to the target object Ranging optical signal.
  • the method further includes: transmitting a ranging light signal to the target object in the ranging mode, or projecting a structure for forming the structured image on the target object in the structured light mode Light signal.
  • the image sensor senses the ranging light signal reflected by the target in the ranging mode.
  • This application provides a three-dimensional measurement system, which includes: a structured light projection device, an image sensor, the structured light projection device includes: a time-of-flight ranging module, a driver, and a projector, the time-of-flight ranging module is used to pass Calculate the flight time of the optical signal to calculate the distance between the target object and the projector.
  • the driver is used to adjust the intensity of the driving signal according to the distance
  • the projector is used to adjust the direction of emission according to the intensity of the driving signal.
  • the intensity of the structured light of the target object; the image sensor is used to generate a structured image of the target object.
  • the flight time ranging module calculates the distance between the target object and the projector by counting the flight time of the light signal, the driver adjusts the intensity of the driving signal according to the distance, and the projection
  • the instrument adjusts the intensity of the structured light directed at the target object according to the intensity of the driving signal to generate a structured image of the target object through an image sensor, which achieves higher accuracy of object distance measurement and further high-precision control
  • the drive strength of the driver effectively controls the projection of structured light.
  • FIG. 1 is a schematic structural diagram of a three-dimensional measurement system in Embodiment 1 of the application;
  • FIG. 2 is a schematic diagram of the structure of the structured light projection device in the second embodiment of the application.
  • FIG. 3 is a schematic flowchart of a structured light projection method in Embodiment 3 of this application;
  • FIG. 4 is a schematic flowchart of a structured light projection method in Embodiment 4 of this application.
  • FIG. 5 is a schematic diagram of the structure of the photosensitive chip in the time-of-flight ranging module in the fifth embodiment of the application;
  • FIG. 6 is a schematic diagram of the structure of the enabling unit in the sixth embodiment.
  • Figure 1 is a schematic structural diagram of a three-dimensional measurement system in Embodiment 1 of the application; as shown in Figure 1, it includes: a structured light projection device, an image sensor, and the structured light projection device includes a time-of-flight ranging module, a driver, and A projector, the time-of-flight ranging module is used to calculate the distance between the target object and the projector by counting the flight time of the light signal, and the driver is used to adjust the intensity of the driving signal according to the distance, the projector It is used to adjust the intensity of the structured light directed to the target object according to the intensity of the drive signal; the image sensor is used to generate a structured image of the target object.
  • the structured light projection device includes a time-of-flight ranging module, a driver, and A projector
  • the time-of-flight ranging module is used to calculate the distance between the target object and the projector by counting the flight time of the light signal
  • the driver is used to adjust the intensity of the driving signal according to the distance
  • the time of flight ranging module is also called TOF (Time of flight) ranging module in the industry.
  • the TOF ranging module includes a signal source, a transmitter, and a photosensitive chip.
  • the signal source generates an electrical signal
  • the transmitter Also called a light source
  • the photosensitive chip with an image sensor on it
  • the flight time from the light signal leaving the transmitter to being reflected by the target object calculates the distance between the target object and the projector.
  • the optical signal emitted by the transmitter is preferably a modulated high-frequency optical signal.
  • the high-frequency optical signal may specifically be high-frequency infrared light, and the frequency can reach 100 MHz.
  • the specific modulation method may be a pulse-based method or a continuous wave intensity modulation method.
  • the TOF ranging module is actually a single-point TOF ranging module.
  • a beam of high-frequency modulated optical signal is transmitted, and the phase change between the emitted optical signal and the reflected optical signal is used to perform distance measurement.
  • the commonly used optical signal is infrared light.
  • an infrared bandpass filter is configured to ensure that only the transmitted optical signal has the same wavelength. The light signal can reach the photosensitive chip.
  • the TOF ranging module is actually an area array TOF ranging module.
  • the TOF ranging module and the projector can be integrated together, thereby reducing the size of the final product.
  • Figure 2 is a schematic structural diagram of the structured light projection device in the second embodiment of the application; as shown in Figure 2, when applied in a specific application scenario, the structured light projection device has a technical interaction with the application processor in the application scenario
  • the structured light projection device itself includes an application processor (AP), as shown in Figure 2, the time-of-flight ranging module is connected to the application processor, and the driver is connected to the application processor, and the projector is connected to the driver
  • the time-of-flight ranging module is used to calculate the distance between the target object and the projector by counting the flight time of the optical signal, the driver is used to adjust the strength of the driving signal according to the distance, and the projector is used to The intensity of the structured light directed to the target object is adjusted according to the intensity of the driving signal to generate a structured image of the target object through an image sensor.
  • the application processor can also be integrated into the time-of-flight ranging module, or, alternatively, in order to implement the above-mentioned basic processing of the time-of-flight ranging module, a processor has been configured in the time-of-flight ranging module , You can directly reuse the processor as an application processor.
  • structured light can be obtained in the following manner.
  • the point structured light method is a simple triangulation method.
  • the receiving direction of the point structured light method is immutable.
  • the light source and detection are moved synchronously. A single laser beam hits the surface of the object, and the reflected light spot is captured by the camera. Only one point can be processed at a time, and the measurement speed is slow.
  • Planar slit light is projected by the projection source, one structured light stripe is projected each time, and the depth of a cross-section can be obtained for each image.
  • the angle of the projected slit light By changing the angle of the projected slit light, more cross-sectional depths can be obtained, and the depth of the object can be obtained.
  • the coding method is divided into time coding method, spatial coding method, direct coding method, and color coding method.
  • the application processors on these electronic devices can be directly reused.
  • the application processor manages each module resource of the structured light projection device, thereby reducing the load of the baseband processor.
  • the time-of-flight ranging module and the projector share a light source, and the light source emits a ranging light signal to a target object in a ranging mode, or the light source In the structured light mode, the structured light signal forming the structured image is projected to the target object.
  • the image sensor is further used to sense the range-finding light signal reflected by the target object in the range-finding mode.
  • light sources can be separately configured for the time-of-flight ranging module and the projector.
  • Separate image sensors are configured for distance measurement and structured image formation, such as distance measurement image sensors and structured image sensors.
  • FIG. 3 is a schematic flowchart of a structured light projection method in Embodiment 3 of the application; as shown in FIG. 3, it includes the following steps:
  • the application processor controls the driver to generate a driving signal for driving the light source to transmit at least two distance-finding optical signals with mutually prime frequencies to the target object;
  • the photosensitive chip is enabled to start working, that is, the light emitted by the transmitter is synchronized with the photosensitive chip start working.
  • the image sensor of the time-of-flight ranging module receives at least two relatively prime-frequency ranging optical signals reflected by the target object;
  • the ranging optical signal may be an infrared signal modulated by high frequency.
  • the so-called frequency mutual prime can also be called the different frequencies of the ranging optical signals.
  • the phenomenon of distance aliasing may occur.
  • by transmitting two frequency mutually prime ranging optical signals That is, optical signals with different frequencies.
  • the distance of a wavelength distance situation is obtained, which is also called unambiguous range (unambiguous range) in the industry.
  • Flight of the processor on the time-of-flight ranging module according to the ranging optical signal of each frequency emitted to the target object and the corresponding ranging optical signal reflected back by the target object Time respectively estimates the distance between the target object and the projector, and further obtains the final estimated distance based on the estimated at least two distances between the target object and the projector.
  • the blur distances are respectively
  • the unknowns are actually n A , n B , Only n A and n B are required , so that the absolute value of the difference between d ⁇ A (n A +P A ) and d ⁇ B (n B +P B ) is the smallest, or even 0, you can finally get the projector and Estimated distance between target objects.
  • S304 The application processor controls the driver to adjust the strength of the driving signal according to the distance according to the final estimated distance;
  • the distance estimated by the above-mentioned time-of-flight ranging module is directly based on the time-of-flight of the optical signal. Therefore, it is less disturbed by the surrounding environment. Therefore, the measured distance is more accurate.
  • the distance adjusts the strength of the driving signal the accuracy is higher. Specifically, if the estimated distance is far, the intensity of the drive signal is increased so that the intensity of the structured light emitted by the projector is stronger; otherwise, the intensity of the structured light emitted by the projector is weaker.
  • the projector is used to adjust the intensity of the structured light directed to the target object according to the intensity of the driving signal, so as to generate a structured image of the target object through an image sensor.
  • the surface of the target object has a specific shape, distortion will occur when the coded image is irradiated to the surface of the target object by structured light. Therefore, by comparing the coded image with the structured light image, it can be determined that the structured image In-depth information.
  • FIG. 4 is a schematic flowchart of a structured light projection method in Embodiment 4 of this application; as shown in FIG. 4, it includes the following steps:
  • the application processor controls the light source of the time-of-flight ranging module to emit a single-frequency ranging optical signal to the target object;
  • the difference from the foregoing embodiment is that only a single frequency ranging optical signal is transmitted to the target object, which can effectively reduce the amount of ranging data and improve the efficiency.
  • the time-of-flight ranging module when the time-of-flight ranging module starts to transmit the ranging light signal, the time-of-flight ranging module is synchronously enabled to receive the single-frequency ranging light reflected by the target object.
  • time-of-flight ranging module enabling the time-of-flight ranging module to receive the single-frequency ranging optical signal reflected by the target object actually means that the time-of-flight ranging module is capable of receiving the single-frequency ranging optical signal reflected back
  • the state of the optical signal can be sensed once the ranging optical signal is reflected back by the target object.
  • the strength of the link also comprehensively considers the signal-to-noise ratio of the link, that is, to ensure that the signal-to-noise ratio of the link cannot be too small, and to ensure that the distance estimation can be accurately achieved.
  • the time-of-flight ranging module receives the single-frequency ranging optical signal reflected by the target object
  • the time-of-flight ranging module specifically calculates the time-of-flight based on the phase difference between the ranging optical signal emitted to the target object and the ranging optical signal reflected by the target object. Estimate the distance between the target object and the projector.
  • FIG. 5 is a schematic diagram of the structure of the photosensitive chip in the time-of-flight ranging module in Embodiment 5 of the application; as shown in FIG. 5, the photosensitive chip includes: a signal detector, an integer wavelength statistic, and A time-of-flight counter that enables the signal detector to detect the light signal reflected by the target object when the transmitter emits a light signal to the target object, and the integer wavelength statistic starts to emit the light signal to the target object.
  • the flight time counter and statistics start to emit the light signal to the target object Start and stop the phase of the fractional wavelength of the optical signal that the transmitter has emitted when the signal detector detects the optical signal reflected by the target object, and the distance calculator is used to calculate the number of integer wavelengths and The phase of the fractional wavelength calculates the distance between the target object and the distance measuring device.
  • the integer wavelength statistic is configured with an enable terminal, and the enable terminal is used to receive an enable signal, and the transmitter
  • the enable signal is used to enable the integer wavelength statistic device to start counting the number of integer wavelengths, and when the signal detector detects that it is reflected by the target object
  • the enable signal is used to control the integer wavelength statistic device to stop counting the number of integer wavelengths.
  • the integer wavelength statistic device is further equipped with a reset terminal for receiving a reset signal iRst, and the reset signal is used to control the resetting of the integer wavelength statistic device, starting from the point when the statistics starts to transmit the optical signal to the target object. , Cut off the number of integer wavelengths of the optical signal that the transmitter has emitted when the signal detector detects the optical signal reflected by the target object.
  • an enabling unit is also configured on the photosensitive chip, and the enabling unit generates an enable signal ienable for enabling the integer wavelength statistic to start statistical processing according to the emitted optical signal, and detects that the target is The light signal reflected by the object generates an enable signal ienable for controlling the integer wavelength statistic to stop counting.
  • the enabling unit is a comparator, and the comparator is configured to compare according to the emitted optical signal and a set reference threshold, and generate the enabling signal according to a result of the comparison.
  • the signal detector is turned off when the light signal reflected by the target object is detected.
  • the counting method is, for example, the integer number of direct wavelengths, or the integer number of cycles.
  • the light detected by the signal detector may also include environmental interference signals, that is, the light detected by the signal detector includes not only the light reflected by the target object, but also environmental interference signals from the application environment. For this reason, Especially the light signal that the target object starts to reflect back is relatively weak. If the environmental interference signal is not eliminated, an effective enable signal cannot be generated.
  • An interference elimination unit is also configured on the photosensitive chip to eliminate the environmental interference light signal to make
  • the integer wavelength statistic device counts the integer wavelength of the optical signal that has been emitted by the transmitter when the signal detector starts to emit the optical signal to the target object and ends when the signal detector detects the optical signal reflected by the target object. Quantity and phase of fractional wavelength.
  • the interference cancellation unit can be integrated into the enabling unit, or the enabling unit not only has the function of generating an enabling signal, but also has the function of eliminating environmental interference light signals.
  • the interference optical signal from the environment is eliminated through the differential method.
  • the interference cancellation unit can not only be integrated into the enabling unit.
  • the interference cancellation unit can also be a structure independent of the enabling unit.
  • the light source emits a ranging light signal to the target object in the ranging mode, or the light source projects the structured light signal forming the structured image to the target object in the structured light mode.
  • the image sensor senses the distance measurement light signal reflected by the target in the distance measurement mode, or it is also called the distance measurement and the formation of a structured image to share the image sensor.
  • Fig. 6 is a schematic diagram of the structure of the enabling unit in the sixth embodiment; as shown in Fig. 6, in this embodiment, the enabling unit includes: a band-pass filter, a multiplier, and a low-pass filter.
  • the multiplier is set at Between the band-pass filter and the low-pass filter, as a whole, the three structural components cooperate with each other, and are mainly used to filter the optical signals detected by the signal detector to eliminate environmental interference optical signals. In order to obtain the light signal reflected by the target object.
  • the band-pass filter performs band-pass filtering processing on the optical signal detected by the signal detector according to the set pass band; the low-pass filter performs low-pass filtering processing on the optical signal after the band-pass filtering , To eliminate the environmental interference light signal from it to obtain the light signal reflected by the target object.
  • the band-pass filtered optical signal and the set reference signal can be multiplied by the multiplier.
  • the low-pass filter performs multiplication processing on the band-pass filtered optical signal.
  • low-pass filtering is performed on the optical signal after the multiplication process to achieve the band-pass filtering of the light signal. The signal is processed by low-pass filtering, thereby eliminating the environmental interference light signal to obtain the light signal reflected by the target object.
  • the distance when calculating the distance, it is based on the light emitted by the emitter and the light emitted by the emitter hitting the target object and reflected by the target object. Therefore, in fact, the light emitted by the emitter , And the light emitted by the transmitter irradiates the target object and is reflected by the target object.
  • the frequency of the two rays can be regarded as equal. Therefore, in order to facilitate the rapid and direct detection from the signal detector
  • the ambient interference light signal is filtered out of the light to filter out the light emitted by the emitter irradiated on the target object and reflected by the target object, and the set reference signal has the same frequency as the optical signal emitted by the emitter to the target object .
  • the distance calculator includes an adder and a multiplier
  • the adder is used to sum the number of the integer wavelengths and the phase of the fractional wavelength
  • the multiplier is used to The wavelength of the optical signal and the result of the summation processing are multiplied to calculate the distance between the target object and the distance measuring device.
  • the distance between the target object and the distance measuring device can be specifically calculated by the following formula:
  • d represents the distance between the target object and the ranging device
  • ⁇ represents the wavelength of the ranging optical signal
  • Data[N:0] represents the number of integer wavelengths
  • the application processor controls the driver to adjust the strength of the driving signal according to the distance according to the estimated distance between the target object and the projector;
  • the projector is configured to adjust the intensity of the structured light directed to the target object according to the intensity of the driving signal, so as to generate a structured image of the target object through an image sensor.
  • the distance between the projector and the target object is estimated separately through the time-of-flight ranging module.
  • the time-of-flight ranging module can also use the time-of-flight ranging module to cooperate with the projector to estimate the projector.
  • the distance to the target object is equivalent to that the transmitter is replaced by a projector, and the time-of-flight ranging module is mainly responsible for receiving the reflected test light, and based on the test light emitted by the projector and the reflected test light. Estimate the distance between the projector and the target object.
  • image processing device may be implemented on an image processing chip or on other chips.
  • connection may be a wired connection or a wireless connection.
  • a programmable logic device Programmable Logic Device, PLD
  • FPGA Field Programmable Gate Array
  • HDL Hardware Description Language
  • ABEL Advanced Boolean Expression Language
  • AHDL Altera Hardware Description Language
  • HDCal JHDL
  • Lava Lava
  • Lola MyHDL
  • PALASM RHDL
  • VHDL Very-High-Speed Integrated Circuit Hardware Description Language
  • Verilog Verilog
  • the application processor can be implemented in any suitable manner.
  • the application processor can take the form of, for example, a microprocessor or a processor and a computer that stores computer readable program codes (such as software or firmware) executable by the (micro) processor. Reading media, logic gates, switches, application specific integrated circuits (ASICs), programmable logic application processors, and embedded micro application processors.
  • application processors include but are not limited to the following micro application processors: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicon Labs C8051F320, the memory application processor can also be implemented as part of the memory control logic.
  • the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPU), input/output interfaces, network interfaces, and memory.
  • processors CPU
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in computer readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

Appareil de projection de lumière structurée, procédé de projection de lumière structurée et système de mesure en trois dimensions. L'appareil de projection de lumière structurée comprend : un module de mesure de distance de temps de vol, un pilote et un projecteur. Le module de mesure de distance de temps de vol est utilisé pour calculer une distance entre un objet cible et le projecteur par collecte de statistiques concernant le temps de vol d'un signal optique ; le pilote est utilisé pour régler l'intensité d'un signal d'entraînement en fonction de la distance ; le projecteur est utilisé pour régler l'intensité de la lumière structurée émise vers l'objet cible en fonction de l'intensité du signal d'entraînement de façon à générer une image structurée de l'objet cible à l'aide d'un capteur d'image. L'appareil de projection de lumière structurée a une précision de mesure de distance à l'objet plus élevée, réalise en outre une commande de haute précision de l'intensité d'entraînement du pilote, et commande efficacement la projection de la lumière structurée.
PCT/CN2019/092534 2019-06-24 2019-06-24 Appareil de projection de lumière structurée, procédé de projection de lumière structurée et système de mesure en trois dimensions WO2020257969A1 (fr)

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PCT/CN2019/092534 WO2020257969A1 (fr) 2019-06-24 2019-06-24 Appareil de projection de lumière structurée, procédé de projection de lumière structurée et système de mesure en trois dimensions
CN201980001085.6A CN110462438A (zh) 2019-06-24 2019-06-24 结构光投射装置、结构光投射方法及三维测量系统

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US20210255327A1 (en) * 2020-02-17 2021-08-19 Mediatek Inc. Emission And Reception Of Patterned Light Waves For Range Sensing
CN112822469B (zh) * 2020-12-31 2022-04-12 广景视睿科技（深圳）有限公司 一种自动对焦投影方法及系统

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