WO2021208582A1 - Calibration apparatus, calibration system, electronic device and calibration method - Google Patents

Calibration apparatus, calibration system, electronic device and calibration method Download PDF

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Publication number
WO2021208582A1
WO2021208582A1 PCT/CN2021/076336 CN2021076336W WO2021208582A1 WO 2021208582 A1 WO2021208582 A1 WO 2021208582A1 CN 2021076336 W CN2021076336 W CN 2021076336W WO 2021208582 A1 WO2021208582 A1 WO 2021208582A1
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WO
WIPO (PCT)
Prior art keywords
component
light
optical axis
collimating
receiving
Prior art date
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PCT/CN2021/076336
Other languages
French (fr)
Chinese (zh)
Inventor
杨小威
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Oppo广东移动通信有限公司
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Publication date
Application filed by Oppo广东移动通信有限公司 filed Critical Oppo广东移动通信有限公司
Publication of WO2021208582A1 publication Critical patent/WO2021208582A1/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/26Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497Means for monitoring or calibrating
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Definitions

  • This application relates to the field of measurement technology, in particular to a calibration device, a calibration system, electronic equipment, and a calibration method.
  • Time of Flight (TOF) depth cameras can be used to measure the distance from objects in the scene to the camera.
  • a time-of-flight depth camera usually includes a transmitter and a receiver. The transmitter emits modulated light pulses, and the receiver receives the light pulses reflected by the object. In the subsequent algorithm processing, the object can be calculated according to the round-trip time of the light pulse The distance from the camera.
  • the embodiments of the present application provide a calibration device, a calibration system, electronic equipment, and a calibration method.
  • the calibration device of the embodiment of the present application is used for a transceiver module.
  • the transceiver module includes a transmitting component and a receiving component.
  • the transmitting component is used for transmitting light
  • the receiving component is used for receiving the light emitted by the transmitting component and reflected back by an object.
  • the calibration device includes a collimating component and a reflecting component.
  • the collimating component is used to collimate the light emitted by the emitting component.
  • the reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light after collimating by the collimating component is parallel to the light reflecting by the reflecting component .
  • the light reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
  • the calibration system of the embodiment of the present application includes a transceiver module and a calibration device.
  • the transceiver module includes a transmitting component and a receiving component.
  • the calibration device is used to calibrate the included angle between the optical axis of the transmitting component and the optical axis of the receiving component.
  • the calibration device includes a collimating component and a reflecting component.
  • the collimating component is used to collimate the light emitted by the emitting component.
  • the reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light after collimating by the collimating component is parallel to the light reflecting by the reflecting component .
  • the light reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
  • the electronic device of the embodiment of the present application includes a housing and a calibration system.
  • the calibration system is combined with the housing.
  • the calibration system includes a transceiver module and a calibration device.
  • the transceiver module includes a transmitting component and a receiving component.
  • the calibration device is used to calibrate the included angle between the optical axis of the transmitting component and the optical axis of the receiving component.
  • the calibration device includes a collimating component and a reflecting component.
  • the collimating component is used to collimate the light emitted by the emitting component.
  • the reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light after collimating by the collimating component is parallel to the light reflecting by the reflecting component .
  • the light reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
  • the calibration method of the embodiment of the present application is applied to the transceiver module.
  • the transceiver module includes a transmitting component and a receiving component.
  • the transmitting component is used to transmit light
  • the receiving component is used to receive the light emitted by the transmitting component and reflected back by an object.
  • the calibration method includes: using a collimating component to collimate the light emitted by the emitting component; using a reflecting component to reflect the light collimated by the collimating component to the receiving component, and the collimating component to collimate The latter light rays are parallel to the light rays reflected by the reflecting component; and determining the distance between the optical axis of the transmitting component and the optical axis of the receiving component according to the light reflected into the receiving component Angle.
  • Fig. 1 is a schematic diagram of the working principle of a calibration system according to some embodiments of the present application
  • Fig. 2 is a schematic diagram of the working principle of the calibration system of some embodiments of the present application.
  • FIG. 3 is a schematic diagram of a test image acquired by a calibration system according to some embodiments of the present application.
  • FIG. 4 is a schematic diagram of a test image acquired by a calibration system according to some embodiments of the present application.
  • Fig. 5 is a schematic diagram of an electronic device according to some embodiments of the present application.
  • FIG. 6 is a schematic diagram of a scenario where a calibration device moves in an electronic device according to some embodiments of the present application.
  • FIG. 7 is a schematic flowchart of a calibration method according to some embodiments of the present application.
  • FIG. 8 is a schematic flowchart of a calibration method according to some embodiments of the present application.
  • the calibration device 10 includes a collimating component 11 and a reflecting component 12.
  • the calibration device 10 is used for the transceiver module 20.
  • the transceiver module 20 includes a transmitting component 21 and a receiving component 22.
  • the transmitting component 21 is used to transmit light
  • the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected back by the object
  • the collimating component 11 is used to collimate the transmitting component 21
  • the reflective component 12 is used to reflect the light collimated by the collimating component 11 into the receiving component 22,
  • the light collimated by the collimating component 11 is parallel to the light reflected by the reflective component 12, and reflected to the receiving component
  • the light in the component 22 can be used to determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22.
  • the reflective component 12 includes a first reflective surface 121 and a second reflective surface 122.
  • the angle between the first reflective surface 121 and the second reflective surface 122 is 90°, and the first reflective surface 121 is aligned with the The light emitting surface of the straight component 11 is opposite to the optical axis of the collimating component 11 at an angle of 45°, and the second reflective surface 122 is opposite to the light receiving surface of the receiving component 22.
  • the reflective assembly 12 includes a first reflective mirror 123 and a second reflective mirror 124.
  • the first reflective mirror 123 includes a first reflective surface 121
  • the second reflective mirror 124 includes a second reflective surface 122.
  • the reflective assembly 12 includes a mirror, which is a K-shaped mirror.
  • the difference between the distance between the collimating component 11 and the emitting component 21 and the focal length of the collimating component 11 is less than a predetermined value.
  • the optical axis of the collimating component 11 is parallel to or coincides with the optical axis of the emitting component 21.
  • the transceiver module 20 includes at least one of a time-of-flight depth camera, a structured light depth camera, a lidar, and a proximity sensor.
  • the reflecting assembly 12 includes two reflecting mirrors, and the shape of the reflecting mirrors is an isosceles direct triangle or a right-angled trapezoid.
  • the calibration system 40 of the embodiment of the present application includes a transceiver module 20 and a calibration device 10.
  • the transceiver module 20 includes a transmitting component 21 and a receiving component 22.
  • the transmitting component 21 is used to transmit light
  • the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected back by the object
  • the calibration device 10 is used to calibrate the transmitting component 21 The angle between the optical axis and the optical axis of the receiving assembly 22
  • the calibration device 10 includes a collimating assembly 11 and a reflecting assembly 12
  • the collimating assembly 11 is used to collimate the light emitted by the transmitting assembly 21
  • the reflecting assembly 12 is used to pass through
  • the light collimated by the collimating component 11 is reflected to the receiving component 22, the light collimated by the collimating component 11 is parallel to the light reflected by the reflecting component 12, and the light reflected to the receiving component 22 can be used to determine the transmitting component 21
  • the reflective component 12 includes a first reflective surface 121 and a second reflective surface 122.
  • the angle between the first reflective surface 121 and the second reflective surface 122 is 90°, and the first reflective surface 121 is aligned with the The light emitting surface of the straight component 11 is opposite to the optical axis of the collimating component 11 at an angle of 45°, and the second reflective surface 122 is opposite to the light receiving surface of the receiving component 22.
  • the reflective assembly 12 includes a first reflective mirror 123 and a second reflective mirror 124.
  • the first reflective mirror 123 includes a first reflective surface 121
  • the second reflective mirror 124 includes a second reflective surface 122.
  • the reflective assembly 12 includes a mirror, which is a K-shaped mirror.
  • the difference between the distance between the collimating component 11 and the emitting component 21 and the focal length of the collimating component 11 is less than a predetermined value.
  • the optical axis of the collimating component 11 is parallel to or coincides with the optical axis of the emitting component 21.
  • the transceiver module 20 includes at least one of a time-of-flight depth camera, a structured light depth camera, a lidar, and a proximity sensor.
  • the reflecting assembly 12 includes two reflecting mirrors, and the shape of the reflecting mirrors is an isosceles direct triangle or a right-angled trapezoid.
  • the receiving component 22 receives the light reflected by the reflective component 12 to form a test image.
  • the calibration system 40 further includes a processor 30 for determining that the light received by the receiving component 22 corresponds to the test image. Calculate the offset of the center position of the imaging area relative to the center position of the test image; and calculate the included angle based on the offset and the focal length of the receiving component 22.
  • the electronic device 100 of the embodiment of the present application includes a housing 50 and the calibration system 40 of any of the above embodiments.
  • the calibration system 40 is combined with the housing 50.
  • the transceiver module 20 includes a transmitting component 21 and a receiving component 22.
  • the transmitting component 21 is used for transmitting light
  • the receiving component 22 is used for receiving the light emitted by the transmitting component 21 and reflected by the object.
  • the calibration method includes using the collimating component 11 to collimate the light emitted by the emitting component 21; using the reflecting component 12 to reflect the light collimated by the collimating component 11 to the receiving component 22, and the collimated light and reflection of the collimating component 11
  • the light reflected by the component 12 is parallel; and the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 is determined according to the light reflected into the receiving component 22.
  • the receiving component 22 receives the light reflected by the reflective component 12 to form a test image, and the light reflected into the receiving component 22 determines the clamp between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22.
  • the angle includes: determining the imaging area on the test image corresponding to the light received by the receiving component 22; calculating the offset of the center position of the imaging area relative to the center position of the test image; and according to the offset and the focal length of the receiving component 22 Calculate the included angle.
  • an embodiment of the present application provides a calibration device 10 applied to the transceiver module 20.
  • the transceiver module 20 includes a transmitting component 21 and a receiving component 22.
  • the transmitting component 21 is used for transmitting light
  • the receiving component 22 is used for receiving the light emitted by the transmitting component 21 and reflected by the object.
  • the calibration device 10 includes a collimating component 11 and a reflecting component 12.
  • the collimating component 11 is used to collimate the light emitted by the emitting component 21.
  • the reflective component 12 is used to reflect the light collimated by the collimating component 11 to the receiving component 22, and the light collimated by the collimating component 11 is parallel to the light reflected by the reflective component 12.
  • the light reflected into the receiving component 22 can be used to determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22.
  • the calibration device 10 of the embodiment of the present application determines the angle between the optical axis of the emitting component 21 and the optical axis of the receiving component 22 by receiving the light reflected into the receiving component 22, so as to accurately detect and calibrate the optical axis of the emitting component 21 and Whether the optical axis of the receiving assembly 22 is parallel.
  • the calibration result of the parallelism of the two can be used as a basis for adjustment of the transceiver module 20, and the working accuracy of the transceiver module 20 can be improved.
  • the embodiment of the present application also provides a calibration system 40.
  • the calibration system 40 includes a transceiver module 20, a calibration device 10 and a processor 30.
  • the processor 30 is electrically connected to the transceiver module 20.
  • the transceiver module 20 may be a time of flight (TOF) depth camera, a structured light depth camera, a lidar, a proximity sensor, etc., which is not limited here.
  • the transceiver module 20 includes a transmitting component 21 and a receiving component 22.
  • the emission component 21 is used to emit light.
  • the light emitted by the emitting component 21 may be invisible light such as infrared light and ultraviolet light.
  • the receiving component 22 is used for receiving the light emitted by the transmitting component 21 and reflected back by the object.
  • the calibration device 10 includes a collimating component 11 and a reflecting component 12.
  • the collimating component 11 is used for collimating the light emitted by the emitting component 21 so as to collimate the multiple non-parallel lights emitted by the emitting component 21 into multiple parallel rays of light.
  • the optical axis of the collimating component 11 is parallel to or coincides with the optical axis of the emitting component 21.
  • the collimating component 11 can be a collimating optical element such as a collimating lens, which is not limited here.
  • the collimating assembly 11 can be composed of one collimating lens or multiple collimating lenses, and it is not limited here. The difference between the distance between the collimating component 11 and the emitting component 21 and the focal length of the collimating component 11 is smaller than a predetermined value.
  • the distance between the collimating component 11 and the emitting component 21 can be understood as the vertical distance from the optical center of the collimating component 11 to the light emitting surface of the light source in the emitting component 21.
  • the predetermined value should be a small value, for example, the predetermined value may be 0, of course, the specific value of the predetermined value is not limited to this.
  • the distance between the collimating component 11 and the emitting component 21 is called the first distance
  • the focal length of the collimating component 11 is called the second distance
  • the difference between the first distance and the second distance is less than the predetermined value.
  • the reflecting component 12 is used to reflect the light collimated by the collimating component 11 to the receiving component 22.
  • the light rays collimated by the collimating component 11 are parallel to the light rays reflected by the reflecting component 12.
  • the reflective component 12 since the reflective component 12 may be aligned with the collimated light of the collimating component 11 for one or more reflections, the light reflected by the reflective component 12 here specifically refers to the light that has been reflected by the reflective component 11 and is about to be incident. To the light in the receiving assembly 22.
  • the light reflected into the receiving component 22 can be used to determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22, that is, to determine the difference between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22. Parallelism between.
  • the reflective component 12 includes a first reflective surface 121 and a second reflective surface 122.
  • the included angle between the first reflective surface 121 and the second reflective surface 122 is 90°, the first reflective surface 121 is opposite to the light-emitting surface 111 of the collimating component 11, and forms an angle of 45° with the optical axis of the collimating component 11 ,
  • the second reflective surface 122 is opposite to the light-receiving surface 221 of the receiving component 22.
  • the first reflecting surface 121 may be used for the first reflection of the light collimated by the alignment component 11. According to the principle that the angle between the incident light and the normal is equal to the angle between the reflected light and the normal, the light reflected by the first reflecting surface 121 and the light collimated by the collimating component 11 form an angle of 90°. That is, the light reflected by the first reflecting surface 121 is perpendicular to the light collimated by the collimating component 11. The light reflected by the first reflective surface 121 continues to be directed toward the second reflective surface 122, and the second reflective surface 122 is used to reflect the light reflected by the first reflective surface 121 a second time.
  • the light reflected by the second reflective surface 122 is perpendicular to the light reflected by the first reflective surface 121 and is parallel to the light collimated by the collimating component 11. Since the optical axis of the collimating component 11 and the optical axis of the emitting component 21 are parallel or coincident, according to the principle that a is parallel to b and b is parallel to c, then a is parallel to c. The light is parallel to the optical axis of the emitting assembly 21. Further, the principle that a is parallel to b and b is parallel to c, then a is parallel to c, and whether the light reflected by the reflecting assembly 12 is parallel to the optical axis of the receiving assembly 22 can be used to determine whether the transmitting assembly 21 is parallel.
  • the optical axis is parallel to the optical axis of the receiving assembly 22. If the light reflected by the reflective component 12 is parallel to the optical axis of the receiving component 22, the optical axis of the transmitting component 21 is parallel to the optical axis of the receiving component 22; if the light reflected by the reflective component 12 is parallel to the optical axis of the receiving component 22 If they are not parallel, the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 are not parallel.
  • the reflective component 12 can be formed by a combination of a first reflective mirror 123 and a second reflective mirror 124.
  • the first reflecting mirror 123 includes a first reflecting surface 121
  • the second reflecting mirror 124 includes a second reflecting surface 122.
  • the first reflecting surface 121 on the first reflecting mirror 123 is opposite to the light emitting surface 111 of the collimating component 11 and forms an angle of 45° with the optical axis of the collimating component 11.
  • the second reflecting surface 122 on the second reflecting mirror 124 is opposite to the light receiving surface 221 of the receiving component 22.
  • the first reflecting mirror 123 and the second reflecting mirror 124 may be 45° reflecting mirrors, for example.
  • the reflective component 12 can be composed of two mirrors with a right-angled isosceles triangle shape, or two mirrors with a right-angled trapezoid shape (the acute angle of the right-angled trapezoid is 45°), or two mirrors.
  • the plane mirrors with the included angle of 90° are combined, as long as the included angle formed by the two reflecting surfaces of the two mirrors is 90°, which is not limited here.
  • the reflective assembly 12 may only include one reflective mirror, where the reflective mirror is a K-shaped mirror.
  • the K-shaped mirror includes a first reflective surface 121 and a second reflective surface 122.
  • the first reflective surface 121 is opposite to the light-emitting surface 111 of the collimating component 11 and forms an angle of 45° with the optical axis of the collimating component 11.
  • the second reflective surface 122 is opposite to the light-receiving surface 221 of the receiving component 22.
  • the K-shaped mirror can be regarded as a mirror obtained by integrally molding the first mirror 123 and the second mirror 124 shown in FIG. 2.
  • the processor 30 may be a processor in a computer, a processor in a mobile phone, or a processor in a server, etc., which is not limited here.
  • the processor 30 may determine the parallelism between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22 according to the imaging position of the light received by the receiving assembly 22 on the receiving assembly 22.
  • the processor 30 may be used to determine the imaging area on the test image corresponding to the light received by the receiving component 22, to calculate the offset of the center position of the imaging area with respect to the center position of the test image, and to calculate the offset according to the offset and
  • the focal length of the receiving component 22 calculates the included angle.
  • the receiving component 22 receives the light reflected by the reflective component 21 to form a test image. Since the multiple beams of light reflected by the reflective component 22 are parallel rays, the light received by the receiving component 22 corresponds to the test image.
  • the imaging area on the image is a point A. If the light reflected into the receiving component 22 is parallel to the optical axis of the receiving component 22, after the light is received by the receiving component 22, the position corresponding to the imaging area (point A) on the test image should be located at the center of the test image. At (as shown in Figure 3).
  • the processor 30 can determine the distance between the light reflected by the reflective component 12 and the optical axis of the receiving component 22 according to the offset of the position of the imaging area (that is, the center position of the imaging area) relative to the center position of the test image.
  • the included angle thereby further determining the included angle between the transmitting component 21 and the receiving component 22. For example, as shown in FIG.
  • the imaging area on the test image is A
  • the processor 30 calculates the offset between the pixel corresponding to the center position of the imaging area A and the pixel corresponding to the center position of the test image as:
  • the Y direction is offset by a pixels, and the size of each pixel in the Y direction is b.
  • the focal length of the receiving component 22 is f
  • x is the angle between the light reflected by the reflecting component 12 and the optical axis of the receiving component 22
  • the optical axis of the transmitting component 21 and/or the optical axis of the receiving component 22 can be adjusted according to the included angle.
  • the angle between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22 is 0°.
  • adjusting the optical axis of the transmitting assembly 21 and/or the optical axis of the receiving assembly 22 may be manual adjustment, or may be adjusted by the driving assembly, which is not limited here.
  • the optical axis of the transmitting component 21 and/or the optical axis of the receiving component 22 may not be adjusted, but the back-end processing algorithm may be directly adjusted.
  • the transceiver module 20 when it is a time-of-flight depth camera, it can be adjusted according to The included angle is used to adaptively adjust the processing algorithm related to the calculation of the depth information in the time-of-flight depth camera to ensure the accuracy of the depth information obtained by the time-of-flight depth camera.
  • the parallelism between the optical axis of the transmitter and the optical axis of the receiver is very important for the calculation of the distance. How to determine the parallelism between the optical axis of the transmitter and the optical axis of the receiver becomes a Problems to be solved.
  • the calibration system 40 of the embodiment of the present application determines the included angle between the optical axis of the emitting component 21 and the optical axis of the receiving component 22 by receiving the light reflected into the receiving component 22, so as to accurately detect and calibrate the emitting component Whether the optical axis of 21 and the optical axis of the receiving assembly 22 are parallel. Subsequently, the parallelism between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 can be corrected according to the parallelism calibration results of the two, or the processing algorithm at the back end of the transceiver component 20 can be modified to ensure the working accuracy of the transceiver module 20 .
  • an embodiment of the present application also provides an electronic device 100.
  • the electronic device 100 includes a housing 50 and the calibration system 40 described above.
  • the calibration system 40 is combined with the housing 50.
  • the housing 50 is formed with an accommodation space 51, and the calibration system 40 is accommodated in the accommodation space 51.
  • the electronic device 100 may be a mobile phone, a tablet computer, a notebook computer, a smart wearable device (such as a smart bracelet, a smart watch, a smart helmet, and a smart glasses), a virtual reality device, etc., without any limitation here.
  • the electronic device 100 is a mobile phone.
  • the processor 30 may calculate the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 before each time the transceiver component 20 is activated, and based on The included angle is adjusted accordingly to the transceiver assembly 20 (the optical axes of the two are adjusted to be parallel, or the rear end algorithm is adjusted). After the adjustment is completed, move the calibration device 10 out of the optical path of the transceiver component 20. For example, as shown in FIG. The influence of the emitted and received light.
  • the processor 30 may also calculate the included angle between the transmitting component 21 and the receiving component 22 when the electronic device 100 falls, and adjust the transceiver component 20 accordingly based on the included angle.
  • the electronic device 100 of the embodiment of the present application determines the angle between the optical axis of the emitting component 21 and the optical axis of the receiving component 22 by receiving the light reflected into the receiving component 22, so as to accurately detect and calibrate the optical axis of the emitting component 21 Whether the optical axis and the optical axis of the receiving assembly 22 are parallel.
  • the electronic device 100 can modify the parallelism between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 according to the parallelism calibration results of the two, or modify the processing algorithm at the back end of the transceiver component 20 to ensure the transceiver module 20 Work accuracy.
  • the embodiment of the present application also provides a calibration method.
  • the calibration method of the embodiment of the present application can be used for the above-mentioned transceiver module 20.
  • the transceiver module 20 includes a transmitting component 21 and a receiving component 22.
  • the transmitting component 21 is used to transmit light
  • the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected by the object;
  • the calibration method includes:
  • the receiving component 22 receives the light reflected by the reflecting component 21 to form a test image.
  • Step 03 Determining the included angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 according to the light reflected into the receiving component 22 includes:
  • the specific implementation process of the calibration method of the embodiment of the present application for calibrating the included angle between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22 is the same as the aforementioned calibration system 40 for calibrating the optical axis of the transmitting assembly 21 and the receiving assembly 22
  • the specific implementation process of the included angle between the optical axes is the same, and will not be repeated here.
  • the calibration method of the embodiment of the present application uses the collimating component 11 to collimate the light emitted by the transmitting component 21, and uses the reflecting component 12 to align the collimated light of the collimating component 11 for reflection, so that the receiving component 22 can be immediately received by the reflecting component. 12
  • the light received by the receiving component 22 can determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22, so that it can accurately detect and calibrate whether the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 are parallel. .
  • the parallelism between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 can be corrected according to the parallelism calibration results of the two, or the processing algorithm at the back end of the transceiver component 20 can be modified to ensure the working accuracy of the transceiver module 20 .

Abstract

A calibration apparatus (10), a calibration system (40) and a calibration method. The calibration apparatus (10) comprises a collimation component (11) and a reflection component (12). A transceiver module (20) comprises a transmitting component (21) and a receiving component (22). The reflection component (12) reflects light collimated by the collimation component (11) to the receiving component (22), the collimated light is parallel to the reflected light, and the light of the receiving component (22) is used to determine the angle between the optical axes of the transmitting component (21) and the receiving component (22).

Description

标定装置、标定系统、电子设备及标定方法Calibration device, calibration system, electronic equipment and calibration method
优先权信息Priority information
本申请请求2020年4月15日向中国国家知识产权局提交的、专利申请号为202010293416.2的专利申请的优先权和权益,并且通过参照将其全文并入此处。This application requests the priority and rights of the patent application with the patent application number 202010293416.2 filed with the State Intellectual Property Office of China on April 15, 2020, and the full text is incorporated herein by reference.
技术领域Technical field
本申请涉及测量技术领域,特别涉及一种标定装置、标定系统、电子设备及标定方法。This application relates to the field of measurement technology, in particular to a calibration device, a calibration system, electronic equipment, and a calibration method.
背景技术Background technique
飞行时间(Time of Flight,TOF)深度相机可以用于测量场景中的物体到相机的距离。飞行时间深度相机通常包括发射器和接收器,发射器发射调制过的光脉冲,接收器接收被物体反射回的光脉冲,在后续的算法处理中,根据光脉冲的往返时间即可计算出物体与相机之间的距离。Time of Flight (TOF) depth cameras can be used to measure the distance from objects in the scene to the camera. A time-of-flight depth camera usually includes a transmitter and a receiver. The transmitter emits modulated light pulses, and the receiver receives the light pulses reflected by the object. In the subsequent algorithm processing, the object can be calculated according to the round-trip time of the light pulse The distance from the camera.
发明内容Summary of the invention
本申请实施方式提供了一种标定装置、标定系统、电子设备及标定方法。The embodiments of the present application provide a calibration device, a calibration system, electronic equipment, and a calibration method.
本申请实施方式的标定装置用于收发模组。所述收发模组包括发射组件及接收组件,所述发射组件用于发射光线,所述接收组件用于接收由所述发射组件发射并被物体反射回的所述光线。所述标定装置包括准直组件及反射组件。所述准直组件用于准直所述发射组件发射的光线。所述反射组件用于将经过所述准直组件准直后的光线反射到所述接收组件中,所述准直组件准直后的所述光线与所述反射组件反射后的所述光线平行。反射到所述接收组件中的所述光线能够用于确定所述发射组件的光轴与所述接收组件的光轴之间的夹角。The calibration device of the embodiment of the present application is used for a transceiver module. The transceiver module includes a transmitting component and a receiving component. The transmitting component is used for transmitting light, and the receiving component is used for receiving the light emitted by the transmitting component and reflected back by an object. The calibration device includes a collimating component and a reflecting component. The collimating component is used to collimate the light emitted by the emitting component. The reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light after collimating by the collimating component is parallel to the light reflecting by the reflecting component . The light reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
本申请实施方式的标定系统包括收发模组及标定装置。所述收发模组包括发射组件及接收组件。所述标定装置用于标定所述发射组件的光轴与所述接收组件的光轴之间的夹角。所述标定装置包括准直组件和反射组件。所述准直组件用于准直所述发射组件发射的光线。所述反射组件用于将经过所述准直组件准直后的光线反射到所述接收组件中,所述准直组件准直后的所述光线与所述反射组件反射后的所述光线平行。反射到所述接收组件中的所述光线能够用于确定所述发射组件的光轴与所述接收组件的光轴之间的夹角。The calibration system of the embodiment of the present application includes a transceiver module and a calibration device. The transceiver module includes a transmitting component and a receiving component. The calibration device is used to calibrate the included angle between the optical axis of the transmitting component and the optical axis of the receiving component. The calibration device includes a collimating component and a reflecting component. The collimating component is used to collimate the light emitted by the emitting component. The reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light after collimating by the collimating component is parallel to the light reflecting by the reflecting component . The light reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
本申请实施方式的电子设备包括壳体及标定系统。所述标定系统与所述壳体结合。标定系统包括收发模组及标定装置。所述收发模组包括发射组件及接收组件。所述标定装置用于标定所述发射组件的光轴与所述接收组件的光轴之间的夹角。所述标定装置包括准直组件和反射组件。所述准直组件用于准直所述发射组件发射的光线。所述反射组件用于将经过所述准直组件准直后的光线反射到所述接收组件中,所述准直组件准直后的所述光线与所述反射组件反射后的所述光线平行。反射到所述接收组件中的所述光线能够用于确定所述发射组件的光轴与所述接收组件的光轴之间的夹角。The electronic device of the embodiment of the present application includes a housing and a calibration system. The calibration system is combined with the housing. The calibration system includes a transceiver module and a calibration device. The transceiver module includes a transmitting component and a receiving component. The calibration device is used to calibrate the included angle between the optical axis of the transmitting component and the optical axis of the receiving component. The calibration device includes a collimating component and a reflecting component. The collimating component is used to collimate the light emitted by the emitting component. The reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light after collimating by the collimating component is parallel to the light reflecting by the reflecting component . The light reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
本申请实施方式的标定方法应用于收发模组。所述收发模组包括发射组件及接收组件,所述发射组件用于发射光线,所述接收组件用于接收由所述发射组件发射并被物体反射回 的所述光线。所述标定方法包括:利用准直组件准直所述发射组件发射的光线;利用反射组件将经过所述准直组件准直后的光线反射到所述接收组件中,所述准直组件准直后的所述光线与所述反射组件反射后的所述光线平行;及根据反射到所述接收组件中的所述光线确定所述发射组件的光轴与所述接收组件的光轴之间的夹角。The calibration method of the embodiment of the present application is applied to the transceiver module. The transceiver module includes a transmitting component and a receiving component. The transmitting component is used to transmit light, and the receiving component is used to receive the light emitted by the transmitting component and reflected back by an object. The calibration method includes: using a collimating component to collimate the light emitted by the emitting component; using a reflecting component to reflect the light collimated by the collimating component to the receiving component, and the collimating component to collimate The latter light rays are parallel to the light rays reflected by the reflecting component; and determining the distance between the optical axis of the transmitting component and the optical axis of the receiving component according to the light reflected into the receiving component Angle.
本申请实施方式的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本申请的实践了解到。The additional aspects and advantages of the embodiments of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the present application.
附图说明Description of the drawings
本申请的上述和/或附加的方面和优点可以从结合下面附图对实施方式的描述中将变得明显和容易理解,其中:The above-mentioned and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:
图1是本申请某些实施方式的标定系统的工作原理示意图;Fig. 1 is a schematic diagram of the working principle of a calibration system according to some embodiments of the present application;
图2是本申请某些实施方式的标定系统的工作原理示意图;Fig. 2 is a schematic diagram of the working principle of the calibration system of some embodiments of the present application;
图3是本申请某些实施方式的标定系统获取的测试图像的示意图;FIG. 3 is a schematic diagram of a test image acquired by a calibration system according to some embodiments of the present application;
图4是本申请某些实施方式的标定系统获取的测试图像的示意图;FIG. 4 is a schematic diagram of a test image acquired by a calibration system according to some embodiments of the present application;
图5是本申请某些实施方式的电子设备的示意图;Fig. 5 is a schematic diagram of an electronic device according to some embodiments of the present application;
图6是本申请某些实施方式的电子设备中标定装置移动的场景示意图;FIG. 6 is a schematic diagram of a scenario where a calibration device moves in an electronic device according to some embodiments of the present application;
图7是本申请某些实施方式的标定方法的流程示意图;FIG. 7 is a schematic flowchart of a calibration method according to some embodiments of the present application;
图8是本申请某些实施方式的标定方法的流程示意图。FIG. 8 is a schematic flowchart of a calibration method according to some embodiments of the present application.
具体实施方式Detailed ways
下面详细描述本申请的实施方式,所述实施方式的示例在附图中示出,其中,相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的,仅用于解释本申请的实施方式,而不能理解为对本申请的实施方式的限制。The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The following embodiments described with reference to the drawings are exemplary, and are only used to explain the embodiments of the present application, and should not be understood as limitations on the embodiments of the present application.
请参阅图1,本申请实施方式的标定装置10包括准直组件11和反射组件12。标定装置10用于收发模组20。收发模组20包括发射组件21及接收组件22,发射组件21用于发射光线,接收组件22用于接收由发射组件21发射并被物体反射回的光线;准直组件11用于准直发射组件21发射的光线;反射组件12用于将经过准直组件11准直后的光线反射到接收组件22中,准直组件11准直后的光线与反射组件12反射后的光线平行,反射到接收组件22中的光线能够用于确定发射组件21的光轴与接收组件22的光轴之间的夹角。Please refer to FIG. 1, the calibration device 10 according to the embodiment of the present application includes a collimating component 11 and a reflecting component 12. The calibration device 10 is used for the transceiver module 20. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used to transmit light, and the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected back by the object; the collimating component 11 is used to collimate the transmitting component 21 The light emitted; the reflective component 12 is used to reflect the light collimated by the collimating component 11 into the receiving component 22, the light collimated by the collimating component 11 is parallel to the light reflected by the reflective component 12, and reflected to the receiving component The light in the component 22 can be used to determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22.
在某些实施方式中,反射组件12包括第一反射面121及第二反射面122,第一反射面121与第二反射面122之间的夹角为90°,第一反射面121与准直组件11的出光面相对,且与准直组件11的光轴呈45°夹角,第二反射面122与接收组件22的收光面相对。In some embodiments, the reflective component 12 includes a first reflective surface 121 and a second reflective surface 122. The angle between the first reflective surface 121 and the second reflective surface 122 is 90°, and the first reflective surface 121 is aligned with the The light emitting surface of the straight component 11 is opposite to the optical axis of the collimating component 11 at an angle of 45°, and the second reflective surface 122 is opposite to the light receiving surface of the receiving component 22.
在某些实施方式中,反射组件12包括第一反射镜123及第二反射镜124,第一反射镜123包括第一反射面121,第二反射镜124包括第二反射面122。In some embodiments, the reflective assembly 12 includes a first reflective mirror 123 and a second reflective mirror 124. The first reflective mirror 123 includes a first reflective surface 121, and the second reflective mirror 124 includes a second reflective surface 122.
在某些实施方式中,反射组件12包括一个反射镜,反射镜为K形镜。In some embodiments, the reflective assembly 12 includes a mirror, which is a K-shaped mirror.
在某些实施方式中,准直组件11与发射组件21之间的距离与准直组件11的焦距之间的差值小于预定值。In some embodiments, the difference between the distance between the collimating component 11 and the emitting component 21 and the focal length of the collimating component 11 is less than a predetermined value.
在某些实施方式中,准直组件11的光轴与发射组件21的光轴平行或重合。In some embodiments, the optical axis of the collimating component 11 is parallel to or coincides with the optical axis of the emitting component 21.
在某些实施方式中,收发模组20包括飞行时间深度相机、结构光深度相机、激光雷达和接近传感器中至少一种。In some embodiments, the transceiver module 20 includes at least one of a time-of-flight depth camera, a structured light depth camera, a lidar, and a proximity sensor.
在某些实施方式中,反射组件12包括两个反射镜,反射镜的形状为等腰直接三角形或直角梯形。In some embodiments, the reflecting assembly 12 includes two reflecting mirrors, and the shape of the reflecting mirrors is an isosceles direct triangle or a right-angled trapezoid.
请参阅图1,本申请实施方式的标定系统40包括收发模组20和标定装置10。收发模组20包括发射组件21及接收组件22,发射组件21用于发射光线,接收组件22用于接收由发射组件21发射并被物体反射回的光线;标定装置10用于标定发射组件21的光轴与接收组件22的光轴之间的夹角;标定装置10包括准直组件11和反射组件12;准直组件11用于准直发射组件21发射的光线;反射组件12用于将经过准直组件11准直后的光线反射到接收组件22中,准直组件11准直后的光线与反射组件12反射后的光线平行,反射到接收组件22中的光线能够用于确定发射组件21的光轴与接收组件22的光轴之间的夹角。Please refer to FIG. 1, the calibration system 40 of the embodiment of the present application includes a transceiver module 20 and a calibration device 10. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used to transmit light, and the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected back by the object; the calibration device 10 is used to calibrate the transmitting component 21 The angle between the optical axis and the optical axis of the receiving assembly 22; the calibration device 10 includes a collimating assembly 11 and a reflecting assembly 12; the collimating assembly 11 is used to collimate the light emitted by the transmitting assembly 21; the reflecting assembly 12 is used to pass through The light collimated by the collimating component 11 is reflected to the receiving component 22, the light collimated by the collimating component 11 is parallel to the light reflected by the reflecting component 12, and the light reflected to the receiving component 22 can be used to determine the transmitting component 21 The angle between the optical axis of and the optical axis of the receiving assembly 22.
在某些实施方式中,反射组件12包括第一反射面121及第二反射面122,第一反射面121与第二反射面122之间的夹角为90°,第一反射面121与准直组件11的出光面相对,且与准直组件11的光轴呈45°夹角,第二反射面122与接收组件22的收光面相对。In some embodiments, the reflective component 12 includes a first reflective surface 121 and a second reflective surface 122. The angle between the first reflective surface 121 and the second reflective surface 122 is 90°, and the first reflective surface 121 is aligned with the The light emitting surface of the straight component 11 is opposite to the optical axis of the collimating component 11 at an angle of 45°, and the second reflective surface 122 is opposite to the light receiving surface of the receiving component 22.
在某些实施方式中,反射组件12包括第一反射镜123及第二反射镜124,第一反射镜123包括第一反射面121,第二反射镜124包括第二反射面122。In some embodiments, the reflective assembly 12 includes a first reflective mirror 123 and a second reflective mirror 124. The first reflective mirror 123 includes a first reflective surface 121, and the second reflective mirror 124 includes a second reflective surface 122.
在某些实施方式中,反射组件12包括一个反射镜,反射镜为K形镜。In some embodiments, the reflective assembly 12 includes a mirror, which is a K-shaped mirror.
在某些实施方式中,准直组件11与发射组件21之间的距离与准直组件11的焦距之间的差值小于预定值。In some embodiments, the difference between the distance between the collimating component 11 and the emitting component 21 and the focal length of the collimating component 11 is less than a predetermined value.
在某些实施方式中,准直组件11的光轴与发射组件21的光轴平行或重合。In some embodiments, the optical axis of the collimating component 11 is parallel to or coincides with the optical axis of the emitting component 21.
在某些实施方式中,收发模组20包括飞行时间深度相机、结构光深度相机、激光雷达和接近传感器中至少一种。In some embodiments, the transceiver module 20 includes at least one of a time-of-flight depth camera, a structured light depth camera, a lidar, and a proximity sensor.
在某些实施方式中,反射组件12包括两个反射镜,反射镜的形状为等腰直接三角形或直角梯形。In some embodiments, the reflecting assembly 12 includes two reflecting mirrors, and the shape of the reflecting mirrors is an isosceles direct triangle or a right-angled trapezoid.
在某些实施方式中,接收组件22接收被反射组件12反射的光线以形成测试图像,标定系统40还包括处理器30,处理器30用于确定接收组件22接收到的光线对应在测试图像上的成像区域;计算成像区域的中心位置相对于测试图像的中心位置的偏移量;及根据偏移量及接收组件22的焦距计算夹角。In some embodiments, the receiving component 22 receives the light reflected by the reflective component 12 to form a test image. The calibration system 40 further includes a processor 30 for determining that the light received by the receiving component 22 corresponds to the test image. Calculate the offset of the center position of the imaging area relative to the center position of the test image; and calculate the included angle based on the offset and the focal length of the receiving component 22.
请参阅图5,本申请实施方式的电子设备100包括壳体50和上述任一实施方式的标定系统40。标定系统40与壳体50结合。Referring to FIG. 5, the electronic device 100 of the embodiment of the present application includes a housing 50 and the calibration system 40 of any of the above embodiments. The calibration system 40 is combined with the housing 50.
请参阅图1和图7,本申请实施方式的标定方法用于用于收发模组20。收发模组20包括发射组件21及接收组件22,发射组件21用于发射光线,接收组件22用于接收由发射组件21发射并被物体反射回的光线。标定方法包括利用准直组件11准直发射组件21发射的光线;利用反射组件12将经过准直组件11准直后的光线反射到接收组件22中,准直组件11准直后的光线与反射组件12反射后的光线平行;及根据反射到接收组件22中的光线确定发射组件21的光轴与接收组件22的光轴之间的夹角。Please refer to FIG. 1 and FIG. 7, the calibration method of the embodiment of the present application is used for the transceiver module 20. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used for transmitting light, and the receiving component 22 is used for receiving the light emitted by the transmitting component 21 and reflected by the object. The calibration method includes using the collimating component 11 to collimate the light emitted by the emitting component 21; using the reflecting component 12 to reflect the light collimated by the collimating component 11 to the receiving component 22, and the collimated light and reflection of the collimating component 11 The light reflected by the component 12 is parallel; and the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 is determined according to the light reflected into the receiving component 22.
在某些实施方式中,接收组件22接收被反射组件12反射的光线以形成测试图像,根 据反射到接收组件22中的光线确定发射组件21的光轴与接收组件22的光轴之间的夹角,包括:确定接收组件22接收到的光线对应在测试图像上的成像区域;计算成像区域的中心位置相对于测试图像的中心位置的偏移量;及根据偏移量及接收组件22的焦距计算夹角。In some embodiments, the receiving component 22 receives the light reflected by the reflective component 12 to form a test image, and the light reflected into the receiving component 22 determines the clamp between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22. The angle includes: determining the imaging area on the test image corresponding to the light received by the receiving component 22; calculating the offset of the center position of the imaging area relative to the center position of the test image; and according to the offset and the focal length of the receiving component 22 Calculate the included angle.
请参阅图1,本申请实施方式提供一种应用于收发模组20的标定装置10。收发模组20包括发射组件21及接收组件22,发射组件21用于发射光线,接收组件22用于接收由发射组件21发射并被物体反射回的光线。标定装置10包括准直组件11及反射组件12。准直组件11用于准直发射组件21发射的光线。反射组件12用于将经过准直组件11准直后的光线反射到接收组件22中,准直组件11准直后的光线与反射组件12反射后的光线平行。反射到接收组件22中的光线能够用于确定发射组件21的光轴与接收组件22的光轴之间的夹角。本申请实施方式的标定装置10通过接收反射到接收组件22中的光线确定发射组件21的光轴与接收组件22的光轴之间的夹角,以便准确检测和标定发射组件21的光轴与接收组件22的光轴是否平行。二者的平行度标定结果可以作为收发模组20的调整依据,可以提高收发模组20工作精度。Please refer to FIG. 1, an embodiment of the present application provides a calibration device 10 applied to the transceiver module 20. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used for transmitting light, and the receiving component 22 is used for receiving the light emitted by the transmitting component 21 and reflected by the object. The calibration device 10 includes a collimating component 11 and a reflecting component 12. The collimating component 11 is used to collimate the light emitted by the emitting component 21. The reflective component 12 is used to reflect the light collimated by the collimating component 11 to the receiving component 22, and the light collimated by the collimating component 11 is parallel to the light reflected by the reflective component 12. The light reflected into the receiving component 22 can be used to determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22. The calibration device 10 of the embodiment of the present application determines the angle between the optical axis of the emitting component 21 and the optical axis of the receiving component 22 by receiving the light reflected into the receiving component 22, so as to accurately detect and calibrate the optical axis of the emitting component 21 and Whether the optical axis of the receiving assembly 22 is parallel. The calibration result of the parallelism of the two can be used as a basis for adjustment of the transceiver module 20, and the working accuracy of the transceiver module 20 can be improved.
请再参阅图1,本申请实施方式还提供一种标定系统40。标定系统40包括收发模组20、标定装置10及处理器30。处理器30与收发模组20电连接。Please refer to FIG. 1 again. The embodiment of the present application also provides a calibration system 40. The calibration system 40 includes a transceiver module 20, a calibration device 10 and a processor 30. The processor 30 is electrically connected to the transceiver module 20.
收发模组20可以是飞行时间(Time of Flight,TOF)深度相机、结构光深度相机、激光雷达、接近传感器等,在此不作限制。收发模组20包括发射组件21及接收组件22。发射组件21用于发射光线。发射组件21发射的光线可以是红外光、紫外光等不可见光。接收组件22用于接收由发射组件21发射并被物体反射回的光线。The transceiver module 20 may be a time of flight (TOF) depth camera, a structured light depth camera, a lidar, a proximity sensor, etc., which is not limited here. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The emission component 21 is used to emit light. The light emitted by the emitting component 21 may be invisible light such as infrared light and ultraviolet light. The receiving component 22 is used for receiving the light emitted by the transmitting component 21 and reflected back by the object.
标定装置10包括准直组件11和反射组件12。The calibration device 10 includes a collimating component 11 and a reflecting component 12.
准直组件11用于准直发射组件21发射的光线,以将发射组件21发射的多束不平行光准直成多束彼此平行的光线。准直组件11的光轴与发射组件21的光轴平行或重合。准直组件11可以为准直镜等准直光学元件,在此不作限制。准直组件11可以由一个准直镜组成,也可以由多个准直镜组成,在此也不作限制。准直组件11与发射组件21之间的距离与准直组件11的焦距之间的差值小于预定值。其中,准直组件11与发射组件21之间的距离可以理解为准直组件11的光心到发射组件21内的光源的发光面的垂直距离。预定值应为一个较小的数值,例如预定值可以为0,当然,预定值的具体取值不限于此。为了便于理解与记述,例如将准直组件11与发射组件21之间的距离称为第一距离,将准直组件11的焦距称为第二距离,第一距离与第二距离之间的差值小于预定值。可以理解的,当发射组件21内的光源的发光面越靠近准直组件11的焦平面,准直组件11对发射组件21发射的光线的准直效果越高。因此,当第一距离与第二距离之间的差值小于预定值时,准直组件11对发射组件21发射的光线的准直效果更佳。The collimating component 11 is used for collimating the light emitted by the emitting component 21 so as to collimate the multiple non-parallel lights emitted by the emitting component 21 into multiple parallel rays of light. The optical axis of the collimating component 11 is parallel to or coincides with the optical axis of the emitting component 21. The collimating component 11 can be a collimating optical element such as a collimating lens, which is not limited here. The collimating assembly 11 can be composed of one collimating lens or multiple collimating lenses, and it is not limited here. The difference between the distance between the collimating component 11 and the emitting component 21 and the focal length of the collimating component 11 is smaller than a predetermined value. The distance between the collimating component 11 and the emitting component 21 can be understood as the vertical distance from the optical center of the collimating component 11 to the light emitting surface of the light source in the emitting component 21. The predetermined value should be a small value, for example, the predetermined value may be 0, of course, the specific value of the predetermined value is not limited to this. For ease of understanding and description, for example, the distance between the collimating component 11 and the emitting component 21 is called the first distance, the focal length of the collimating component 11 is called the second distance, and the difference between the first distance and the second distance The value is less than the predetermined value. It can be understood that the closer the light emitting surface of the light source in the emitting component 21 is to the focal plane of the collimating component 11, the higher the collimating effect of the collimating component 11 on the light emitted by the emitting component 21 is. Therefore, when the difference between the first distance and the second distance is less than the predetermined value, the collimating component 11 has a better collimating effect on the light emitted by the emitting component 21.
反射组件12用于将经过准直组件11准直后的光线反射到接收组件22中。准直组件11准直后的光线与反射组件12反射后的光线平行。其中,由于反射组件12可能对准直组件11准直后的光线进行一次或多次的反射,因此,此处的反射组件12反射后的光线具体指的是经反射组件11反射完毕且将要入射到接收组件22中的光线。反射到接收组件22中的光线能够用于确定发射组件21的光轴与接收组件22的光轴之间的夹角,也即用于确定发射组件21的光轴与接收组件22的光轴之间的平行度。The reflecting component 12 is used to reflect the light collimated by the collimating component 11 to the receiving component 22. The light rays collimated by the collimating component 11 are parallel to the light rays reflected by the reflecting component 12. Among them, since the reflective component 12 may be aligned with the collimated light of the collimating component 11 for one or more reflections, the light reflected by the reflective component 12 here specifically refers to the light that has been reflected by the reflective component 11 and is about to be incident. To the light in the receiving assembly 22. The light reflected into the receiving component 22 can be used to determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22, that is, to determine the difference between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22. Parallelism between.
反射组件12包括第一反射面121及第二反射面122。第一反射面121与第二反射面122之间的夹角为90°,第一反射面121与准直组件11的出光面111相对,且与准直组件11的光轴呈45°夹角,第二反射面122与接收组件22的收光面221相对。The reflective component 12 includes a first reflective surface 121 and a second reflective surface 122. The included angle between the first reflective surface 121 and the second reflective surface 122 is 90°, the first reflective surface 121 is opposite to the light-emitting surface 111 of the collimating component 11, and forms an angle of 45° with the optical axis of the collimating component 11 , The second reflective surface 122 is opposite to the light-receiving surface 221 of the receiving component 22.
具体的,第一反射面121可以用于对准直组件11准直后的光线进行第一次反射。根据入射光和法线的夹角与反射光和法线的夹角相等的原理,经第一反射面121反射后的光线与经准直组件11准直后的光线成90°夹角,也即,经第一反射面121反射后的光线与准直组件11准直后的光线垂直。经第一反射面121反射后的光线继续射向第二反射面122,第二反射面122用于对经第一反射面121反射后的光线进行第二次反射。经第二反射面122反射后的光线与经第一反射面121反射后的光线垂直,且与准直组件11准直后的光线平行。由于准直组件11的光轴与发射组件21的光轴是平行或重合的,则根据a平行于b,b平行于c,则a就平行于c的原理可知,经反射组件12反射后的光线与发射组件21的光轴是平行的。进一步地,可以再次根据a平行于b,b平行于c,则a就平行于c的原理,根据经反射组件12反射后的光线是否与接收组件22的光轴平行,来判断发射组件21的光轴是否与接收组件22的光轴平行。若经反射组件12反射后的光线与接收组件22的光轴平行,则发射组件21的光轴与接收组件22的光轴平行;若经反射组件12反射后的光线与接收组件22的光轴不平行,则发射组件21的光轴与接收组件22的光轴不平行。Specifically, the first reflecting surface 121 may be used for the first reflection of the light collimated by the alignment component 11. According to the principle that the angle between the incident light and the normal is equal to the angle between the reflected light and the normal, the light reflected by the first reflecting surface 121 and the light collimated by the collimating component 11 form an angle of 90°. That is, the light reflected by the first reflecting surface 121 is perpendicular to the light collimated by the collimating component 11. The light reflected by the first reflective surface 121 continues to be directed toward the second reflective surface 122, and the second reflective surface 122 is used to reflect the light reflected by the first reflective surface 121 a second time. The light reflected by the second reflective surface 122 is perpendicular to the light reflected by the first reflective surface 121 and is parallel to the light collimated by the collimating component 11. Since the optical axis of the collimating component 11 and the optical axis of the emitting component 21 are parallel or coincident, according to the principle that a is parallel to b and b is parallel to c, then a is parallel to c. The light is parallel to the optical axis of the emitting assembly 21. Further, the principle that a is parallel to b and b is parallel to c, then a is parallel to c, and whether the light reflected by the reflecting assembly 12 is parallel to the optical axis of the receiving assembly 22 can be used to determine whether the transmitting assembly 21 is parallel. Whether the optical axis is parallel to the optical axis of the receiving assembly 22. If the light reflected by the reflective component 12 is parallel to the optical axis of the receiving component 22, the optical axis of the transmitting component 21 is parallel to the optical axis of the receiving component 22; if the light reflected by the reflective component 12 is parallel to the optical axis of the receiving component 22 If they are not parallel, the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 are not parallel.
请参阅图2,在一个例子中,反射组件12可以由第一反射镜123及第二反射镜124组合而成。第一反射镜123包括第一反射面121,第二反射镜124包括第二反射面122。第一反射镜123上的第一反射面121与准直组件11的出光面111相对,且与准直组件11的光轴呈45°夹角。第二反射镜124上的第二反射面122与接收组件22的收光面221相对。第一反射镜123和第二反射镜124例如可以为45°反射镜。反射组件12可以由两个形状为等腰直角三角形的反射镜组合而成,也可以由两块形状为直角梯形(直角梯形的锐角为45°)的反射镜组合而成,也可以由两块夹角为90°的平面反射镜组合而成等,只要满足两块反射镜的两个反射面形成的夹角为90°即可,在此不作限制。Please refer to FIG. 2. In an example, the reflective component 12 can be formed by a combination of a first reflective mirror 123 and a second reflective mirror 124. The first reflecting mirror 123 includes a first reflecting surface 121, and the second reflecting mirror 124 includes a second reflecting surface 122. The first reflecting surface 121 on the first reflecting mirror 123 is opposite to the light emitting surface 111 of the collimating component 11 and forms an angle of 45° with the optical axis of the collimating component 11. The second reflecting surface 122 on the second reflecting mirror 124 is opposite to the light receiving surface 221 of the receiving component 22. The first reflecting mirror 123 and the second reflecting mirror 124 may be 45° reflecting mirrors, for example. The reflective component 12 can be composed of two mirrors with a right-angled isosceles triangle shape, or two mirrors with a right-angled trapezoid shape (the acute angle of the right-angled trapezoid is 45°), or two mirrors. The plane mirrors with the included angle of 90° are combined, as long as the included angle formed by the two reflecting surfaces of the two mirrors is 90°, which is not limited here.
请参阅图1,在另一个例子中,反射组件12可以仅包括一个反射镜,其中,反射镜为K形镜。K形镜包括第一反射面121和第二反射面122。第一反射面121与准直组件11的出光面111相对,且与准直组件11的光轴成45°夹角。第二反射面122与接收组件22的收光面221相对。K形镜可以看作是由图2所示的第一反射镜123和第二反射镜124一体成型得到的反射镜。在使用K形镜进行平行度检测的过程中,只需要调整K形镜和准直组件11之间的相对位置即可,无需对K形镜自身进行安装或调整,可以简化检测过程所需执行的操作,降低检测的操作难度。Please refer to FIG. 1. In another example, the reflective assembly 12 may only include one reflective mirror, where the reflective mirror is a K-shaped mirror. The K-shaped mirror includes a first reflective surface 121 and a second reflective surface 122. The first reflective surface 121 is opposite to the light-emitting surface 111 of the collimating component 11 and forms an angle of 45° with the optical axis of the collimating component 11. The second reflective surface 122 is opposite to the light-receiving surface 221 of the receiving component 22. The K-shaped mirror can be regarded as a mirror obtained by integrally molding the first mirror 123 and the second mirror 124 shown in FIG. 2. In the process of using the K-shaped mirror for parallelism detection, only the relative position between the K-shaped mirror and the collimating assembly 11 needs to be adjusted. There is no need to install or adjust the K-shaped mirror itself, which can simplify the inspection process. The operation reduces the difficulty of detection operation.
处理器30可以是电脑中的处理器,也可以是手机中的处理器,还可以是服务器中的处理器等,在此不作限制。处理器30可以根据接收组件22接收到的光线在接收组件22上的成像位置来确定发射组件21的光轴与接收组件22的光轴之间的平行度。具体地,处理器30可以用于确定接收组件22接收到的光线对应在测试图像上的成像区域、计算成像区域的中心位置相对于测试图像的中心位置的偏移量、及根据偏移量及接收组件22的焦距计算夹角。The processor 30 may be a processor in a computer, a processor in a mobile phone, or a processor in a server, etc., which is not limited here. The processor 30 may determine the parallelism between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22 according to the imaging position of the light received by the receiving assembly 22 on the receiving assembly 22. Specifically, the processor 30 may be used to determine the imaging area on the test image corresponding to the light received by the receiving component 22, to calculate the offset of the center position of the imaging area with respect to the center position of the test image, and to calculate the offset according to the offset and The focal length of the receiving component 22 calculates the included angle.
请参阅图3及图4,接收组件22接收被反射组件21反射后的光线以形成测试图像,由于反射组件22反射后的多束光线是平行光线,则接收组件22接收到的光线对应在测试 图像上的成像区域为一个点A。若反射到接收组件22中的光线与接收组件22的光轴平行,则光线被接收组件22接收后,光线对应在测试图像上的成像区域(即点A)所在位置应该位于测试图像的中心位置处(如图3所示)。若反射到接收组件22中的光线未与接收组件22的光轴平行,则光线被接收组件22接收后,光线对应在测试图像上的成像区域(即点A)所在位置会与测试图像的中心位置存在偏移(如图4所示)。因此,处理器30可以根据成像区域所在位置(即成像区域的中心位置)相对于测试图像的中心位置的偏移量来确定经反射组件12反射后的光线与接收组件22的光轴之间的夹角,从而进一步确定出发射组件21与接收组件22之间的夹角。示例地,如图4所示,测试图像上的成像区域为A,处理器30计算成像区域A的中心位置对应的像素与测试图像的中心位置对应的像素之间的偏移量为:在在Y方向上偏离了a个像素,其中每个像素在Y方向上的尺寸为b。假设接收组件22的焦距为f,x为经反射组件12反射后的光线与接收组件22的光轴之间的夹角,则根据公式tanx=a*b/f,即可计算出经反射组件12反射后的光线与接收组件22的光轴之间的夹角x,该夹角x也即为发射组件21的光轴与接收组件22的光轴之间的夹角。3 and 4, the receiving component 22 receives the light reflected by the reflective component 21 to form a test image. Since the multiple beams of light reflected by the reflective component 22 are parallel rays, the light received by the receiving component 22 corresponds to the test image. The imaging area on the image is a point A. If the light reflected into the receiving component 22 is parallel to the optical axis of the receiving component 22, after the light is received by the receiving component 22, the position corresponding to the imaging area (point A) on the test image should be located at the center of the test image. At (as shown in Figure 3). If the light reflected into the receiving component 22 is not parallel to the optical axis of the receiving component 22, after the light is received by the receiving component 22, the position of the light corresponding to the imaging area (ie point A) on the test image will be the same as the center of the test image. There is an offset in position (as shown in Figure 4). Therefore, the processor 30 can determine the distance between the light reflected by the reflective component 12 and the optical axis of the receiving component 22 according to the offset of the position of the imaging area (that is, the center position of the imaging area) relative to the center position of the test image. The included angle, thereby further determining the included angle between the transmitting component 21 and the receiving component 22. For example, as shown in FIG. 4, the imaging area on the test image is A, and the processor 30 calculates the offset between the pixel corresponding to the center position of the imaging area A and the pixel corresponding to the center position of the test image as: The Y direction is offset by a pixels, and the size of each pixel in the Y direction is b. Assuming that the focal length of the receiving component 22 is f, and x is the angle between the light reflected by the reflecting component 12 and the optical axis of the receiving component 22, the reflected component can be calculated according to the formula tanx=a*b/f 12 The angle x between the reflected light and the optical axis of the receiving assembly 22, which is also the angle between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22.
在确定发射组件21的光轴与接收组件22的光轴之间的夹角之后,在一个例子中,可以根据该夹角来调整发射组件21的光轴和/或接收组件22的光轴以使得发射组件21的光轴与接收组件22的光轴之间的夹角为0°。其中,调整发射组件21的光轴和/或接收组件22的光轴可以是手动调整,也可以是由驱动组件进行调整,在此不作限制。在另一个例子中,还可以不调节发射组件21的光轴和/或接收组件22的光轴,而直接调整后端的处理算法,例如,当收发模组20为飞行时间深度相机时,可以根据该夹角来适应性地调整飞行时间深度相机中与深度信息的计算相关的处理算法,以保证飞行时间深度相机获取的深度信息的准确性。After determining the included angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22, in an example, the optical axis of the transmitting component 21 and/or the optical axis of the receiving component 22 can be adjusted according to the included angle. The angle between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22 is 0°. Wherein, adjusting the optical axis of the transmitting assembly 21 and/or the optical axis of the receiving assembly 22 may be manual adjustment, or may be adjusted by the driving assembly, which is not limited here. In another example, the optical axis of the transmitting component 21 and/or the optical axis of the receiving component 22 may not be adjusted, but the back-end processing algorithm may be directly adjusted. For example, when the transceiver module 20 is a time-of-flight depth camera, it can be adjusted according to The included angle is used to adaptively adjust the processing algorithm related to the calculation of the depth information in the time-of-flight depth camera to ensure the accuracy of the depth information obtained by the time-of-flight depth camera.
在算法处理过程中,发射器的光轴与接收器的光轴之间的平行度对于距离的计算至关重要,如何确定发射器的光轴与接收器的光轴之间的平行度成为一个亟待解决的问题。In the process of algorithm processing, the parallelism between the optical axis of the transmitter and the optical axis of the receiver is very important for the calculation of the distance. How to determine the parallelism between the optical axis of the transmitter and the optical axis of the receiver becomes a Problems to be solved.
综上所述,本申请实施方式的标定系统40通过接收反射到接收组件22中的光线确定发射组件21的光轴与接收组件22的光轴之间的夹角,以便准确检测和标定发射组件21的光轴与接收组件22的光轴是否平行。后续可以根据二者的平行度标定结果进行发射组件21的光轴和接收组件22的光轴之间的平行度的修正,或者修正收发组件20后端的处理算法,以保证收发模组20工作精度。In summary, the calibration system 40 of the embodiment of the present application determines the included angle between the optical axis of the emitting component 21 and the optical axis of the receiving component 22 by receiving the light reflected into the receiving component 22, so as to accurately detect and calibrate the emitting component Whether the optical axis of 21 and the optical axis of the receiving assembly 22 are parallel. Subsequently, the parallelism between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 can be corrected according to the parallelism calibration results of the two, or the processing algorithm at the back end of the transceiver component 20 can be modified to ensure the working accuracy of the transceiver module 20 .
请参阅图5,本申请实施方式还提供一种电子设备100。电子设备100包括壳体50以及上述的标定系统40。标定系统40与壳体50结合。例如,壳体50形成有收容空间51,标定系统40收容在收容空间51内。Referring to FIG. 5, an embodiment of the present application also provides an electronic device 100. The electronic device 100 includes a housing 50 and the calibration system 40 described above. The calibration system 40 is combined with the housing 50. For example, the housing 50 is formed with an accommodation space 51, and the calibration system 40 is accommodated in the accommodation space 51.
其中,电子设备100可以是手机、平板电脑、笔记本电脑、智能穿戴设备(如智能手环、智能手表、智能头盔、智能眼镜)、虚拟现实设备等,在此不作任何限制。在本发明的具体实施例中,电子设备100为手机。Among them, the electronic device 100 may be a mobile phone, a tablet computer, a notebook computer, a smart wearable device (such as a smart bracelet, a smart watch, a smart helmet, and a smart glasses), a virtual reality device, etc., without any limitation here. In a specific embodiment of the present invention, the electronic device 100 is a mobile phone.
请参阅图1和图6,在某些实施方式中,处理器30可以在每次收发组件20启用前,计算发射组件21的光轴与接收组件22的光轴之间的夹角,并基于该夹角对收发组件20进行相应的调整(将二者光轴调整为平行,或者调整后端的算法)。在调整完毕后,将标定装置10移出收发组件20的光路,例如图6所示的,将标定装置10沿Y轴方向移动,以移出收发组件20的光路,从而避免标定装置10对收发组件20发射及接收光线的影响。 当然,在其他实施方式中,处理器30也可以在电子设备100发生掉落时,计算发射组件21与接收组件22之间的夹角,并基于该夹角对收发组件20进行相应的调整。可以理解,在电子设备100发生掉落时,发射组件21的光轴与接收组件22的光轴之间的夹角很可能出现变化,此时,需要对两光轴之间的夹角进行重新的确定,以从而保证收发模组20工作精度。1 and 6, in some embodiments, the processor 30 may calculate the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 before each time the transceiver component 20 is activated, and based on The included angle is adjusted accordingly to the transceiver assembly 20 (the optical axes of the two are adjusted to be parallel, or the rear end algorithm is adjusted). After the adjustment is completed, move the calibration device 10 out of the optical path of the transceiver component 20. For example, as shown in FIG. The influence of the emitted and received light. Of course, in other embodiments, the processor 30 may also calculate the included angle between the transmitting component 21 and the receiving component 22 when the electronic device 100 falls, and adjust the transceiver component 20 accordingly based on the included angle. It can be understood that when the electronic device 100 is dropped, the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 is likely to change. At this time, the angle between the two optical axes needs to be reset. , So as to ensure the working accuracy of the transceiver module 20.
综上,本申请实施方式的电子设备100通过接收反射到接收组件22中的光线确定发射组件21的光轴与接收组件22的光轴之间的夹角,以便准确检测和标定发射组件21的光轴与接收组件22的光轴是否平行。电子设备100可以根据二者的平行度标定结果进行发射组件21的光轴和接收组件22的光轴之间的平行度的修正,或者修正收发组件20后端的处理算法,以保证收发模组20工作精度。In summary, the electronic device 100 of the embodiment of the present application determines the angle between the optical axis of the emitting component 21 and the optical axis of the receiving component 22 by receiving the light reflected into the receiving component 22, so as to accurately detect and calibrate the optical axis of the emitting component 21 Whether the optical axis and the optical axis of the receiving assembly 22 are parallel. The electronic device 100 can modify the parallelism between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 according to the parallelism calibration results of the two, or modify the processing algorithm at the back end of the transceiver component 20 to ensure the transceiver module 20 Work accuracy.
请参阅图1和图7,本申请实施方式还提供一种标定方法。本申请实施方式的标定方法可以用于上述的收发模组20。收发模组20包括发射组件21及接收组件22,发射组件21用于发射光线,接收组件22用于接收由发射组件21发射并被物体反射回的光线;标定方法包括:Please refer to FIG. 1 and FIG. 7, the embodiment of the present application also provides a calibration method. The calibration method of the embodiment of the present application can be used for the above-mentioned transceiver module 20. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used to transmit light, and the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected by the object; the calibration method includes:
01:利用准直组件11准直发射组件21发射的光线;01: Use the collimating component 11 to collimate the light emitted by the emitting component 21;
02:利用反射组件12将经过准直组件11准直后的光线反射到接收组件22中,准直组件11准直后的光线与反射组件12反射后的光线平行;02: Use the reflective component 12 to reflect the light collimated by the collimating component 11 into the receiving component 22, and the light collimated by the collimating component 11 is parallel to the light reflected by the reflective component 12;
03:根据反射到接收组件22中的光线确定发射组件21的光轴与接收组件22的光轴之间的夹角。03: Determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 according to the light reflected into the receiving component 22.
请参阅图1和图8,在某些实施方式中,接收组件22接收被反射组件21反射的光线以形成测试图像。步骤03根据反射到所述接收组件22中的光线确定发射组件21的光轴述接收组件22的光轴之间的夹角,包括:Referring to FIGS. 1 and 8, in some embodiments, the receiving component 22 receives the light reflected by the reflecting component 21 to form a test image. Step 03 Determining the included angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 according to the light reflected into the receiving component 22 includes:
031:确定接收组件22接收到的光线对应在测试图像上的成像区域;031: Determine that the light received by the receiving component 22 corresponds to the imaging area on the test image;
032:计算成像区域的中心位置相对于测试图像的中心位置的偏移量;及032: Calculate the offset of the center position of the imaging area relative to the center position of the test image; and
033:根据偏移量及接收组件22的焦距计算夹角。033: Calculate the included angle based on the offset and the focal length of the receiving component 22.
本申请实施方式的标定方法标定发射组件21的光轴与接收组件22的光轴之间的夹角的具体实施过程与前文所述的利用标定系统40标定发射组件21的光轴与接收组件22的光轴之间的夹角的具体实施过程相同,在此不再赘述。The specific implementation process of the calibration method of the embodiment of the present application for calibrating the included angle between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22 is the same as the aforementioned calibration system 40 for calibrating the optical axis of the transmitting assembly 21 and the receiving assembly 22 The specific implementation process of the included angle between the optical axes is the same, and will not be repeated here.
本申请实施方式的标定方法利用准直组件11来准直发射组件21发射的光线,并利用反射组件12对准直组件11准直后的光线进行反射,从而使得接收组件22可以即受到反射组件12发射后的光线。接收组件22接收到的光线可以确定出发射组件21的光轴与接收组件22的光轴之间的夹角,从而可以准确检测和标定发射组件21的光轴与接收组件22的光轴是否平行。后续可以根据二者的平行度标定结果进行发射组件21的光轴和接收组件22的光轴之间的平行度的修正,或者修正收发组件20后端的处理算法,以保证收发模组20工作精度。The calibration method of the embodiment of the present application uses the collimating component 11 to collimate the light emitted by the transmitting component 21, and uses the reflecting component 12 to align the collimated light of the collimating component 11 for reflection, so that the receiving component 22 can be immediately received by the reflecting component. 12 The light after launch. The light received by the receiving component 22 can determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22, so that it can accurately detect and calibrate whether the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 are parallel. . Subsequently, the parallelism between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 can be corrected according to the parallelism calibration results of the two, or the processing algorithm at the back end of the transceiver component 20 can be modified to ensure the working accuracy of the transceiver module 20 .
在本说明书的描述中,参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且,描述的具体特 征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。此外,在不相互矛盾的情况下,本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “examples”, “specific examples” or “some examples” etc. means to combine the described implementations The specific features, structures, materials, or characteristics described by the manners or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials, or characteristics can be combined in an appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradicting each other.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为,表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分,并且本申请的优选实施方式的范围包括另外的实现,其中可以不按所示出或讨论的顺序,包括根据所涉及的功能按基本同时的方式或按相反的顺序,来执行功能,这应被本申请的实施例所属技术领域的技术人员所理解。Any process or method description in the flowchart or described in other ways herein can be understood as a module, segment or part of code that includes one or more executable instructions for implementing specific logical functions or steps of the process , And the scope of the preferred embodiments of the present application includes additional implementations, which may not be in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. This should It is understood by those skilled in the art to which the embodiments of the present application belong.
尽管上面已经示出和描述了本申请的实施方式,可以理解的是,上述实施方式是示例性的,不能理解为对本申请的限制,本领域的普通技术人员在本申请的范围内可以对上述实施方式进行变化、修改、替换和变型。Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those of ordinary skill in the art can comment on the above within the scope of the present application. The implementation mode undergoes changes, modifications, replacements and modifications.

Claims (20)

  1. 一种标定装置,用于收发模组,其特征在于,所述收发模组包括发射组件及接收组件,所述发射组件用于发射光线,所述接收组件用于接收由所述发射组件发射并被物体反射回的所述光线;所述标定装置包括:A calibration device for a transceiver module, characterized in that the transceiver module includes a transmitting component and a receiving component, the transmitting component is used to transmit light, and the receiving component is used to receive and The light rays reflected by the object; the calibration device includes:
    准直组件,所述准直组件用于准直所述发射组件发射的光线;及A collimating component, the collimating component is used to collimate the light emitted by the emitting component; and
    反射组件,所述反射组件用于将经过所述准直组件准直后的光线反射到所述接收组件中,所述准直组件准直后的所述光线与所述反射组件反射后的所述光线平行,反射到所述接收组件中的所述光线能够用于确定所述发射组件的光轴与所述接收组件的光轴之间的夹角。A reflective component, the reflective component is used to reflect the light collimated by the collimating component to the receiving component, the light collimated by the collimating component and all the light reflected by the reflective component The light rays are parallel, and the light rays reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
  2. 根据权利要求1所述标定装置,其特征在于,所述反射组件包括第一反射面及第二反射面,所述第一反射面与所述第二反射面之间的夹角为90°,所述第一反射面与所述准直组件的出光面相对,且与所述准直组件的光轴呈45°夹角,所述第二反射面与所述接收组件的收光面相对。The calibration device according to claim 1, wherein the reflective component comprises a first reflective surface and a second reflective surface, and the included angle between the first reflective surface and the second reflective surface is 90°, The first reflective surface is opposite to the light-emitting surface of the collimating component and forms an angle of 45° with the optical axis of the collimating component, and the second reflective surface is opposite to the light-receiving surface of the receiving component.
  3. 根据权利要求2所述的标定装置,其特征在于,所述反射组件包括第一反射镜及第二反射镜,所述第一反射镜包括所述第一反射面,所述第二反射镜包括所述第二反射面。The calibration device according to claim 2, wherein the reflection component comprises a first reflection mirror and a second reflection mirror, the first reflection mirror comprises the first reflection surface, and the second reflection mirror comprises The second reflecting surface.
  4. 根据权利要求2所述的标定装置,其特征在于,所述反射组件包括一个反射镜,所述反射镜为K形镜。The calibration device according to claim 2, wherein the reflecting component comprises a reflecting mirror, and the reflecting mirror is a K-shaped mirror.
  5. 根据权利要求1所述的标定装置,其特征在于,所述准直组件与发射组件之间的距离与所述准直组件的焦距之间的差值小于预定值。The calibration device according to claim 1, wherein the difference between the distance between the collimating component and the emitting component and the focal length of the collimating component is less than a predetermined value.
  6. 根据权利要求1所述的标定装置,其特征在于,所述准直组件的光轴与发射组件的光轴平行或重合。The calibration device according to claim 1, wherein the optical axis of the collimating component is parallel to or coincides with the optical axis of the emitting component.
  7. 根据权利要求1所述的标定装置,其特征在于,所述收发模组包括飞行时间深度相机、结构光深度相机、激光雷达和接近传感器中至少一种。The calibration device according to claim 1, wherein the transceiver module includes at least one of a time-of-flight depth camera, a structured light depth camera, a lidar, and a proximity sensor.
  8. 根据权利要求2所述的标定装置,其特征在于,所述反射组件包括两个反射镜,所述反射镜的形状为等腰直接三角形或直角梯形。The calibration device according to claim 2, wherein the reflecting component comprises two reflecting mirrors, and the shape of the reflecting mirrors is an isosceles direct triangle or a right-angled trapezoid.
  9. 一种标定系统,其特征在于,包括:A calibration system is characterized in that it comprises:
    收发模组,所述收发模组包括发射组件及接收组件,所述发射组件用于发射光线,所述接收组件用于接收由所述发射组件发射并被物体反射回的所述光线;及A transceiver module, the transceiver module includes a transmitting component and a receiving component, the transmitting component is used to transmit light, and the receiving component is used to receive the light emitted by the transmitting component and reflected back by an object; and
    标定装置,所述标定装置用于标定所述发射组件的光轴与所述接收组件的光轴之间的夹角;所述标定装置包括准直组件和反射组件;所述准直组件用于准直所述发射组件发射的光线;所述反射组件用于将经过所述准直组件准直后的光线反射到所述接收组件中,所 述准直组件准直后的所述光线与所述反射组件反射后的所述光线平行,反射到所述接收组件中的所述光线能够用于确定所述发射组件的光轴与所述接收组件的光轴之间的夹角。The calibration device is used to calibrate the angle between the optical axis of the transmitting component and the optical axis of the receiving component; the calibration device includes a collimating component and a reflecting component; the collimating component is used to Collimate the light emitted by the emitting component; the reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light collimated by the collimating component and the light The light rays reflected by the reflection component are parallel, and the light rays reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
  10. 根据权利要求9所述的标定系统,其特征在于,所述反射组件包括第一反射面及第二反射面,所述第一反射面与所述第二反射面之间的夹角为90°,所述第一反射面与所述准直组件的出光面相对,且与所述准直组件的光轴呈45°夹角,所述第二反射面与所述接收组件的收光面相对。The calibration system according to claim 9, wherein the reflective component comprises a first reflective surface and a second reflective surface, and the included angle between the first reflective surface and the second reflective surface is 90° , The first reflective surface is opposite to the light-emitting surface of the collimating component and forms an angle of 45° with the optical axis of the collimating component, and the second reflective surface is opposite to the light-receiving surface of the receiving component .
  11. 根据权利要求10所述的标定系统,其特征在于,所述反射组件包括第一反射镜及第二反射镜,所述第一反射镜包括所述第一反射面,所述第二反射镜包括所述第二反射面。The calibration system according to claim 10, wherein the reflection component comprises a first reflection mirror and a second reflection mirror, the first reflection mirror comprises the first reflection surface, and the second reflection mirror comprises The second reflecting surface.
  12. 根据权利要求10所述的标定系统,其特征在于,所述反射组件包括一个反射镜,所述反射镜为K形镜。The calibration system according to claim 10, wherein the reflecting component comprises a reflecting mirror, and the reflecting mirror is a K-shaped mirror.
  13. 根据权利要求9所述的标定系统,其特征在于,所述准直组件与发射组件之间的距离与所述准直组件的焦距之间的差值小于预定值。The calibration system according to claim 9, wherein the difference between the distance between the collimating component and the emitting component and the focal length of the collimating component is less than a predetermined value.
  14. 根据权利要求9所述的标定系统,其特征在于,所述准直组件的光轴与发射组件的光轴平行或重合。The calibration system according to claim 9, wherein the optical axis of the collimating component is parallel to or coincides with the optical axis of the emitting component.
  15. 根据权利要求9所述的标定系统,其特征在于,所述收发模组包括飞行时间深度相机、结构光深度相机、激光雷达和接近传感器中至少一种。The calibration system according to claim 9, wherein the transceiver module includes at least one of a time-of-flight depth camera, a structured light depth camera, a lidar, and a proximity sensor.
  16. 根据权利要求9所述的标定系统,其特征在于,所述反射组件包括两个反射镜,所述反射镜的形状为等腰直接三角形或直角梯形。The calibration system according to claim 9, wherein the reflection component includes two reflection mirrors, and the shape of the reflection mirrors is an isosceles direct triangle or a right-angled trapezoid.
  17. 根据权利要求9所述的标定系统,其特征在于,所述接收组件接收被所述反射组件反射的光线以形成测试图像,所述标定系统还包括处理器,所述处理器用于:The calibration system according to claim 9, wherein the receiving component receives the light reflected by the reflecting component to form a test image, the calibration system further comprises a processor, and the processor is configured to:
    确定所述接收组件接收到的光线对应在所述测试图像上的成像区域;Determining that the light received by the receiving component corresponds to the imaging area on the test image;
    计算所述成像区域的中心位置相对于所述测试图像的中心位置的偏移量;及Calculating the offset of the center position of the imaging area relative to the center position of the test image; and
    根据所述偏移量及所述接收组件的焦距计算所述夹角。The included angle is calculated according to the offset and the focal length of the receiving component.
  18. 一种电子设备,其特征在于,包括:An electronic device, characterized in that it comprises:
    壳体;及Shell; and
    权利要求9或10所述的标定系统,所述标定系统与所述壳体结合。The calibration system according to claim 9 or 10, which is combined with the housing.
  19. 一种标定方法,用于收发模组,其特征在于,所述收发模组包括发射组件及接收组件,所述发射组件用于发射光线,所述接收组件用于接收由所述发射组件发射并被物体反射回的所述光线;所述标定方法包括:A calibration method for a transceiver module, wherein the transceiver module includes a transmitting component and a receiving component. The light rays reflected by the object; the calibration method includes:
    利用准直组件准直所述发射组件发射的光线;Collimating the light emitted by the emitting component by using a collimating component;
    利用反射组件将经过所述准直组件准直后的光线反射到所述接收组件中,所述准直组件准直后的所述光线与所述反射组件反射后的所述光线平行;及Using a reflective component to reflect the light collimated by the collimating component to the receiving component, the light collimated by the collimating component is parallel to the light reflected by the reflective component; and
    根据反射到所述接收组件中的所述光线确定所述发射组件的光轴与所述接收组件的光轴之间的夹角。The angle between the optical axis of the transmitting component and the optical axis of the receiving component is determined according to the light reflected into the receiving component.
  20. 根据权利要求19所述的标定方法,其特征在于,所述接收组件接收被所述反射组件反射的光线以形成测试图像,所述根据反射到所述接收组件中的所述光线确定所述发射组件的光轴与所述接收组件的光轴之间的夹角,包括:The calibration method according to claim 19, wherein the receiving component receives the light reflected by the reflecting component to form a test image, and the transmitting component is determined according to the light reflected into the receiving component. The angle between the optical axis of the component and the optical axis of the receiving component includes:
    确定所述接收组件接收到的光线对应在所述测试图像上的成像区域;Determining that the light received by the receiving component corresponds to the imaging area on the test image;
    计算所述成像区域的中心位置相对于所述测试图像的中心位置的偏移量;及Calculating the offset of the center position of the imaging area relative to the center position of the test image; and
    根据所述偏移量及所述接收组件的焦距计算所述夹角。The included angle is calculated according to the offset and the focal length of the receiving component.
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