WO2022241778A1 - Appareil de transmission pour détection de profondeur de temps de vol et dispositif électronique - Google Patents

Appareil de transmission pour détection de profondeur de temps de vol et dispositif électronique Download PDF

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Publication number
WO2022241778A1
WO2022241778A1 PCT/CN2021/095294 CN2021095294W WO2022241778A1 WO 2022241778 A1 WO2022241778 A1 WO 2022241778A1 CN 2021095294 W CN2021095294 W CN 2021095294W WO 2022241778 A1 WO2022241778 A1 WO 2022241778A1
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light
area
emitting
power
emitting units
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PCT/CN2021/095294
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English (en)
Chinese (zh)
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陈华
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深圳市汇顶科技股份有限公司
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Priority to CN202180004735.XA priority Critical patent/CN114502985A/zh
Priority to PCT/CN2021/095294 priority patent/WO2022241778A1/fr
Publication of WO2022241778A1 publication Critical patent/WO2022241778A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters

Definitions

  • the present application relates to the technical field of depth detection, and more specifically, to a transmitting device and electronic equipment for time-of-flight depth detection.
  • Time of flight (TOF) depth detection is a common three-dimensional depth detection method. Its principle is to calculate the distance of the target object by measuring the flight time of signal light in space.
  • the TOF depth detection device has a transmitting device and a receiving device. The transmitting device emits the incident signal light, and the receiving device receives the reflected signal light reflected by the target object, and detects the round-trip time between the incident signal light and the reflected signal light to obtain the distance information of the target object. Due to its advantages of high precision and large measurement range, it has great development prospects in the fields of consumer electronics, unmanned driving, augmented reality or virtual reality (AR/VR).
  • AR/VR augmented reality or virtual reality
  • the TOF depth detection and emission device generates signal light and projects the signal light to the target object, also known as the signal light projector, here specifically refers to the Spot ToF speckle projector. It is one of the core components of the TOF depth detection device, which determines the accuracy of three-dimensional imaging. At present, due to the high cost of components of the signal light projector, the manufacturing cost of the TOF depth detection device remains high, which limits the application of the TOF depth detection device. Therefore, how to reduce the cost of the TOF depth detection device is an urgent problem to be solved.
  • the embodiment of the present application provides a time-of-flight depth detection emission device and electronic equipment, which effectively reduces the cost of the device while ensuring the speckle projection effect of the TOF depth detection emission device, and expands the application of the depth detection device.
  • the present application provides a time-of-flight TOF depth detection transmitting device, the transmitting device is used to project a speckle array composed of N speckles to a target object at a target field of view, where N is a positive integer
  • the emission device includes: a light source, the light source has a light-emitting array composed of N light-emitting units, and the N light-emitting units are used to emit N beams of spot light; a projection lens, the field angle of the projection lens is equal to the target field of view Field angle, the projection lens is used to collimate the N beams of spot light and project the N beams of spot light to the target object at the target field angle to generate the N beams of light on the target object
  • the power of each of the N speckles is equal to the power of a light emitting unit that generates each of the speckles.
  • the emission device does not include an expensive optical diffraction element, and only through two optical elements, the light source and the projection lens, the number of light-emitting units configured with the light source, and the optical properties of the projection lens, can project the light onto the target object.
  • the speckle projected by three kinds of optical elements: light source, collimating mirror, and diffraction element can still achieve the same projection effect as the diffraction element without the diffraction element, which effectively reduces the overall cost of the TOF depth detection transmitter device. cost, expanding the application range of TOF depth detection devices.
  • the power of the speckle is equal to the power of the light emitting unit.
  • the emitting device does not include a diffraction element, and the point beams emitted from each light emitting unit are not split, but directly emitted through the projection lens. Therefore, the energy of the spot beam will not be dispersed due to the diffraction effect of the diffraction element, so that the energy of the spot beam reaching the target object to generate speckle is equal to the energy of the spot beam emitted by the light emitting unit.
  • the power of the speckles reaching the object to be detected is equal to the light emitting power of the light emitting unit, so that the light path of the light emitting device is simpler, the light path efficiency is higher, and the energy use efficiency is improved.
  • the light source is a vertical cavity surface emitting laser.
  • a vertical cavity surface emitting laser with stable operation is used as the light source, and the emitted beam has a small divergence angle and concentrated energy, and the formed spot quality is higher.
  • the power of the light emitting units close to the geometric center in the light emitting array is smaller than the power of the light emitting units far from the geometric center.
  • the geometric center is the center of the light source.
  • the center of the light source is the center of the circle; for another example, if the light-emitting array of the light source forms a rectangular light-emitting area, the center of the light source is The center of symmetry of the rectangle.
  • the light-emitting units are configured to emit light with different powers, so that the light-emitting units far away from the central area of the light source can emit light with greater power, which effectively improves the distance from the light-emitting center.
  • the point light emitted by the light-emitting unit passes through the receiving lens, and its brightness is lower than that of the point light emitted by the light-emitting unit near the light-emitting center due to the vignetting of the edge after passing through the receiving lens, so that the edge area of the final imaging image after N speckles pass through the target object
  • the brightness is relatively improved, which effectively improves the vignetting phenomenon and improves the imaging effect of the depth detection device.
  • the light emitting array includes multiple regions, and among the multiple regions, the power of the light emitting units in the region close to the geometric center is smaller than the power of the light emitting units in the region far from the geometric center.
  • the light emitting array includes: a first area close to the geometric center and a second area far away from the geometric center, the light emitting units in the first area and the light emitting units in the second area
  • the light emitting unit respectively emits spot lights with a first power and a second power, the first power being smaller than the second power.
  • the light-emitting array is a rectangular light-emitting area
  • the first area is an elliptical area centered on the geometric center
  • the second area is the rectangular light-emitting area divided by the Areas outside the first area.
  • the elliptical area is tangent to the rectangular area.
  • the light-emitting array is a rectangular light-emitting area
  • the first area is a circular area centered on the geometric center
  • the second area is the rectangular light-emitting area except the Areas outside the first area.
  • the circular area is tangent to the rectangular area.
  • the division of the light source is set, and the light-emitting units in different areas emit light at the same time at different powers, which more effectively compensates for the distance from the center of the light source and the short path of the light path.
  • the energy loss of long point light in the light path is set, and the light-emitting units in different areas emit light at the same time at different powers, which more effectively compensates for the distance from the center of the light source and the short path of the light path.
  • the light-emitting units in different areas emit light at different powers at the same time, and the light-emitting units in the area farther away from the center of the light source emit light with greater power, so that the corresponding imaging image
  • the difference between the energy of the edge area and the energy of the central area is reduced, effectively improving the vignetting phenomenon.
  • the quantity ratio of the light emitting units in the first region to the light emitting units in the second region is 336:242.
  • the light emitting array includes: a first area close to the geometric center and a third area far away from the geometric center, and an area between the first area and the third area the second region of the first region, the light emitting unit of the first region, the light emitting unit of the second region and the light emitting unit of the third region respectively emit point light with the first power, the second power and the third power, and the The first power is less than the second power, and the second power is less than the third power.
  • the light-emitting array is a rectangular light-emitting area
  • the first area is an elliptical area centered on the geometric center
  • the second area is an oval area centered on the geometric center and
  • the third area is an area of the rectangular light emitting area except the first area and the second area.
  • the light-emitting array is a rectangular light-emitting area
  • the first area is a circular area with the geometric center as the center
  • the second area is a circular area with the geometric center as the center and An annular area surrounding the circular area
  • the third area is an area of the rectangular light emitting area except the first area and the second area.
  • the division of the light source is further refined, so that the closer to the edge area, the greater the luminous power.
  • the divisions emit spot beams to the target object at the same time, the spot beams in different areas go through different optical paths and finally reach closer energy.
  • the level can further improve the brightness of the edge area of the imaging image, making the relative illuminance of the entire image of the imaging image more consistent, and effectively improving the imaging quality of the depth detection device.
  • the power of the light emitting unit is determined according to the relative illuminance of an imaging image generated after the N speckles pass through the target object.
  • the power of the light emitting unit is such that a relative illuminance difference of an imaging image generated after the N speckles pass through the target object is smaller than a preset threshold.
  • the light emitting aperture of the vertical cavity surface emitting laser is 5-8 ⁇ m.
  • VCSEL with smaller luminous aperture is used as the light source, because in the absence of diffraction element beam splitting, a smaller lens focal length is required to obtain a large field of view.
  • a smaller VCSEL can make the spot formed when reaching the target object not become larger due to the smaller focal length of the lens. It is possible to further improve the quality of the speckle reaching the target object while reducing the cost of the emission device.
  • the focal length of the projection lens is 1.2-1.4 mm.
  • a projection lens with a smaller focal length and a larger field of view is used to directly project the light beam emitted by the light source to the target object, without using a diffraction element, Ensure the field of view of the launch device.
  • the focal length of the projection lens By configuring the focal length of the projection lens, the measurement range of the emission device is no longer affected by the diffraction ability of the diffraction element, which effectively guarantees the quality of the light spot emitted by the emission device to the target object.
  • the vertical cavity surface emitting laser is processed by a single-junction process.
  • the vertical cavity surface emitting laser can be processed by a single-junction process with simple production and low cost, without affecting While the speckle effect produced by the emitting device is used, the cost of the emitting device is further saved.
  • the projection lens is made of plastic material.
  • the projection lens includes a plurality of lenses arranged back and forth along the optical axis, and the plurality of lenses are used to collimate the N beams of spot light and project the N beams of spot light to the target object to generate the N speckles on the target object.
  • the device further includes: a ceramic substrate, and the light source is disposed on the ceramic substrate.
  • the N light emitting units are evenly distributed in the light emitting array.
  • the light-emitting array composed of the N light-emitting units includes a plurality of light-emitting sub-arrays, and each of the light-emitting sub-arrays includes at least part of the light-emitting sub-arrays uniformly distributed in the light-emitting sub-arrays
  • the plurality of light-emitting sub-arrays have a spacing equal to the preset threshold, and no light-emitting units are distributed within the spacing.
  • the shapes of the plurality of light emitting sub-arrays are the same, and each of the light emitting sub-arrays includes an equal number of light emitting units.
  • an electronic device including: the transmitting device for TOF depth detection as mentioned in the first aspect and any possible implementation of the first aspect, the transmitting device is used to use the target field of view in the The target object generates N speckles, N is a positive integer, and the N speckles are used to project to the target object; the sensor is used to receive the light signal returned by the speckle through the target object, and send the returned The optical signal is converted into a corresponding electrical signal; the control unit is used for calculating the depth information from the electrical signal, and controlling the operation of the electronic device according to the depth information.
  • Fig. 1 is a schematic structural diagram of a Spot TOF depth detection and emission device of the present application.
  • FIG. 2 is a schematic light field distribution diagram of a speckle projected by an optical signal passing through an optical collimation element according to the present application.
  • Fig. 3 is a schematic structural diagram of a transmitter for TOF depth detection in the present application.
  • FIG. 4 is a schematic light field distribution diagram of speckle projected by an optical signal of the present application after passing through a projection lens.
  • FIG. 5 is a schematic diagram of the relative illuminance distribution of an imaging image of the present application.
  • Fig. 6 is a schematic structural diagram of another transmitting device of the present application.
  • FIG. 7 is a schematic diagram of a light-emitting sub-array in an emission device according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of divisions of light sources in an emitting device of the present application.
  • FIG. 9 is a schematic diagram of the relative illuminance distribution of another imaging image of the present application.
  • FIG. 10 is a graph showing the relationship between image height and relative illuminance of another imaging image of the present application.
  • FIG. 11 is a schematic diagram of divisions of light sources in another emitting device of the present application.
  • FIG. 12 is a schematic diagram of the relative illuminance distribution of still another imaging image of the present application.
  • FIG. 13 is a graph showing the relationship between image height and relative illuminance of another imaging image of the present application.
  • FIG. 14 is a schematic structural diagram of an electronic device of the present application.
  • FIG. 15 is a schematic structural diagram of another electronic device of the present application.
  • time of flight (TOF) depth detection is a mainstream three-dimensional depth detection method.
  • TOF depth detection can be divided into surface light time-of-flight depth detection (Flood TOF) and spot light time-of-flight depth detection (Spot TOF), among which Spot TOF depth detection has a large range and high precision ,
  • the advantages of low power consumption In the Spot TOF depth detection device, the light source is usually a point light source, and the optical signal reaching the target object is a speckle light composed of several light points. Therefore, the depth detection emission device in the Spot TOF is also called a speckle projector. Composed of optical collimation elements, optical replication elements and other components. Due to the high cost of the speckle projector in the Spot TOF depth detection device, the cost of the Spot TOF depth detection device remains high, which limits the application of the Spot TOF depth detection device.
  • FIG. 1 is a schematic structural diagram of a Spot TOF depth detection transmitter.
  • the Spot TOF depth detection and emission device 100 includes a light source 101, a light collimation element 102, and a light replication element 103.
  • the TOF depth detection transmitting device, TOF depth detection receiving device and TOF depth detection device described in this application are all devices applied to Spot TOF depth detection.
  • the light source 101 is excited by the driving current to emit light signals.
  • the Spot TOF depth detection device usually uses active light illumination, and selects a light source with a suitable band to emit light signals according to the sensitivity band of the image sensor of the Spot TOF depth detection device.
  • the Spot TOF depth detection device usually uses a device capable of emitting high-frequency modulated pulsed light in the near-infrared and infrared bands as a light source.
  • the light source 101 is a vertical cavity surface emitting laser (Vertical cavity surface emitting laser, VCSEL).
  • VCSEL is a semiconductor diode laser.
  • the emitted laser beam generally leaves the device from the top surface and in a substantially vertical manner.
  • the VCSEL light source has many advantages such as small size, high power, small beam divergence angle, and stable operation. It is a depth detection system.
  • the embodiment of this application uses VCSEL as an example for illustration.
  • the light source may be a VCSEL chip with multiple light emitting points on a single chip, and the multiple light emitting points are arranged in a two-dimensional matrix, correspondingly emitting multiple laser signals to form a matrix laser signal array.
  • the light source 101 is an edge emitting laser (Edge emitting laser, EEL) or a light emitting diode (Light emitting diodes, LED).
  • EEL edge emitting laser
  • LED Light emitting diodes
  • the light source 101 may be one type of light source, or may be a combination of the above-mentioned multiple light sources.
  • the optical signal can be an optical signal carrying a spatial optical pattern that has been optically modulated, processed, or controlled, it can be an optical signal that has been optically modulated, processed, or controlled for sub-area illumination, or it can be a periodic optical signal that has been optically modulated, processed, or controlled.
  • the optical collimation element 102 is an optical element that converts the optical signal emitted by the light source 101 into highly collimated parallel light. It is commonly used in various optical systems that use point light as a light source. It can be collimated with different optical elements.
  • One of the core components of laser equipment such as laser engraving machines and welding machines.
  • the light collimating element 102 is a collimating mirror, using glass or plastic lenses.
  • the collimating mirror can change the beam diameter and divergence angle of the optical signal emitted by the light source 101, so that the beam becomes a collimated parallel beam with more concentrated energy, and obtains a small high-density light spot.
  • the embodiment of the present application uses a collimating mirror as an example for description. It should be understood that the light collimating element 102 may also be other single optical element or a combination of multiple optical elements capable of achieving beam collimating effects.
  • Fig. 2 is a schematic light field distribution diagram of a speckle projected by an optical signal after passing through an optical collimation element.
  • the number of light spots in the light field is consistent with the number of light-emitting units in the light source.
  • 102 has a limited field of view, and the light spot formed by the light signal emitted from the light collimation element 102 cannot fill the entire light field, and only concentrates in the central area, which will limit the detection range of the Spot TOF depth detection device, thus requiring optical replication
  • the component replicates the light spot to obtain a light spot that can fill the entire light field.
  • the light duplication element 103 is used for splitting the collimated parallel light beam passing through the light collimation element 102 .
  • the light replication element 103 is used to replicate the high-density light spot obtained by the light collimation element 102 .
  • the field angle of the light collimation element 102 is 20°*15°, where 20° is the level of the light collimation element Field of view, 15° is the vertical field of view of the optical collimation element, the optical signal is converted into a parallel optical signal after passing through the optical collimation element 102, if the optical signal replication element 103 can replicate the light spot by 3*3 times, then The optical signal passing through the optical replication element 103 will become a speckle optical signal composed of 270 light spots and projected on the detection target, and the field of view formed by the optical signal finally projected by the Spot TOF depth detection device is 60° *45°.
  • the optical signal replication element 103 is an optical diffraction element (Diffraction optical element, DOE).
  • DOE optical diffraction element
  • the embodiment of the present application uses the DOE as an example for description.
  • the DOE is usually made of glass or plastic, and is used to replicate the light beam emitted by the VCSEL light source at a certain multiple and project it outward. Sparse and dense speckle patterns can be projected into the space, or structured light patterns of various modes can be formed.
  • the diffraction ability of DOE or in other words, the reproduction ability determines the measurement range of the depth detection system.
  • the optical signal replication element 103 is a micro lens array (Micro lens array, MLA) or a grating (Diffraction grating, DG).
  • optical signal replication element 103 may be one of DOE, MLA or DG, or may be a combination of various optical elements.
  • the light source, light collimation element, and light replication element are important components of the speckle projector of the Spot TOF depth detection device, and the cost of the above three components is relatively high, resulting in the high cost of the Spot TOF depth detection device.
  • the high cost limits the application range of the Spot TOF depth detection device to a certain extent.
  • the embodiment of the present application provides a TOF depth detection emission device, which is applied to Spot TOF, reduces the overall cost of the emission device under the premise of ensuring the performance of the emission device, reduces the manufacturing cost of the TOF depth detection device, and expands the TOF depth detection The range of application of the device.
  • Fig. 3 is a schematic structural diagram of a Spot TOF depth detection and emission device according to an embodiment of the present application.
  • the transmitter 300 for TOF depth detection includes:
  • a light source 301 the light source has N light emitting units, and the N light emitting units are used to emit N beams of spot light;
  • the angle of view of the projection lens is equal to the target angle of view
  • the projection lens is used to collimate the N beams of spot light and project the N beams of spot light at the target angle of view to the target object to generate N speckles on the target object
  • the power of each of the N speckles is equal to the power of a light emitting unit that generates each of the speckles.
  • the emission device 300 does not include the light-replicating element 103 .
  • the VCSEL has N light-emitting units, which are excited by the excitation current to emit N beams of spot light.
  • the N beams of spot light are collimated by the projection lens and directly projected onto the target object to form N speckle spots.
  • the N beams of spot light emitted by the VCSEL and collimated by the projection lens will not be split, and the viewing angle of the projection lens is the viewing angle of the entire emitting device. Since there is no diffraction effect of the diffraction element, the amount of speckle reaching the target object is the same as the amount of spot light emitted by the VCSEL.
  • the emission device for TOF depth detection in the embodiment of the present application can project the speckle that originally required three kinds of optical elements to the target object through only two kinds of optical elements, which saves expensive optical diffraction elements and reduces the TOF depth detection.
  • the overall cost of the launch device can project the speckle that originally required three kinds of optical elements to the target object through only two kinds of optical elements, which saves expensive optical diffraction elements and reduces the TOF depth detection.
  • the emitting device does not include a diffractive element
  • the point beams emitted from each light emitting unit will not be split, but will directly exit through the projection lens. Therefore, the energy of the spot beam will not be dispersed due to the diffraction effect of the diffraction element, so that the energy of the spot beam reaching the target object to generate speckle is equal to the energy of the spot beam emitted by the light emitting unit. It should be understood that this process does not consider the energy loss of the spot beam in the optical path.
  • the power of each light emitting unit of the VCSEL is 90mW
  • a beam of spot light sequentially passes through a collimating mirror
  • the DOE with a 9-fold beam splitting effect is then Divide into 9 beams of spot light, each beam of spot light energy is equal, and reach the target object to produce 9 speckle spots, and the power of each speckle spot is 10mW.
  • the power of each light-emitting unit of the VCSEL is 10mW
  • one beam of spot light reaches the target object after passing through the projection lens to generate one speckle. is 10mW.
  • the emission device does not include diffraction elements with diffraction effect, which on the one hand makes the optical path simpler, facilitates production and calibration, and improves the efficiency of the optical path and energy use efficiency; on the other hand, the power of the speckle on the surface of the target object is equal to that of the VCSEL
  • the power of the light-emitting unit compared with the depth detection emission device with a diffraction element, requires less power for the light-emitting unit of the VCSEL, which saves the cost of the TOF depth detection device to a certain extent.
  • the VCSEL is fabricated using a single-junction process.
  • the power requirement of the light emitting unit of the VCSEL is relatively high, which needs to be realized by using a multi-junction (multi-PN junction) process.
  • the single-point power of the VCSEL in the emission device of the embodiment of the present application is low, and the single-junction process with low technical difficulty and low cost can be used to produce a VCSEL light source that can be applied to the TOF depth detection device, further reducing the power of the emission device. cost.
  • the luminescent aperture of the VCSEL is 5-8 ⁇ m.
  • the luminous aperture of the VCSEL is usually 12 ⁇ m; while in the TOF depth detection emission device of the present application, a VCSEL with a smaller luminous aperture is used, for example, a VCSEL with a luminous aperture of 6 ⁇ m, so that The speckle reaching the target object will not become larger due to the reduction of the focal length of the lens.
  • a VCSEL with a smaller light-emitting aperture saves the diffraction element and further improves the quality of the speckle reaching the target object. The effect in depth detection.
  • the focal length of the projection lens 302 is 1.2-1.4 mm.
  • the focal length of the lens has a corresponding relationship with its field of view, the smaller the focal length, the larger the field of view.
  • the divergence angle of the light will be determined by the projection lens, that is, the viewing angle of the projection lens is the viewing angle of the entire projection device.
  • the embodiment of the present application adopts a projection lens with a smaller focal length and a larger field of view, which ensures the field of view of the speckle projected by the emission device, and further improves the quality of the light spot emitted by the emission device to the target object.
  • the focal length of the collimating mirror is 2.6mm, and the corresponding viewing angle is 20°*15°.
  • N speckles are formed upon reaching the target object, and the viewing angle of the emitting device is 40°*30°; however, in the emitting device of the present application, a projection lens with a smaller focal length is used, for example, the focal length is The 1.3mm projection lens corresponds to a field of view of 40°*30°.
  • VCSEL emits N beams of spot light that are directly projected onto the target object through the projection lens to form N speckles.
  • the field of view of the emitting device is 40°* 30°.
  • the projection lens with a smaller focal length and a larger field of view can directly project the light beam emitted by the light source to the target object, which can ensure the emission without using a diffraction element.
  • the field of view of the device By configuring the focal length of the projection lens, the measurement range of the emission device is no longer affected by the diffraction ability of the diffraction element, which effectively guarantees the quality of the light spot emitted by the emission device to the target object.
  • the projection lens is made of plastic material.
  • the projection lens made of plastic material can further reduce the cost of the device while reducing the weight of the device.
  • the projection lens includes a plurality of lenses arranged back and forth along the optical axis, for collimating the N beams of spot light and projecting the N beams of spot light to the target object to generate the N speckles on the target object.
  • the projection lens may be one lens, or may be a combination of multiple lenses, and the combination of multiple lenses satisfies the viewing angle required for projecting N speckles.
  • the sending device further includes: a ceramic substrate, on which the light source of the sending device is disposed.
  • the receiving device for TOF depth detection corresponding to the transmitting device for TOF depth detection in the embodiment of the present application includes:
  • the imaging lens is used to receive the depth optical signal formed after the N speckles pass through the target object;
  • a photoelectric sensor the photoelectric sensor is used to convert the depth light signal into an electrical signal.
  • the emission device of the embodiment of the present application does not include a diffraction element, and the speckle projected on the target object will not be distorted due to diffraction. Distortion is a kind of phase difference, which will lead to image deformation and distortion of collected information.
  • the transmitting device directly avoids this part of the large-influenced distortion from the hardware, so that the receiving device for TOF depth detection used in conjunction with it can receive N speckles without diffraction distortion, effectively improving the imaging quality of the receiving device.
  • the imaging lens is an imaging lens that does not generate negative distortion.
  • the distortion caused by the emission device in the depth detection system including the diffraction element, the distortion caused by the diffraction element in the emission device is compensated by configuring the imaging lens to generate negative distortion, software processing and other means.
  • the depth detection emission device of the embodiment of the present application does not include a diffraction element, which avoids the distortion caused by the diffraction element from the source. While reducing the overall cost of the device, it does not require additional configuration of the distortion on the hardware, which can indirectly reduce the cost of the receiving device. hardware cost.
  • Fig. 4 is a schematic light field distribution diagram of speckle projected by the emission device for TOF depth detection according to an embodiment of the present application. It can be seen from FIG. 4 that the emission device of the embodiment of the present application can project a preset number of speckles to a target object with a larger viewing angle without a diffraction element.
  • the emission device of the embodiment of the present application uses a VCSEL that can be manufactured by a simple single-junction process as a light source.
  • the N beams of spot light emitted by the VCSEL are collimated through a projection lens with a large field of view and directly projected onto the target object to form N scattered beams.
  • the speckle with a simpler optical path design and higher energy utilization efficiency, achieves the same speckle projection effect as the high-cost emission device including the diffraction element, effectively reducing the cost and production difficulty of the emission device.
  • the power of the light emitting units close to the center of the light source is smaller than the power of the light emitting units far from the center of the light source.
  • the center of the light source is the geometric center.
  • the center of the light source is the center of the circle; for another example, if the light-emitting array of the light source forms a rectangular light-emitting area, the center of the light source is The center of symmetry of the rectangle.
  • the emission device can effectively reduce the cost and cost of the emission device due to the saving of expensive optical diffraction elements, but it needs to use a projection lens with a relatively large field of view, which will result in the same power and energy emitted from the VCSEL.
  • the point beam emerges from the center of the projection lens, it has higher efficiency and less energy loss; when it emerges from the edge of the projection lens, the efficiency is lower and the energy loss is greater.
  • the inherent vignetting angle of the receiving lens in the receiving device is finally projected to the target.
  • the edge speckle energy of the object is smaller than that of the center speckle, and the vignetting phenomenon is obvious.
  • the light-emitting units by configuring the light-emitting units to emit light with different powers, the light-emitting units far away from the central area of the light source can emit light with greater power, and finally project the edge speckle energy of the target object
  • the energy is similar to that of the central speckle, effectively improving the quality of the speckle emitted by the emitting device, and improving the imaging quality of the depth detection device.
  • FIG. 5 shows a schematic diagram of a relative illuminance distribution of an imaging image according to an embodiment of the present application.
  • the X-axis and Y-axis are the imaging plane of the imaging image, and the Z-axis is the normalized energy representation of the imaging image.
  • the above-mentioned TOF depth detection emission device can effectively reduce the cost and cost of the emission device because it saves the expensive optical diffraction element, but it needs to use a projection lens with a relatively large field of view, which will lead to the emission from the VCSEL.
  • Point beams with the same power and energy have higher efficiency and less energy loss when they emerge from the center of the projection lens; they have lower efficiency and greater energy loss when they emerge from the edge of the projection lens, and the edge speckle energy projected to the target object is smaller than that of the central speckle.
  • the energy of the speckle, together with the inherent illuminance distribution vignetting angle of the receiving lens finally makes the relative illuminance of the imaging image as shown in Figure 5, which is darker around and brighter in the center.
  • the present application proposes a time-of-flight depth detection transmitter device, which can effectively improve the vignetting phenomenon and improve the imaging quality of the depth detection device through the partition design of the VCSEL.
  • the light source has N light-emitting units, and the N light-emitting units are used to emit N beams of spot light.
  • the power of the light-emitting units close to the center of the light source is smaller than the power of the light-emitting units far away from the center of the light source;
  • the projection lens is used to collimate the N beams of spot light and project the N beams of spot light to the target object to generate N speckle spots on the target object.
  • the light emitting units close to the center of the light source emit light at the same time as the light emitting units far from the center of the light source.
  • the projection lens uses different magnitudes of current to simultaneously excite the light-emitting units near the center of the light source and the light-emitting units far away from the center of the light source to emit point beams with different energies at different powers, so that the point beams far away from the center of the light source have larger energy
  • the point beam close to the center of the light source passes through the projection lens with less energy, so that the energy of the edge speckle projected to the target object is similar to the energy of the central speckle, which effectively improves the vignetting phenomenon of the corresponding imaging image.
  • the global consistency of the relative illuminance of the imaging image is improved, and the imaging quality of the depth detection device is improved.
  • the light source includes multiple areas, and the multiple areas simultaneously emit point lights with different powers.
  • the light-emitting units of the light source are partitioned, and the light-emitting units in different areas simultaneously emit point lights with different powers; the light-emitting units in the same area emit point lights with the same power at the same time.
  • the light sources include:
  • the first area and the second area respectively emit spot light with a first power and a second power, and the first power is smaller than the second power.
  • the embodiment of the present application also provides a time-of-flight depth detection emission device, which is used to project a speckle light array composed of N speckles to the target object at the target field of view.
  • the TOF depth detection device 600 includes :
  • the light source 601 has a light-emitting array composed of N light-emitting units, and the N light-emitting units are used to emit N beams of spot light.
  • the light-emitting array includes a first area and a second area, and the geometric center of the light-emitting array is located in the first area, surrounded by the second area In the first area, M light-emitting units in the N light-emitting units are located in the first area, and the remaining N-M light-emitting units are at least partially located in the second area, wherein the light-emitting units in the first area and the light-emitting units in the second area are respectively The first power and the second power emit point light at the same time, and the first power is smaller than the second power;
  • the projection lens 602 has an angle of view of the projection lens, and the projection lens is used to collimate N beams of spot light and project the N beams of spot light to the target object to generate a speckle light array composed of N speckles on the target object.
  • the field angle is equal to the field angle of the perspective lens.
  • a TOF depth detection emission device that does not include DOE is used. While reducing the overall cost of the TOF depth detection emission device, through the partition design of the light source, the light emitting units in different areas emit light at different powers at the same time, close to the geometric center The power of the light-emitting unit is small, and the light-emitting power far away from the center of the light source is relatively large. On the one hand, it can compensate for the inherent illuminance distribution dark angle of the receiving lens of the time-of-flight depth detection device, and on the other hand, it can compensate for the energy loss of the point light in the optical path.
  • the speckle in the speckle array used for imaging reaches a similar energy level, and finally the brightness of the edge area of the corresponding imaging image is relatively improved, which effectively improves the vignetting phenomenon and improves the global consistency of the relative illuminance of the imaging image. Improving the imaging quality of the depth detection device.
  • the N light emitting units are evenly distributed in the light emitting array.
  • all light emitting units in the light source can form a light emitting array, and all light emitting units are evenly distributed in this light emitting array, and the speckle array projected to the target object also corresponds to the light emitting array, and is a uniformly distributed speckle array.
  • the light-emitting array composed of N light-emitting units includes a plurality of light-emitting sub-arrays, each light-emitting sub-array includes at least part of N light-emitting units uniformly distributed in the light-emitting sub-arrays, and there is a predetermined threshold between the light-emitting sub-arrays Equal spacing, there is no light-emitting unit distribution within the spacing.
  • all light-emitting units in the light source can form multiple light-emitting arrays, that is, multiple light-emitting sub-arrays, and some light-emitting units are evenly distributed in each light-emitting sub-array, and the light-emitting units in all light-emitting sub-arrays are equal to all light-emitting units.
  • There is a certain distance between each light-emitting sub-array and this distance is equal to the preset threshold value.
  • the preset threshold value can be set according to the shape requirements of the speckle array composed of the speckle of the projected target object. Between the light-emitting sub-array and the light-emitting sub-array There is no light-emitting unit distribution in the pitch of the array.
  • the light source 700 includes 10 light-emitting subarrays, wherein 701-705 are light-emitting sub-arrays with a first size, 706-708 are light-emitting sub-arrays with a second size, and 709-710 are The light-emitting sub-arrays have a third size, the first size, the second size and the third size are different from each other, the light-emitting sub-arrays have equal intervals and no light-emitting units are distributed in the intervals.
  • the plurality of light-emitting sub-arrays have the same shape and contain an equal number of light-emitting units.
  • the light emitting array of the light source can be arranged and set.
  • the arrangement and setting of the light-emitting array of the light source can make the light source meet the requirements of depth detection more flexibly.
  • FIG. 8 shows a schematic partition diagram of a light source in a TOF depth detection device according to an embodiment of the present application.
  • the light source 601 has a rectangular light-emitting area.
  • the first area 801 is an elliptical area with the center of the light source as the center, including M light emitting units, emitting M beams of spot light with the first power; the second area 802 is a rectangular light emitting area except the first area
  • the area includes N-M light emitting units, which emit N-M spot lights with the second power.
  • M is a positive integer, M ⁇ N.
  • the elliptical area is tangent to the rectangular area. That is, the second region 802 is tangent to the rectangular light emitting region.
  • the first area 801 is a circular area with the center of the light source as the center, including M light emitting units, emitting M beams of spot light with the first power;
  • the second area 802 is a rectangular light emitting area except the first area
  • the area includes N-M light emitting units, which emit N-M spot lights with the second power.
  • M is a positive integer, M ⁇ N.
  • the circular area is tangent to the rectangular area.
  • the division of the light source is set, and the first area is fitted into an elliptical area, so that the shape of the second area is more consistent with the actual vignetting area.
  • the light-emitting unit emits light at the same time with different powers, which more effectively compensates for the energy loss of the point light far away from the center of the light source and with a long optical path in the optical path of the emitting device, and the inherent relative illuminance of the receiving lens in the receiving device is lower than that of the center. optical properties.
  • the first area 801 has 336 light emitting units
  • the second area 802 has 242 light emitting units
  • the ratio of the number of light emitting units in the first area to the second area is 336:242.
  • the light source further includes a plurality of solder pads respectively electrically connected to different regions of the light source.
  • the light source 601 also includes:
  • the first pad 8001 is used to electrically connect all the light emitting units in the first area;
  • the second pad 8002 is used to connect all the light emitting units in the first sub-region of the second region;
  • the third pad 8003 is used to electrically connect all the light emitting units in the second sub-region of the second region.
  • the second region can be further subdivided into two symmetrical sub-regions, so that when separated by the first region, the first sub-region of the second region and the The second sub-area of the second area can simultaneously excite the N-M light-emitting units in the second area with the same excitation current to emit light with the same power, in order to further fit the vignetting shape of the actual imaging image.
  • the division of the sub-regions facilitates the two-dimensional wiring of the light-emitting unit, has no special requirements on the production process, and facilitates the production and preparation of the light source.
  • FIG. 9 shows a schematic diagram of the relative illuminance distribution of another imaging image according to the embodiment of the present application.
  • FIG. 10 shows the relationship between image height and relative illuminance of another imaging image according to the embodiment of the present application.
  • the values in the figure are normalized values.
  • Curve A represents that the VCSEL is not partitioned, the light-emitting units of the VCSEL all emit light at the same power, and the relative illuminance of the corresponding imaging image decreases as the image height increases, that is, the closer to the edge of the image, the darker the image;
  • Curve B is the The light-emitting unit of the VCSEL is divided into the first area and the second area and emits light with the first power and the second power respectively.
  • the relative illuminance of the corresponding imaging image, curve B is located above the curve A, and the relative illuminance of the imaging image corresponding to the curve B is obvious.
  • the relative illuminance becomes significantly larger, and the vignetting is improved.
  • the light source 601 includes:
  • the light-emitting units in the first area, the light-emitting units in the second area, and the light-emitting units in the third area respectively emit point lights with first power, second power, and third power, the first power is less than the second power, and the second power is less than the second power.
  • FIG. 11 is a schematic diagram of partitions of VCSELs in another TOF depth detection device according to an embodiment of the present application.
  • the light source 601 has a rectangular light emitting area.
  • the first area 1101 is an elliptical area with the center of the light source as the center, including M light emitting units, and emits M beams of spot light with the first power
  • the second area 1102 is an annular area centered on the center of the light source, and the ring The area surrounds the elliptical area, or the inner ring of the annular area coincides with the ellipse, including K light emitting units, emitting K beam spot light with the second power
  • the third area 1103 is a rectangular light emitting area except the first area and the second area
  • the area includes N-M-K light emitting units, which emit N-M-K spot lights with the third power. Both M and K are positive integers and M+K ⁇ N.
  • the first area 1101 is a circular area centered on the center of the light source, including M light emitting units, and emits M beams of spot light with the first power
  • the second area 1102 is an annular area centered on the center of the light source. The area surrounds the circular area, or the inner ring of the annular area coincides with the circle, including K light-emitting units, which emit K beams of spot light with the second power
  • the third area 1103 is a rectangular light-emitting area except the first area and the second area
  • the area includes N-M-K light emitting units, which emit N-M-K spot lights with the third power. Both M and K are positive integers and M+K ⁇ N.
  • the edge area of the light source is further partitioned so that the luminous power of the area closer to the edge is greater. According to the further partition, when the point beams are emitted to the target object at different powers at the same time, the point beams in different areas pass through different optical paths and finally reach a closer energy level.
  • the brightness of the edge area of the imaging image can be further improved, so that the relative illuminance of the entire image of the imaging image is more consistent, and the imaging quality of the depth detection device is effectively improved.
  • the second area is divided into a first sub-area and a second sub-area symmetrically distributed with respect to the first area
  • the third area is separated by the first area and the second area into a third sub-area symmetrical with respect to the first area and the fourth subregion.
  • the light source 601 also includes:
  • the first pad 1111 is used to electrically connect all the light emitting units in the first area
  • the second pad 1112 is used to electrically connect all the light emitting units in the first sub-region
  • the third pad 1113 is used to electrically connect all the light emitting units in the second sub-region
  • the fourth pad 1114 is used to electrically connect all the light emitting units in the third sub-region;
  • the fifth pad 1115 is used to electrically connect all the light emitting units in the fourth sub-region.
  • FIG. 12 shows a schematic diagram of the relative illuminance distribution of still another imaging image according to the embodiment of the present application.
  • FIG. 13 shows the relationship between image height and relative illuminance of still another imaging image according to the embodiment of the present application.
  • Curve A represents that the VCSEL is not partitioned, the light-emitting units of the VCSEL all emit light at the same power, and the relative illuminance of the corresponding imaging image decreases as the image height increases;
  • Curve B represents that the light-emitting units of the VCSEL are divided into the first area, The second area and the third area emit light with the first power, the second power, and the third power respectively, and the relative illuminance of the corresponding imaging image, the curve B is located above the curve A, and the relative illuminance difference of the curve B is further reduced.
  • the significant degree of illuminance variation with image height is further reduced, and the vignetting is further improved.
  • the power of the light emitting unit is determined according to the relative illuminance of an imaging image generated after the N speckles pass through the target object.
  • the first power, the second power and the third power are determined according to the relative illuminance of the imaging image generated after the N speckles pass through the target object.
  • the imaging image generated by the N speckles passing through the target object also has the centers corresponding to the first area, the second area, and the third area respectively. area, sub-edge area, edge area.
  • the power of the light emitting unit makes the relative illuminance difference of the imaging image generated after the N speckles pass through the target object smaller than a preset threshold.
  • the ratio of the second power to the first power makes the ratio of the relative illuminance of the edge area and the central area of the imaging image greater than or equal to 0.6.
  • the embodiment of the present application also provides an electronic device 1400, including:
  • the emission device 300 described in the embodiment of the present application is used to generate N speckles at a target field of view, where N is a positive integer, and the N speckles are used for projecting to a target object;
  • a sensor 1401 configured to receive the optical signal returned by the speckle through the target object, and convert the returned optical signal into a corresponding electrical signal;
  • the control unit 1402 is configured to calculate the depth information according to the depth information, and perform operation control on functions of the electronic device according to the depth information.
  • FIG. 15 is a schematic structural diagram of the electronic device according to the embodiment of the present application.
  • Electronic device 1500 includes:
  • the transmitting device 600 for TOF depth detection is used to generate N speckles on the target object, where N is a positive integer, and the N speckles are used to enable the electronic device to measure the depth information of the target object;
  • the image sensor 1401 is configured to receive N speckle reflected lights generated by N speckles reflected by the target object, and generate a multi-frame image containing depth information according to the N speckled reflected lights;
  • the control unit 1502 is configured to calculate the depth information according to the multiple frames of images, and perform operation control on functions of the electronic device according to the depth information.
  • the electronic device in the embodiment of the present application may be a portable or mobile computing device such as a terminal device, a mobile phone, a tablet computer, a notebook computer, a desktop computer, a game device, a vehicle electronic device, or a wearable smart device, and Electronic databases, automobiles, bank ATMs (Automated Teller Machines, ATMs) and other electronic equipment.
  • the wearable smart device includes full-featured, large-sized, complete or partial functions independent of smartphones, such as smart watches or smart glasses, etc., and only focuses on a certain type of application functions, and needs to cooperate with other devices such as smartphones Use, such as various smart bracelets, smart jewelry and other equipment for physical sign monitoring.
  • the disclosed systems and devices can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present application.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

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  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
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  • Electromagnetism (AREA)
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Abstract

L'invention concerne un appareil de transmission (300, 600) pour la détection de profondeur de temps de vol et un dispositif électronique (1400, 1500). L'appareil de transmission (300, 600) est utilisé pour projeter un réseau de tavelures composé de N tavelures sur un objet cible dans un champ de vue cible, où N est un nombre entier positif. L'appareil de transmission (300, 600) comprend : une source de lumière (301, 601) qui comporte N unités d'émission de lumière utilisées pour émettre N faisceaux de lumière ponctuelle ; et une lentille de projection (302, 602), le champ de vue de la lentille de projection (302, 602) étant égal au champ de vue cible, la lentille de projection (302, 602) étant utilisée pour collimater les N faisceaux de lumière ponctuelle et projeter les N faisceaux de lumière ponctuelle sur l'objet cible dans le champ de vue cible de manière à générer un réseau de tavelures constitué de N tavelures sur l'objet cible, et la puissance de chacune des N tavelures étant égale à la puissance des unités d'émission de lumière qui génèrent chaque tavelure. Seuls deux éléments optiques peuvent être utilisés pour projeter des tavelures qui nécessitaient à l'origine l'utilisation de trois éléments optiques, ce qui réduit efficacement le coût de l'appareil tout en garantissant l'effet de projection de tavelures de l'appareil de transmission (300, 600) pour la détection de profondeur de temps de vol.
PCT/CN2021/095294 2021-05-21 2021-05-21 Appareil de transmission pour détection de profondeur de temps de vol et dispositif électronique WO2022241778A1 (fr)

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