CN109839792A - The structured light projecting device, electronic equipment and its application for having encoded light - Google Patents
The structured light projecting device, electronic equipment and its application for having encoded light Download PDFInfo
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- CN109839792A CN109839792A CN201711196142.XA CN201711196142A CN109839792A CN 109839792 A CN109839792 A CN 109839792A CN 201711196142 A CN201711196142 A CN 201711196142A CN 109839792 A CN109839792 A CN 109839792A
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- 238000012545 processing Methods 0.000 description 8
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- 238000003384 imaging method Methods 0.000 description 4
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Abstract
One has the structured light projecting device of encoded light, including a laser emitter, a photomask, a calibration lens system and a diffraction optical element, wherein the light of laser emitter sending forms a fixed pattern through the photomask, is collimated after the collimating lens system and projects after diffraction optical element auxiliary diffusion to the extraterrestrial target.
Description
Technical field
The present invention relates to photography field of electronic device, structured light projecting device, the electricity for having encoded light further to one
Sub- equipment and its application, further relate to one by generate encoded light come generate fixed pattern coded structured light projection fill
It sets, electronic equipment and its application.
Background technique
With the development of science and technology, photography electronic equipment also increasingly has been favored by people, naturally, people are to taking the photograph
The functional requirement of shadow electronic equipment is also higher and higher.And for photographic equipment, such as depth camera can obtain the depth of target
The functions such as 3D scanning, imaging or modeling may be implemented in information, and therefore, depth camera is also gradually applied in largely photography electronics
In equipment, so that photography electronic equipment increase is more multi-functional, and then brings people and preferably experience.
As depth camera one of the ost important components, the superiority and inferiority for projecting quality directly affects deeply structured light projecting device
Spend the image quality of camera.In the prior art, the structured light projecting device of depth camera generallys use light source formation one and does not advise
Then pattern and it is projected to extraterrestrial target, then acquires mould group and receive reflection light, and generate required image by processor.But
The irregular pattern that be due to common structure light be on being arranged by light source is formed, while forming directional light simultaneously by collimating mirror
It replicates and is diffused on diffraction optical element DOE, ultimately form diffraction structured light projective module group.And in light source design often
Using simple hot spot, so also referred to as pattern optical mode group.It is general to only have because of the mutual difference very little of hot spot
Spot size, dilute close point and position difference, therefore it is difficult to acquire identification after mould group receives pattern.
Under normal conditions, the structured light projecting device of traditional depth camera in order to guarantee issue structure light can be accurate
The characteristic point A that collects extraterrestrial target information, be to be formed not using any combination between face light, linear light or point light
The structure light of the pattern of rule, goes the information of capture space clarification of objective point A, therefore, generates just because of the light source
The irregular pattern of same spot, the distinctive points very little between hot spot, and then not can guarantee the structure light can fully by
Identification, and then the acquisition of information that leads to not the information for getting certain characteristic point A or characteristic point A is not comprehensive etc., Jin Erying
Ring photographic quality.
For example, currently used speckle optical projection device is to go out irregular light beam by laser transmitter projects by least
A piece of collimation lens collimation, be then split by diffraction optical element (DOE), diffraction and form multiple duplications not
The pattern of rule, is then irradiated to extraterrestrial target, the characteristic information of extraterrestrial target is acquired with this, therefore, the speckle light projection
The structure light that device issues is the irregular pattern irregularly arranged carried out based on same spot, therefore may be in calibration
The limitation of environment or equipment of itself ability and there is error, and then will lead to and can not be accurately obtained the certain of extraterrestrial target
Characteristic point depth information, and then influence photographic quality.
In addition, due to the scrambling of the pattern light, cause to be split by diffraction optical element, diffraction is made
With and when forming multiple light beams, can not distinguish the borderline region between each light beam, and then lead to the spy in acquisition extraterrestrial target
When reference ceases, corresponding characteristic information can not be identified, and then influence image quality.
Under normal conditions, the characteristic point information for going to obtain extraterrestrial target comprehensively as much as possible is ensured that, it is traditional
Structured light projecting device needs to be arranged more light sources, goes to project extraterrestrial target with the light beam for issuing more as far as possible, therefore, will
A large amount of energy of light source is consumed, and increases wear rate, not only influences imaging effect, but also reduces the service life of equipment.
Summary of the invention
It is an object of the present invention to provide one have an encoded light structured light projecting device, electronic equipment and its answer
With the coded structured light for being capable of forming fixed pattern is projected to the surface of extraterrestrial target, and then preferably identifies extraterrestrial target
Depth information reduces calibrated error, accuracy of identification is improved, to guarantee three-dimensional imaging quality.
It is another object of the present invention to provide one have an encoded light structured light projecting device, electronic equipment and its answer
With, the encoded light is issued by having the laser light source of coding pattern, is collimated by collimating mirror, DOE duplication diffusion, to be formed admittedly
The coded structured light for determining pattern projects extraterrestrial target.
It is another object of the present invention to provide one have an encoded light structured light projecting device, electronic equipment and its answer
With, light beam is issued by area source, the encoded light is formed by a photomask, is collimated by collimating mirror, DOE duplication diffusion, with
The coded structured light for forming fixed pattern projects extraterrestrial target.
It is another object of the present invention to provide one have an encoded light structured light projecting device, electronic equipment and its answer
With the fixed pattern of the coded structured light will not be influenced with environmental change or equipment of itself factor, and then will not
There is error generation, to guarantee the stability of projection quality.
It is another object of the present invention to provide one have an encoded light structured light projecting device, electronic equipment and its answer
With wherein forming the encoded light of various patterns when the photomask has transparent area and then passes the beam through the photomask.
It is another object of the present invention to provide one have an encoded light structured light projecting device, electronic equipment and its answer
With wherein the encoded light diffuses to form the coded structured light of multiple fixed patterns in process collimation, duplication, and each
The coded structured light borderline region identification of the fixed pattern is more accurate, so as to can be clear knowledge when acquiring information
Not Chu characteristic information so that the acquisition of image is more accurate, quick.
It is another object of the present invention to provide one have an encoded light structured light projecting device, electronic equipment and its answer
With wherein the structured light projecting device can reduce light source energy consumption, reduction equipment attrition rate increases service life.
It is another object of the present invention to provide one have an encoded light structured light projecting device, electronic equipment and its answer
With structure is simple, and practicability is high, at low cost.
One aspect under this invention, the present invention further provides the structured light projecting device that one has encoded light, for
It projects to an extraterrestrial target comprising: a laser emitter, a photomask, collimating lens system and a diffraction optical element,
The light that wherein laser emitter issues forms a fixed pattern, the quilt after the collimating lens system through the photomask
It collimates and projects after diffraction optical element duplication diffusion to the extraterrestrial target.
In some embodiments, the collimating lens system is between the photomask and the diffraction optical element.
In some embodiments, the photomask includes a transparent substrate and is set to the one opaque of the substrate
Layer, the light non-transmittable layers form multiple transparent areas by etch process, and the light beam that the laser emitter issues passes through described more
A transparent area forms the fixed pattern.
In some embodiments, the light transmission of the light hole that the laser emitter emits beam against the photomask
Area.
It in some embodiments, further include a structural support, wherein the structural support has a channel, wherein
The laser emitter, the photomask, the calibration lens system and the diffraction optical element are successively installed on described logical
Road.
It in some embodiments, further comprise a wiring board, wherein the circuit board electrical connection is sent out in the laser
Emitter.
Another aspect according to the present invention, the present invention also provides the structured light projecting devices that one has encoded light, for throwing
One extraterrestrial target of shadow comprising:
One encoded light source；
One calibration lens system；With
One diffraction optical element, wherein the encoded light source issues the encoded light for having coding pattern, by the collimation
Mirror is collimated, and projects the extraterrestrial target after diffraction optical element duplication diffusion.
In some embodiments, the collimating lens system be located at the encoded light source and the diffraction optical element it
Between.
According to a further aspect of the invention, the camera for the structured light projecting device for having encoded light the present invention also provides one
Mould group comprising: an acquisition mould group and above structure optical projection device, wherein the structured light projecting device containing photomask is thrown
The coded structured light with fixed pattern is penetrated to the surface of the extraterrestrial target and is received by the acquisition mould group after being reflected.
According to a further aspect of the invention, the present invention also provides an electronic equipments, for an extraterrestrial target of photographing, packet
It includes: an equipment body and one or more above-mentioned camera mould groups, wherein the camera mould group can be operatively installed on the equipment
Main body, for the extraterrestrial target of photographing.
According to a further aspect of the invention, the present invention also provides the methods that one generates structure light comprising step: passes through
One laser emitter issue light through a photomask formed a fixed pattern, after collimating lens system be collimated and
A coded structured light is formed after diffraction optical element duplication diffusion.
In some embodiments, the photomask includes a transparent substrate and is set to the one opaque of the substrate
Layer, the light non-transmittable layers form multiple transparent areas by etch process, and the light beam that the laser emitter issues passes through described more
A transparent area forms the fixed pattern.
According to a further aspect of the invention, the present invention also provides the methods that one generates structure light comprising step: passes through
One encoded light source issues the encoded light for having fixed pattern, is collimated after collimating lens system and through a diffraction optics
A coded structured light is formed after element duplication diffusion.
Detailed description of the invention
Fig. 1 is the structural representation of the structured light projecting device for having encoded light according to a preferred embodiment of the present invention
Figure.
Fig. 2A is the part knot of the structured light projecting device for having encoded light according to a preferred embodiment of the present invention
Structure schematic diagram.
Fig. 2 B is that the part of the structured light projecting device for having encoded light according to a preferred embodiment of the present invention shows
It is intended to.
Fig. 3 is the part-structure of the structured light projecting device for having encoded light according to a preferred embodiment of the present invention
Schematic diagram.
Fig. 4 is the part-structure of the structured light projecting device for having encoded light according to a preferred embodiment of the present invention
Schematic diagram.
Fig. 5 is the part-structure of the structured light projecting device for having encoded light according to a preferred embodiment of the present invention
Schematic diagram.
Fig. 6 is the electronic equipment of the structured light projecting device for having encoded light according to a preferred embodiment of the present invention
Structural schematic diagram.
Fig. 7 is the structural representation of the structured light projecting device for having encoded light of the first variant embodiment according to the present invention
Figure.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
Design according to the present invention provides the structured light projecting device, electronic equipment and its application for having encoded light, energy
It enough forms the coded structured light of fixed pattern and projects the surface of extraterrestrial target, and then preferably obtain the depth of extraterrestrial target
Information, and then more accurate standard, to guarantee tripleplane's quality.
The structured light projecting device 100 for having encoded light of the preferred embodiment of the present invention shown in A and Fig. 2 B as shown in Figure 1, Figure 2
For being applied to the depth information that a camera mould group obtains extraterrestrial target, wherein the structured light projecting device for having encoded light
100 include a laser emitter 10, a photomask 20, a calibration lens system 30 and a diffraction optical element 40, wherein described swash
Optical transmitting set 10 issue light 11 through the photomask 20 formed a fixed pattern, after the collimating lens system 30 it is quasi-
Projection is to the extraterrestrial target directly and after the diffraction optical element 40 duplication diffusion, to complete to project.That is,
The light 11 that the laser emitter 10 issues forms the encoded light for having fixed pattern by the photomask 20, then described
Encoded light forms specific fixed pattern after the colimated light system 30 is collimated and the diffraction optical element 40 duplication is spread
Coded structured light, be then projected to the extraterrestrial target, and then obtain the depth information of the extraterrestrial target.Preferably, institute
The depth information that fixed pattern shape enables the camera mould group more accurately to obtain the extraterrestrial target is stated, to improve three
Tie up the quality of projection.
It is noted that the collimating lens system 30 be located at the photomask 20 and the diffraction optical element 40 it
Between, the photomask 20 can be sequentially passed through with the light for guaranteeing that the laser emitter 10 emits, the calibration lens system 30
With the diffraction optical element 40.
In the present embodiment, the laser emitter 10 launches light 11 and forms an initial optical path 111, wherein described
Photomask 20 is arranged on the optical circuit path direction of the initial optical path 111, so that the initial optical path 111 passes through the light
Exposure mask 20 simultaneously forms the encoded light 112 with fixed pattern, i.e., the cross section of the described encoded light 112 is the fixed figure
Case.That is, light in the initial optical path 111 can front illuminated covered in the photomask 20, and by the light
Film 20 forms the encoded light 112 with fixed pattern.Preferably, the photomask 20 can completely receive described initial
The irradiation of light in optical path 111, to prevent the initial optical path 111 from leaking out from the side of the photomask 20, furthermore
The encoded light 112 is to pass through the photomask 20 by the light in the initial optical path 111 to be formed, and then guarantee described solid
The shape for determining pattern is fixed shape.Preferably, the shape of the fixed pattern makes the receiving module of the camera mould group
It can identify the structure light of extraterrestrial target surface reflection, more accurately so as to preferably obtain the depth of the extraterrestrial target
Information, to obtain the characteristic point information of the extraterrestrial target.As shown in figure 3, the photomask 20 has an area of the pattern 23,
Described in area of the pattern 23 be made of multiple opaque areas 231 and multiple transparent areas 232, wherein the opaque area 231 prevent
The light beam 11 passes through, wherein the transparent area 232 allows the light beam 11 to pass through.The initial optical path 111 passes through the light
The transparent area 232 of exposure mask 20 simultaneously forms the encoded light 112, wherein the shape of the fixed pattern is similar to the light transmission
The shape in area 232, wherein the shape of the transparent area 232 can be one or more groups of cross, circle, rectangular etc. of combination, into
And the cross section of the encoded light 112 can be limited by the shape and structure of the area of the pattern 23 of the photomask 20
Shape, and then guarantee that the encoded light 112 has fixed shape.
Preferably, it is preferably area source that the laser emitter 10, which has multiple laser light sources, to launch described in one group
Light beam 11, and then form the initial optical path 111.
It should be noted that each light source all has a light hole to issue the light, it can be according to the light
The shape of the transparent area 232 of exposure mask 20 is come the position of the light hole for the light source of arranging.In other words, the light source
The light hole position correspond to the photomask 20 the transparent area 232 shape so that from the Laser emission
The light that the light hole of device 10 issues can be irradiated to the transparent area 232 along straight line, and then reduce light and be irradiated to institute
Opaque area 231 is stated, to reduce the consumption of light energy.Meanwhile reducing the quantity of the light source of the laser emitter 10,
Light source energy consumption is reduced, equipment attrition rate is reduced, increases service life.
It is noted that the light also can be that the arrangement of laser emitters that multiple laser emitters 10 are formed generates
Light beam, to adapt to more demands.
It can be seen that the light transmission with the photomask 20 always of the fixed pattern of the encoded light 112
The shape in area 232 is consistent, and the shape of the transparent area 232 of the photomask 20 can design according to demand；And the light
20 material settling out of exposure mask, therefore the structured light projecting device 100 will not be influenced with environmental change or equipment of itself reason
The fixed pattern of the coded structured light, and then will not have error generation, to guarantee the stability of projection quality.
In the present embodiment, the photomask 20 includes a substrate 21 and a light non-transmittable layers 22, wherein 21 quilt of the substrate
It is arranged in the optical circuit path of the initial optical path 111, wherein the substrate 21 is made of a translucent material, it is preferably high-purity
Degree, antiradar reflectivity, the quartz glass of low thermal coefficient of expansion.The light non-transmittable layers 22 are disposed in described in the substrate 21 and formation
The opaque area 231 of area of the pattern 23 is to prevent the light beam 11 from passing through, wherein the light non-transmittable layers 22 have fixation
Shape simultaneously reserves the transparent area 232 so that the light beam 11 passes through the transparent area 232 to form the encoded light 112.
That is, to form the area of the pattern 23, and then being made described by the way that the light non-transmittable layers 22 are arranged in the substrate 21
Initial optical path 111 passes through the area of the pattern 23 and forms the encoded light 112.
It is noted that the light non-transmittable layers 22 can be artificially arranged in the substrate 21, i.e., the described light non-transmittable layers
22 can be configured to the pattern of different structure shape, so that the shape and structure of the area of the pattern 23 can be manually set,
And then control the shape of the fixed pattern, i.e., the shape and structure of the cross section of the described encoded light 112, to guarantee the fixed figure
The shape of case is fixed, and then the coded structured light is made to be projected to the extraterrestrial target in the form of fixed pattern, is known with increasing
Other precision.
Preferably, the light non-transmittable layers 22 are etched by process means such as etchings, there is fixed pattern to be formed
The area of the pattern 23 the transparent area 232, and then obtain corresponding to the fixed pattern of the characteristic point of the extraterrestrial target,
Described in initial optical path 111 can be by the transparent area 232 that is etched to form, but can not be by the institute that is not etched
Opaque area 231 is stated, to form the fixed beam 112 with the fixed pattern.Under normal conditions, pass through etching means
The minimum feature of the fixed pattern formed is distributed between 2-5um, each transparent area 232 can be c-type, it is cross, three
The shapes such as angular or one or more groups of combinations.It is worth noting that current etching technique is quite mature, error is low, and then make institute
The precision for stating the fixed pattern of photomask 20 is very high, and then keeps the precision of the fixed pattern of the encoded light 112 also higher,
It can ensure that the size and shape of the fixed pattern meet design requirement, the camera mould group can be made to receive space mesh
The pattern that the coded structured light of mark reflection is formed can be identified more accurately, and then be improved to the extraterrestrial target
The accuracy that characteristic information obtains, to improve three-dimensional imaging quality.
In addition, the thermal expansion coefficient of the photomask 20 is lower, and then it is not susceptible to thermal deformation, stability is high.Namely
It says, the size and shape of the area of the pattern 23 are more stable, guarantee the stability of the fixed pattern with this, prevent because of heat
Deformation and the shape for influencing the fixed pattern is changed, and then ensure the stability of the coded structured light, to guarantee to project
The stability of reflection light when extraterrestrial target, and then ensure that the camera mould group can accurately identify the extraterrestrial target
Depth information.
The calibration lens system 30 is arranged in the optical circuit path of the encoded light 112, wherein in the encoded light 112
Light pass through and the calibration lens system 30 and collimated by the calibration lens system 30, and form a collimated light path 113,.Also
It is to say, the calibration lens system 30 only collimates the encoded light 112, the shape without influencing the fixed pattern, with
This guarantees that the shape of the fixed pattern is still stable.
In the present embodiment, the calibration lens system 30 is a piece of collimation lens, that is to say, that the structured light projection dress
Setting 100 only needs a piece of collimation lens that can meet the collimation to the light beam 11, more meets the needs of people with this.
It should be pointed out that as shown in Figure 4 and Figure 5, the calibration lens system 30 can be implemented as two panels collimation lens
It is even more.It is understood that the number of the collimation lens of the calibration lens system 30 does not cause to limit to the present invention, only
Collimating effect need to be met.
The diffraction optical element 40 is arranged on the optical circuit path of the collimated light path 113, wherein the collimated light path
Light in 113 passes through the diffraction optical element 40 and by 40 beam splitting of diffraction optical element, diffraction to replicate divergent contour
At the similar coded structured light 1141 of multiple shapes and form an optical diffraction 114.That is, the extraterrestrial target is in
In the optical diffraction 114, so that the coded structured light projects the surface of the extraterrestrial target.Therefore, have when described
When the coded structured light 1141 of fixed pattern is irradiated to the surface of the extraterrestrial target, it can generate and also have figurate reflection
Light, and then when the camera mould group receives the reflection light, the extraterrestrial target can be identified more accurately
Depth information, to guarantee tripleplane's quality.Relative to traditional pattern optical projection device, due to the fixed pattern
Coded structured light enable the reflection light more accurately identifying by the camera mould group so that tripleplane
Quality is more accurate.
In the present embodiment, the diffraction optical element 40 is a kind of optical lens with duplication diffusion beam effect,
That is DOE.
It is noted that the coded structured light 1141 of the optical diffraction 114 is launched in the form of diffusion,
To cover extraterrestrial target as far as possible, and since the coded structured light 1141 is duplicated into multiple, and then guarantee the space
Clarification of objective point can be projected and be identified by the coded structured light 1141.That is, at the extraterrestrial target
When the optical diffraction 114, the characteristic point of the extraterrestrial target can be by the corresponding throwing of at least one coded structured light 1141
It penetrates, is not collected with the information of this characteristic point for preventing the extraterrestrial target, and then prevent from influencing photographic quality.
It can be seen that due to the coded structured light 1141 by the diffraction optical element 40 duplication formed it is multiple, in turn
It is capable of the quantity of opposite reduction laser light source, and then reduces the consumption of the power of the laser emitter 10, more saves energy
Source.Also, relative to traditional pattern light, there is asking for the structure light area projecting space target that can not generate fixed pattern
Topic, the structured light projecting device for having encoded light of the invention can be using the coded structured light with fixed pattern
1141 projecting space targets, and then calibration effect is more preferable, so that the identification of pattern is more accurate.
It is pointed out that between the coded structured light 1141 in per the adjacent optical diffraction 114 that there are one
Borderline region 11411 is made wherein the shape of the borderline region 11411 is similar to the figure on the fixed pattern boundary with this
The shape for obtaining the borderline region 11411 can be identified.That is, in the characteristic point information for acquiring the extraterrestrial target
When, the borderline region 11411 between the coded structured light 1141 can be identified easily, and then guarantees the space
Clarification of objective point information can be distinguished accurately, and then guarantee image quality.It is projected relative to traditional speckle light
There are the feelings that can not accurately identify the feature between the boundary of adjacent structure light in the structure light of the irregular pattern of device
Condition, and then largely lead to the mistake acquisition to characteristic point information, and then influence image quality.
In the present embodiment, the structured light projecting device 100 further comprises a structural support 50, wherein the knot
Structure supporting element 50 has a channel, wherein the laser emitter 10, the photomask 20, the calibration lens system 30 and described
Diffraction optical element 40 is successively mounted longitudinally in the channel, wherein the optical diffraction 114 is projected from the channel, with
Expose to the surface of extraterrestrial target.
The structured light projecting device 100 for having encoded light further comprises a wiring board 60, wherein the wiring board
60, which are electrically connected to the laser emitter 10, issues the light beam 11 to control the laser emitter 10, wherein the route
Plate 60 is installed in the bottom side in the channel.Preferably, the wiring board 60 cooperates the structural support 50 by the channel
Bottom side closing, to prevent ambient from interfering the light beam 11.
As shown in fig. 6, the camera mould group and electronic equipment of the structured light projecting device 100 for having encoded light, wherein
The camera mould group of the structured light projecting device 100 for having encoded light includes acquisition a mould group 200,300 and of a processing module
Has the structured light projecting device 100 of encoded light described in one, wherein the structured light projecting device projection tool for having encoded light
There is the coded structured light of fixed pattern to the surface of the extraterrestrial target and reflect a reflected beams, wherein the reflected beams
It is received by the acquisition mould group, wherein the acquisition mould group is communicatively connected to the processing module, for the processing mould
Block generates corresponding image.
The electronic equipment of the camera mould group of the structured light projecting device 100 for having encoded light include an equipment body and
Has the camera mould group of the structured light projecting device 100 of encoded light described in one or more, wherein the structure for having encoded light
The camera mould group of optical projection device 100 can be operatively installed on the equipment body, for by the knot for having encoded light
The camera mould group of structure optical projection device 100 generates corresponding image and is shown in the equipment body, to meet the photography need of people
It asks.It is understood that the processing module can integrate in the control mainboard of the equipment body.
The method that the structured light projecting device 100 for having encoded light generates coded structured light comprising following steps:
The light issued by the laser emitter 10 through the photomask 20 formed the encoded light 112 for having fixed pattern,
It is collimated after the collimating lens system 30 and forms the coded structured light after 40 beam splitting of diffraction optical element
1141, for projecting the extraterrestrial target.
The structured light projecting device for having encoded light of first variant embodiment of the invention as shown in Figure 7, this deformation are real
Apply example structured light projecting device 100A and the preferred embodiment of the present invention the difference is that, the knot for having encoded light
Structure optical projection device 100A includes an encoded light source 10A, a calibration lens system 30 and a diffraction optical element 40, wherein the volume
Code light source 10A issues the encoded light 11A for having coding pattern, collimated by the calibration lens system 30, and spreads out described in process
The extraterrestrial target is projected after penetrating the duplication diffusion of optical element 40, to complete tripleplane.In other words, the encoded light source
10A issues the encoded light 11A, then replicates divergent contour through the calibration lens system 30 collimation, the diffraction optical element 40
At the coded structured light 12A of fixed pattern, to project the extraterrestrial target.Preferably, the fixation of the coded structured light 12A
The shape of pattern is artificial design, can accurately be identified, to get the characteristic point information of the extraterrestrial target, is protected
Demonstrate,prove tripleplane's quality.
In the present embodiment, the collimating lens system 30 is located at the encoded light source 10A and the diffraction optical element
Between 40, so that the encoded light 11A that the encoded light source 10A is issued can successively pass through the calibration lens system 30 and institute
Diffraction optical element 40 is stated, to form the coded structured light.
It is noted that the encoded light source 10A is the light source for having coding pattern, for example, cross, triangle or
The light source for the pattern arrangement that the combinations such as circle are formed.That is, the coding pattern of the encoded light source 10A is fixed, energy
It is enough easily identified, and then the coded structured light 12A for the fixed pattern to be formed is made to be irradiated to the space mesh
When mark, the reflection light of generation is also fixed shape, and then enables camera mould group easily according to the reflection received
Light identifies the depth information of extraterrestrial target, and then improves projection quality.
In the present embodiment, the structured light projecting device 100A for having encoded light further comprises a structural support
50, wherein the structural support 50 has a channel, wherein the encoded light source 10A, the calibration lens system 30 and described
Diffraction optical element 40 is successively mounted longitudinally in the channel, wherein the coded structured light 12A is projected from the channel,
To expose to the surface of extraterrestrial target.
The structured light projecting device 100A for having encoded light further comprises a wiring board 60, wherein the wiring board
60 are electrically connected to the encoded light source 10A to control the encoded light source 10A and issue the encoded light 11A, wherein the line
Road plate 60 is installed in the bottom side in the channel.Preferably, the wiring board 60 cooperates the structural support 50 will be described logical
The bottom side in road is closed, to prevent ambient from interfering the encoded light 11A.
The method that the structured light projecting device 100A for having encoded light generates coded structured light comprising following step
It is rapid: by having the encoded light 11A of fixed pattern described in encoded light source 10A sending, after the collimating lens system 30
It is collimated and forms the coded structured light 12A after 40 beam splitting of diffraction optical element, for projecting the space
Target.
It is understood that the camera mould group and electronic equipment of the structured light projecting device 100A for having encoded light,
Wherein the camera mould group of the structured light projecting device 100 for having encoded light includes acquisition a mould group 200, a processing module
Has the structured light projecting device 100A of encoded light described in 300 and one, wherein the structured light projecting device for having encoded light
Projecting has the coded structured light 12A of fixed pattern to the surface of the extraterrestrial target and reflects the reflected beams, wherein described
The reflected beams are received by the acquisition mould group, wherein the acquisition mould group 200 is communicatively connected to the processing module 300,
So that the processing module 300 generates corresponding image.
The electronic equipment of the camera mould group of the structured light projecting device 100A for having encoded light includes an equipment body
With the camera mould group for the structured light projecting device 100 for having encoded light described in one or more, wherein the knot for having encoded light
The camera mould group of structure optical projection device 100 can be operatively installed on the equipment body, for having encoded light for described
The camera mould group of structured light projecting device 100 generates corresponding image and is shown in the equipment body, to meet the photography of people
Demand.It is understood that the processing module can integrate in the control mainboard of the equipment body.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (14)
1. a structured light projecting device, for projection a to extraterrestrial target characterized by comprising a laser emitter, a light
Exposure mask, collimating lens system and a diffraction optical element, wherein the light that the laser emitter issues is through the photomask
A fixed pattern is formed, is collimated after the collimating lens system and is thrown after diffraction optical element auxiliary diffusion
Shadow is to the extraterrestrial target.
2. structured light projecting device according to claim 1, wherein the collimating lens system be located at the photomask and
Between the diffraction optical element.
3. structured light projecting device according to claim 1, wherein the photomask includes transparent a substrate and setting
In a light non-transmittable layers of the substrate, the light non-transmittable layers form multiple transparent areas, the laser emitter by etch process
The light beam of sending passes through the multiple transparent area and forms the fixed pattern.
4. structured light projecting device according to claim 3, wherein the light hole pair that the laser emitter emits beam
The transparent area of the photomask.
5. according to claim 1 to the structured light projecting device any in 4, wherein further include a structural support, wherein
The structural support has a channel, wherein the laser emitter, the photomask, the calibration lens system and described spreading out
It penetrates optical element and is successively installed on the channel.
6. according to claim 1 to the structured light projecting device any in 4, wherein further comprise a wiring board, wherein
The circuit board electrical connection is in the laser emitter.
7. structured light projecting device according to claim 5, wherein further comprising a wiring board, wherein the wiring board
It is electrically connected to the laser emitter, and the wiring board is located at the channel bottom side.
8. a structured light projecting device, for projecting an extraterrestrial target characterized by comprising an encoded light source, a collimating mirror
System and a diffraction optical element, wherein the encoded light source issues the encoded light for having coding pattern, by the collimating mirror
It is collimated, and the extraterrestrial target is projected after diffraction optical element duplication diffusion.
9. structured light projecting device according to claim 8, wherein the collimating lens system be located at the encoded light source and
Between the diffraction optical element.
10. the camera mould group of a structured light projecting device characterized by comprising an acquisition mould group and according to claim 1 extremely
Any one structured light projecting device in 9, wherein structured light projecting device projection has the coding structure of fixed pattern
Light to the extraterrestrial target surface and received by the acquisition mould group after being reflected.
11. an electronic equipment, for an extraterrestrial target of photographing characterized by comprising an equipment body and one or more bases
Camera mould group described in any one of claim 10, wherein the camera mould group can be operatively installed on the equipment body, for photography
The extraterrestrial target.
12. a method for generating structure light, which is characterized in that comprising steps of the light issued by a laser emitter is through one
Photomask forms a fixed pattern, is collimated after collimating lens system and after diffraction optical element duplication diffusion
Form a coded structured light.
13. according to the method for claim 12, wherein the photomask includes a transparent substrate and is set to the base
One light non-transmittable layers of plate, the light non-transmittable layers form multiple transparent areas, the light that the laser emitter issues by etch process
Beam passes through the multiple transparent area and forms the fixed pattern.
14. a method for generating structure light, which comprises the following steps: have volume by what an encoded light source issued
The encoded light of code pattern is collimated after collimating lens system and forms one after diffraction optical element duplication diffusion and compiles
Code structure light.
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| CN201711196142.XA CN109839792B (en) | 2017-11-25 | 2017-11-25 | Structured light projection device with coded light, electronic device and application thereof |
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| CN201711196142.XA CN109839792B (en) | 2017-11-25 | 2017-11-25 | Structured light projection device with coded light, electronic device and application thereof |
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