CN110161713A - A kind of 3D camera - Google Patents
A kind of 3D camera Download PDFInfo
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- CN110161713A CN110161713A CN201910509273.1A CN201910509273A CN110161713A CN 110161713 A CN110161713 A CN 110161713A CN 201910509273 A CN201910509273 A CN 201910509273A CN 110161713 A CN110161713 A CN 110161713A
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Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B30/00—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images
- G02B30/20—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes
- G02B30/26—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes of the autostereoscopic type
- G02B30/27—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes of the autostereoscopic type involving lenticular arrays
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- Physics & Mathematics (AREA)
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Abstract
The present invention relates to a kind of 3D cameras comprising structured light projection instrument, infrared camera, RGB camera and diffuser；Diffuser is set to the light emission side of structured light projection instrument, and diffuser includes two layers of transparent electrode and the diffusion barrier that is located between two layers of transparent electrode, and diffusion barrier is made of liquid crystal/polymer composite materials；Diffuser transparent mode in the state of making alive, structured light projection instrument can issue random array light to target object through diffuser, diffuser is in dispersal pattern in the state that voltage is not added, and structured light projection instrument can issue uniform light to target object by diffuser；RGB camera in bright light environments for capturing the 2D image of target object surface；Infrared camera is used for the random dot matrix photogenerated depth image according to target object surface, and captures the 2D image of target object surface under uniform light in a dark environment.The 3D camera can be effectively reduced cost and realize miniaturization.
Description
Technical field
The present invention relates to depth sensing equipment technical fields, and in particular to a kind of 3D camera.
Background technique
In recent years, with the continuous development of consumer electronics industry, the 3D camera with depth sensing function increasingly by
The attention of consumer electronics circle.The depth measurement method of comparative maturity is structure light scheme at present, i.e., by specific structured light patterns
It is projected on object, the depth of object different location is then calculated by the deformation of pattern or displacement.
Infrared 2D image is formed due to being also required in a dark environment, it is red that general 3D camera requires additionally configuration one
Outer washers illuminate the object in dark, while recording infrared 2D image with infrared camera.Infrared washers one
As be made of one or more infrared lasers and diffusion barrier, the setting of infrared washers not only increases entire 3D
The cost and power consumption of camera, are unfavorable for the miniaturization of 3D camera.
Therefore, how to reduce the cost of 3D camera and realize miniaturization, be the skill that those skilled in the art need to solve
Art problem.
Summary of the invention
The object of the present invention is to provide a kind of 3D cameras, can be effectively reduced cost and realize miniaturization.
In order to solve the above technical problems, the present invention provides a kind of 3D camera comprising structured light projection instrument, infrared photography
Head, RGB camera and diffuser；The diffuser is set to the light emission side of the structured light projection instrument, and the diffuser includes two
Layer transparent electrode and the diffusion barrier being located between two layers of transparent electrode, the diffusion barrier are multiple using liquid crystal/polymer
Condensation material is made；The diffuser transparent mode in the state of making alive, the structured light projection instrument can be through described
Diffuser issues random array light to target object, and the diffuser is in dispersal pattern, the knot in the state that voltage is not added
Structure light projector can issue uniform light to the target object by the diffuser；The RGB camera is used for bright
The 2D image of the target object surface is captured in environment；The infrared camera be used for according to target object surface with
Machine dot matrix photogenerated depth image, and the 2D figure of the target object surface is captured under the uniform light in a dark environment
Picture.
The diffusion barrier of liquid crystal/polymer composite materials is placed between two layers of transparent electrode, it can be by being applied to diffusion barrier
Making alive changes the optical characteristics of this layer of liquid crystal/polymer composite materials.When to diffuser making alive, the direction of liquid crystal
Along direction of an electric field, diffusion barrier is in transparent mode, is equivalent to transparent material layer, so that structure light be made to pass through liquid crystal
For layer without scattering, structure light does not have any change.When voltage is not added in diffuser, the direction random distribution of liquid crystal, diffusion barrier
It in dispersal pattern, is scattered when structure light passes through liquid crystal layer, incident light is diffused into equally distributed illumination to be equivalent to
(i.e. above-mentioned uniform light) output.
Specifically, diffuser is in alive situation when being measured by the 3D camera to the depth of target object
Under, diffusion barrier is in transparent mode, structured light projection instrument can be directed through the diffuser to the surface of target object issue with
Machine array light, infrared camera measures the illumination patterns situation on the surface of target object, and combines possessed by random array light
The depth image of specific distribution situation generation target object；And two kinds of feelings are divided into for the capture of the 2D image of target object surface
Condition, the first situation are that the 2D image of target object surface, second of feelings can be captured by RGB camera in bright light environments
Condition is that in a dark environment, for diffuser in the case where voltage is not added, diffusion barrier is in dispersal pattern, and structured light projection instrument is sent out
Random array light out is radiated at the uniform light of target object surface by the diffuser by scattering, at this point, structured light projection
The uniform light of instrument only plays illuminating effect, under the illumination of uniform light, can capture target object surface by infrared camera
2D image；Finally, being the 3D rendering for producing the target object according to the depth image of target object surface and 2D image.
Diffusion barrier is selected to be in transparent mode or dispersal pattern, the diffuser by the way that whether electricity control diffuser pressurizes
Setting the acquisition of depth image is not influenced, also, acquire target object surface 2D image when, which can also
Enough so that structured light projection instrument plays illuminating effect, without in addition setting illuminace component (such as infrared washers), also
It is to say, by the setting of the diffuser, so that structured light projection instrument can not only issue random array light to target object, simultaneously
The function of illumination is also had both, the overall structure of the 3D camera can be simplified and is conducive to the miniaturization of 3D camera.Simultaneously because expanding
The thinner thickness of film and transparent electrode is dissipated, small volume is readily integrated to the light emission side of structured light projection instrument, right in the present embodiment
Connection between structured light projection instrument and diffuser with no restrictions, can such as pass through splicing or the clamping of other mechanical parts
The fixation of equal realizations position between the two.
Optionally, when the bright light environments are that illuminance is more than or equal to the illuminance threshold value that one pre-sets；
When the dark surrounds is the illuminance threshold value that illuminance is pre-seted less than one.
Optionally, the transparent electrode is ito thin film.
Optionally, the diffuser further includes layer glass layer, two layers of glassy layer be respectively arranged on two layers it is described transparent
The outside of electrode.
Optionally, the structured light projection instrument includes random array light source and the light emission side set on the random array light source
Multiple grating lens, the luminous point that respectively goes out of each grating lens and the random array light source corresponds；
The grating lens include the gratings strips on the surface of substrate and multiple intervals set on the substrate, the gratings strips
Refractive index is greater than the refractive index of the substrate.
Optionally, when the gratings strips are straight-bar-shaped structure, the position of each gratings strips and phase are all satisfied formula
(I):
Wherein, x is the position of the gratings strips, and f is focal length, and λ is wavelength, and φ (x) is the phase of the gratings strips, φmax
It is the maximum phase variation of the gratings strips；
When the gratings strips are cyclic structure, the position of each gratings strips and phase are all satisfied formula (II):
Wherein, r is the radius of the gratings strips, and φ (r) is the phase of the gratings strips, φmaxBe the gratings strips most
Big phase change, rmaxIt is the maximum radius of the gratings strips；
When the opposite both sides of the face of substrate are respectively equipped with one layer of gratings strips and the gratings strips are straight-bar-shaped structure, each institute
The position and phase for stating gratings strips (121) are all satisfied formula (III):
Wherein, x, y be the gratings strips position and x direction it is vertical with y direction, f is focal length, and λ is wavelength,
φ (x, y) is the phase of the gratings strips, φmaxIt is the maximum phase variation of the gratings strips.
Optionally, the liquid crystal/polymer composite materials are metastable state liquid crystal material；
The metastable state liquid crystal material has in response to applying alive molecularly oriented.
Optionally, the opposite both sides of the face of the substrate are respectively equipped with one layer of gratings strips, and two layers of gratings strips
The sum of focal length it is identical as the thickness of the substrate.
Optionally, the liquid crystal/polymer composite materials are using following any liquid crystal material:
Polymer dispersed liquid crystals；
Polymer stabilized nematic liquid crystals；
Polymer network liquid crystal.
Compared with prior art, the present invention have it is following the utility model has the advantages that
Diffuser can enable structured light projection instrument to penetrate diffuser to mesh in the state of making alive in the present invention
It marks object and issues random array light, diffuser enables structured light projection instrument to lead in the state that voltage is not added in dispersal pattern
It crosses diffuser and issues uniform light to target object, so as to realize the projection of two light by single light source, can effectively drop
The miniaturization of low 3D camera cost and 3D camera；
By RGB camera for capturing the 2D image of target object surface in bright light environments and by red in the present invention
Outer camera is used for the random dot matrix photogenerated depth image according to target object surface, and in a dark environment under uniform light
The 2D image for capturing target object surface is conducive to the miniaturization of 3D imaging device from that can omit infrared washers, drops
The low cost of 3D imaging device.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.Upon reading the detailed description of non-limiting embodiments with reference to the following drawings,
Other features, purposes and advantages of the invention will become more apparent:
Fig. 1 is the structural schematic diagram of the diffuser of the 3D camera of the embodiment of the present invention；
Fig. 2 is structural schematic diagram of the diffuser under dispersal pattern in Fig. 1；
Fig. 3 is structural schematic diagram of the diffuser under transparent mode in Fig. 1；
Fig. 4 is the structural schematic diagram of structured light projection instrument in Fig. 1；
Fig. 5 is the first setting schematic diagram of each gratings strips when gratings strips are straight-bar-shaped structure in Fig. 4；
Fig. 6 is phase distribution figure corresponding to each gratings strips in Fig. 5；
Fig. 7 is each second of setting schematic diagram of gratings strips when gratings strips are straight-bar-shaped structure in Fig. 4；
Fig. 8 is the structural schematic diagram of the grating lens in Fig. 4 equipped with two layers of gratings strips；
Fig. 9 is the structural schematic diagram of grating lens when gratings strips are cyclic structure in Fig. 4.
In attached drawing 1-9, the reference numerals are as follows:
1- structured light projection instrument, the random array light source of 11-；12- grating lens, 121- gratings strips, 122- first layer grating
Item, 123- second layer gratings strips；124- matrix；13- incident beam；14- outgoing beam；
2- diffuser, 21- diffusion barrier, 22- transparent electrode, 23- glassy layer.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.In addition, connection can be for fixing
Effect is also possible to act on for circuit communication.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of the description embodiment of the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the embodiment of the present invention, the meaning of " plurality " is two or two
More than, unless otherwise specifically defined.
Fig. 1-3 is please referred to, Fig. 1 is the structural schematic diagram of the diffuser of the 3D camera of the embodiment of the present invention；Fig. 2 is Fig. 1
Structural schematic diagram of the middle diffuser under dispersal pattern；Fig. 3 is structural schematic diagram of the diffuser under transparent mode in Fig. 1.
The embodiment of the invention provides a kind of 3D cameras comprising structured light projection instrument 1, infrared camera, RGB camera shooting
Head and diffuser 2, wherein as shown in Figure 1, the diffuser 2 is including two layers of transparent electrode 22 and is located in two layers of transparent electrode
Diffusion barrier 21 between 22, and the diffusion barrier 21 is made of liquid crystal/polymer composite materials, i.e., the material of diffusion barrier 21 is liquid
Crystalline substance/polymer composites.Diffuser 2 is set to the light emission side of structured light projection instrument 1, and the diffusion barrier 21 is under pressurised conditions
Transparent mode, which does not influence the light that goes out of structured light projection instrument 1, at this point, structured light projection instrument 1 can be through diffusion
Device 2 issues random array light to target object, and the diffusion barrier 21 is in dispersal pattern in the state of being not pressurized, and structure light is thrown
Shadow instrument 1 can issue uniform light to target object by diffuser 2；RGB camera in bright light environments for capturing object
The 2D image in body surface face；Infrared camera is used for according to the random dot matrix photogenerated depth image of target object surface, also,
In dark surrounds, which can capture the 2D image of target object surface under the action of uniform light.
Nematic crystal is rod-like molecule, and optics and dielectric is presented respectively to different due to its anisotropic molecular structure
Property, liquid crystal/polymer composite materials are made of liquid crystal and polymer, according to the difference of monomer concentration, liquid crystal/polymer composite wood
Material can be divided into three categories: polymer dispersed liquid crystals, polymer stabilized nematic liquid crystals and polymer network liquid crystal, wherein polymer dispersion
Liquid crystal is made of the monomer (>20wt%) of higher percent, and polymer stabilized nematic liquid crystals by lower percentage monomer (<
It 10wt%) forms, polymer network liquid crystal is made of the monomer (10wt%~20wt%) of moderate percentages.Due to polymeric web
The Anchoring Effect of network, polymer dispersed liquid crystals, polymer stabilized nematic liquid crystals and polymer network liquid crystal are compared with pure nematic crystal
The comparatively faster response time is provided, greater flexibility and richer function are provided.
In an embodiment of the present invention, the liquid crystal/polymer composite materials are metastable state liquid crystal material；The metastable state
Liquid crystal material has in response to applying alive molecularly oriented.Voltage the appointing between 1V to 50V that the diffusion barrier is applied
One voltage.
The diffusion barrier 21 of liquid crystal/polymer composite materials is placed between two layers of transparent electrode 22, it can be by diffusion
Film 21 applies voltage to change the optical characteristics of this layer of liquid crystal/polymer composite materials.When to 2 making alive of diffuser, liquid
Along direction of an electric field, diffusion barrier 21 is in transparent mode in brilliant direction, as shown in figure 3, it is equivalent to transparent material layer, thus
Structure light is set to pass through liquid crystal layer without scattering, structure light does not have any change.When voltage is not added in diffuser 2, liquid crystal
Direction random distribution, diffusion barrier 21 is in dispersal pattern, as shown in Fig. 2, being scattered when structure light passes through liquid crystal layer, to wait
Imitate in by incident light diffuse into equally distributed illumination (i.e. above-mentioned uniform light) output.
Specifically, diffuser 2 is in alive situation when being measured by the 3D camera to the depth of target object
Under, diffusion barrier 21 is in transparent mode, and structured light projection instrument 1 can be directed through the diffuser 2 and send out on the surface of target object
Random array light out, infrared camera measures the illumination patterns situation on the surface of target object, and is had in conjunction with random array light
Some specific distribution situations generate the depth image of target object；And two are divided into for the capture of the 2D image of target object surface
Kind of situation, the first situation are can to capture the 2D image of target object surface by RGB camera in bright light environments, second
Kind situation is that in a dark environment, diffuser 2 is in the case where being not added voltage, as shown in Fig. 2, diffusion barrier 21 is in diffusion mould
Formula, the random array light that structured light projection instrument 1 is issued are radiated at the equal of target object surface by scattering by the diffuser 2
Even light under the illumination of uniform light, passes through infrared camera at this point, the uniform light of structured light projection instrument 1 only plays illuminating effect
The 2D image of target object surface can be captured；Finally, being produced according to the depth image of target object surface and 2D image
The 3D rendering of the target object.
Diffusion barrier 21 is selected to be in transparent mode or dispersal pattern, the expansion by the way that whether electricity control diffuser 2 pressurizes
The setting for dissipating device 2 does not influence the acquisition of depth image, also, when acquiring the 2D image of target object surface, the diffusion
Device 2 can also make structured light projection instrument 1 play illuminating effect, without in addition setting illuminace component (such as infrared washers
Deng), that is to say, that by the setting of the diffuser 2, so that structured light projection instrument 1 can not only issue at random to target object
Array light, while also having both the function of illumination, the overall structure of the 3D camera can be simplified and being conducive to the miniaturization of 3D camera.
Simultaneously because the thinner thickness of diffusion barrier 21 and transparent electrode 22, small volume, be readily integrated to structured light projection instrument 1 goes out light
Side, in the present embodiment with no restrictions for the connection between structured light projection instrument 1 and diffuser 2, such as can by being glued or
The fixation of the realizations such as the clamping of other mechanical parts position between the two.
In the above-described embodiments, when the bright light environments are that illuminance is more than or equal to the illuminance threshold value that one pre-sets；Institute
When stating the illuminance threshold value that dark surrounds pre-sets for illuminance less than one.The illuminance threshold value pre-seted be 10lux extremely
The arbitrary value of 50lux, the illuminance threshold value of the preferably described preset value are 10lux.
In the above-described embodiments, transparent electrode 22 is ito thin film, and ito thin film is indium tin oxide transparent conductive semiconductor
Film, the transparency and electric conductivity are good, can reduce the thickness of diffuser 2 under the premise of meeting same conductivity, and then simplify
Overall structure is conducive to the miniaturization of the 3D camera.Certainly, in the present embodiment, which can also select it
Its material, such as graphene, herein with no restrictions.
In the above-described embodiments, diffuser 2 further includes layer glass layer 23, layer glass layer 23 be respectively arranged on two layers it is transparent
The outside of electrode 22, due to the thinner thickness of diffusion barrier 21 and transparent electrode 22, the setting of two layers of transparent glassy layer 23
The overall structural strength that can guarantee the diffuser 2, is easily installed.
Fig. 4-9 is please referred to, Fig. 4 is the structural schematic diagram of structured light projection instrument in Fig. 1；Fig. 5 is that gratings strips are vertical bar in Fig. 4
The first setting schematic diagram of each gratings strips when shape structure；Fig. 6 is phase distribution figure corresponding to each gratings strips in Fig. 5；Fig. 7 is figure
Each second of setting schematic diagram of gratings strips when gratings strips are straight-bar-shaped structure in 4；Fig. 8 is the light that two layers of gratings strips is equipped in Fig. 4
The structural schematic diagram of grid lens；Fig. 9 is the structural schematic diagram of grating lens when gratings strips are cyclic structure in Fig. 4.
As shown in figure 4, the structured light projection instrument 1 in 3D camera provided by the present embodiment includes random array light source 11
With multiple grating lens 12, wherein random array light source 11 is set to random dot matrix for emitting random array light, grating lens 12
The light emission side of light source 11, and to go out luminous point corresponding with a grating lens 1 for each of random array light source 11.The grating is saturating
Mirror 12 includes the gratings strips 121 on the surface of substrate 124 and multiple intervals set on substrate 124, and the refractive index of gratings strips 121 is greater than lining
The refractive index at bottom 124.
Specifically, the specific structure of gratings strips 121 is divided to two kinds, the first is that gratings strips 121 are straight-bar-shaped structure, at this point,
The position of each gratings strips 121 and phase are all satisfied following formula (I)；
Wherein, x is the position of gratings strips 121, and f is focal length, and λ is wavelength, and φ (x) is the phase of gratings strips 121, φmaxIt is
The maximum phase of gratings strips 121 changes；
Second is that gratings strips 121 are cyclic structure, at this point, the position of each gratings strips 121 and phase are all satisfied following public affairs
Formula (II):
Wherein, r is the radius of gratings strips 121, and φ (r) is the phase of gratings strips 121, φmaxIt is the maximum of gratings strips 121
Phase change, rmaxIt is the maximum radius of gratings strips 121.
Below for the first, gratings strips 121 carry out expansion explanation when being straight-bar-shaped structure.
Based on geometric optics, the phase distribution of above-mentioned formula (I) is the desired phase distribution of focusing unit, each gratings strips
121 phase is related with its width, position and thickness, and the consistency of thickness of each gratings strips 121, therefore, by each gratings strips 121
Grating lens 12 obtained are set according to above-mentioned formula (I), is equal to and a discrete phase distribution is carried out into approximate ideal phase
Distribution.I.e. by the identical but of different size gratings strips 121 of multiple thickness according in above-mentioned formula (I) between phase and the relationship of position
Every setting, a focusing unit is formed, is placed on the light emission side of random array light source 11, it being capable of focus on light beam.
Phase is big, then greatly, the focusing capability of lens is strong for numerical aperture (NA).For traditional glass lens, big phase
Position needs bigger thickness and radian, realizes more difficult.And in the grating lens 12 in the present embodiment, the phase of gratings strips 121
The size of position φ (x) can be realized by changing the width of the gratings strips 121, be relatively easy to.
Specifically, phase such as Fig. 6 institute as shown in figure 5, the gratings strips 121 of corresponding each position is arranged in gratings strips 121
Show.It is the thickness of each gratings strips 121 identical (being t), of different size, and by intermediate setting outward, wherein the grating in middle position
The phase of item 121 is φ (0), in position x1The phase of the gratings strips 121 at place is φ (x1), wherein φ (x1) and x1Meet above-mentioned
Corresponding relationship in formula (I)；Correspondingly, in position x-1The gratings strips 121 and position x at place1The gratings strips 121 at place are symmetrical, wide
Spend that identical, phase is identical；In position x2The phase of the gratings strips 121 at place is φ (x2), wherein φ (x2) and x2Meet above-mentioned public affairs
Corresponding relationship in formula (I)；Correspondingly, in position x-2The gratings strips 121 and position x at place2The gratings strips 121 at place are symmetrical, width
It is identical, phase is identical；X is located at above-mentioned for the setting of gratings strips 121 located elsewhere1Place and x2121 class of gratings strips
Seemingly, details are not described herein.
Gratings strips 121 can realize the change of its phase by changing its width, due to when φ (x) is greater than 2 π or is less than
When 0, the phase of gratings strips 121 can be mapped to a value equivalent between 0~2 π, therefore, corresponding for position
For the lesser gratings strips 121 of phase, its phase mapping can be made to its institute between 0~2 π the increase of the width of the gratings strips 121
Phase value (phase distribution is serrated in such as Fig. 6, each sawtooth has corresponded to 0~2 section π) is needed, such as Fig. 5 institute
Show, the width of gratings strips 121 first reduces from centre to two sides to be increased afterwards, i.e., extra wide is arranged without the variation because of phase or spy is narrow
Gratings strips 121, it is ensured that the width of gratings strips 121 changes in a certain range, to simplify the manufacture craft of gratings strips 121.
In the above-described embodiments, the position of the gratings strips 121 of straight-bar-shaped structure and phase relation also meet formula (III):
Wherein, x, y be gratings strips 121 position and x direction it is vertical with y direction, f is focal length, and λ is wavelength,
φ (x, y) is the phase of the gratings strips 121, φmaxIt is the maximum phase variation of the gratings strips 121.
At this point, the relationship of the position of the position and y direction of the phase of gratings strips 121 and x direction, i.e. formula
(III) facilities of the gratings strips 121 under two-dimensional state are shown.Specifically, the x direction (axis with gratings strips 121
Vertical direction) on each gratings strips 121 phase and positional relationship still meet formula (I), and y direction is (with gratings strips 121
The parallel direction of axis) on position distribution then pass through and change the width of each position of each gratings strips 121 in the y-direction and realize,
I.e. each gratings strips 121 along its length on width be not constant (as shown in Figure 7), under such setting, the grating is saturating
Mirror 12 can reduce the size of luminous point from orthogonal both direction, and then realize its focusing function.
It, can be as shown in fig. 7, shape with luminous point for the concrete shape of the grating lens 12 in addition, in the present embodiment
Consistent disc-shaped structure also can be made square structure, be not particularly limited herein.
Focusing function, such as two by distance in the grating lens 12 farthest can be realized in the lesser grating lens 12 of thickness
The distance between gratings strips 121 are set as 10 μm, 3 μm of thickness, pass through the Three-dimensional Time Domain finite difference calculus of Gaussian beam incidence
(FDTD) it is 3.5 μm that simulation result, which is the beam waist radius of incident beam 13, and after being focused by grating lens 12, beam waist radius is
0.89 μm, i.e. outgoing beam 14 increases 12 times compared to 13 central light strength of incident beam.Relatively thin grating lens 12 are easy to single
Piece is integrated in random array light source 11 so that the overall structure of the structured light projection instrument 1 be easier to miniaturization, it is integrated.
In the above-described embodiments, the opposite both sides of the face of substrate 124 are respectively equipped with one layer of gratings strips 121, that is to say, that one
Two layers of gratings strips 121 are shared, the opposite both sides of the face of substrate 124 are respectively arranged on, two layers of gratings strips, 121 position and phase
Setting meets above-mentioned formula (III) respectively, and the sum of focal length of two layers of gratings strips 121 is identical as the thickness of substrate 124.Specifically
, as shown in figure 8, the focal length of first layer gratings strips 122 is f1, the focal length of second layer gratings strips 123 is f2, the thickness of substrate 124
For d, work as f1+f2When=d, incident beam 13 successively be can be realized after first layer gratings strips 122 and second layer gratings strips 123
Outgoing beam 14 is collimated, so that the radius of outgoing beam 14 becomes smaller, the multiple which reduces is
Due to the thickness very little of grating lens 12, and pass through the grating lens 12 of design high numerical aperture NA, focal length
f1And f2It can be designed very little, so that the thickness d of substrate 124 also very little.In this way, we can be obtained by integral thickness
Very small collimator, to realize the miniaturization of structured light projection instrument 1 and integrated.
Below for second, as shown in figure 9, gratings strips 121 carry out expansion explanation when being cyclic structure.
Ideal bessel beam does not have any diffraction, and regardless of propagating, how far beam size be will not change.But due to ideal
The energy of bessel beam is unlimited, so can not be achieved ideal bessel beam in practical applications.Bezier Gauss
Light beam is similar to bessel beam, the beam size Gaussian beam far smaller than common with the variation of propagation.In the prior art,
Incident beam 13 can be converted into Bessel-Gaussian beam by axicon lens.
In the present embodiment, according to above-mentioned formula (II), each gratings strips 121 are set as to the cyclic structure of coaxial arrangement, at this point,
When incident beam 13 is after grating lens 12, incident beam 13 is collimated to become Bessel-Gaussian beam, thus beam size
With the far smaller than common Gaussian beam of the variation of propagation.This characteristic collimates very the random array light of medium and long distance
Favorably.
In the present embodiment, the consistency of thickness of each gratings strips 121 and relatively thin, i.e. grating lens 12 are a two-dimensional structure, should
The thickness of grating lens 12 is far smaller than the thickness of axicon lens, convenient for being integrated in random array light source 11 and being easily achieved miniature
Change.
That is, in the embodiment of the present invention, for aperiodicity grating lens 12, the thickness of each gratings strips 121
Unanimously, there are different width and gap length without same gratings strips 121.Specifically, gratings strips 121 can be straight-bar-shaped structure,
As shown in figure 5, each interval setting side by side of gratings strips 121, (only sets at this point, the grating lens 12 can be used for focusing incident beam 13
Have one layer of gratings strips 121), it can also be used to collimated incident beam 13 (is equipped with two layers of gratings strips 121)；Gratings strips 121 are also possible to
Cyclic structure, at this point, the grating lens 12, which can be used for for incident beam 13 being collimated, becomes Bessel-Gaussian beam.It specifically can root
It is configured according to needs.
In addition, the grating lens 12 in the present embodiment can be made up of common photoetching technique, production is simple, at low cost,
Also, it is corresponding with the position of luminous point out due to having photolithographic structures inside random array light source 11, when assembling, by grating
The photo-etching mark of lens 12 is aligned with the photolithographic structures of random array light source 11, and alignment function can be completed, and is operated relatively simple.
Certainly, in the present embodiment, structured light projection instrument 1 can also be made of random array light source 11 and glass lens,
Specific requirement is not done herein.
In the above-described embodiments, random array light source 11 can be set to include laser and diffraction optical device knot
Structure can also set random array light source 11 in the laser of multiple random distributions, be not particularly limited herein, as long as energy
So that the random array light source 11 launches random array light.
In the above-described embodiments, the difference of the refractive index of gratings strips 121 and the refractive index of substrate 124 is not less than 1, Ci Zhongshe
It sets for the case where refractive index difference of the two is less than 1, can be further reduced in the case where focal length having the same
The thickness of the grating lens 12, conducive to realize overall structure be easier to miniaturization, it is integrated.
In the above-described embodiments, the material of gratings strips 121 is set as silicon, the material of substrate 124 can be set to silica
Or the material of gratings strips 121 can also be such as set as silicon nitride herein with no restrictions by silicon nitride, the material of substrate 124 is set
For silica etc..As long as can guarantee that the refractive index of gratings strips 121 is greater than the refractive index of substrate 124 to realize the remittance of light beam
It is poly-, and the two will not cause obstruction to the propagation of light beam.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.To the upper of the disclosed embodiments
It states bright, enables those skilled in the art to implement or use the present invention.Various modifications to these embodiments are to ability
Will be apparent for the professional technician in domain, the general principles defined herein can not depart from it is of the invention
In the case where spirit or scope, realize in other embodiments.Therefore, the present invention be not intended to be limited to it is shown in this article these
Embodiment, and it is to fit to the widest scope consistent with the principles and novel features disclosed herein.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of 3D camera, which is characterized in that including structured light projection instrument (1) and diffuser (2)；
The diffuser (2) includes two layers of transparent electrode (22) and the diffusion being located between two layers of transparent electrode (22)
Film (21), the diffusion barrier (21) are made of liquid crystal/polymer composite materials；
The diffuser (2) is set to the light emission side of the structured light projection instrument (1), diffusion barrier in the state of making alive
(21) transparent mode, the structured light projection instrument (1) can issue random dot matrix to target object through the diffuser (2)
Light；In the state that voltage is not added, the diffusion barrier (21) is in dispersal pattern, and the structured light projection instrument (1) can pass through institute
It states diffuser (2) Xiang Suoshu target object and issues uniform light.
2. 3D camera according to claim 1, which is characterized in that further include infrared camera and RGB camera；
The RGB camera, for capturing the 2D image of the target object surface in bright light environments；
The infrared camera, for the random dot matrix photogenerated depth image according to target object surface, and in dark
The 2D image of the target object surface is captured in environment under the uniform light.
3. 3D camera according to claim 2, which is characterized in that the bright light environments are that illuminance is more than or equal to one in advance
When the illuminance threshold value of setting；
When the dark surrounds is the illuminance threshold value that illuminance is pre-seted less than one.
4. 3D camera according to claim 1, which is characterized in that the transparent electrode (22) is ito thin film.
5. 3D camera according to claim 1, which is characterized in that the diffuser (2) further includes layer glass layer
(23), two layers of glassy layer (23) is respectively arranged on the outside of two layers of transparent electrode (22).
6. 3D camera according to any one of claims 1 to 5, which is characterized in that the structured light projection instrument include with
Multiple grating lens (12) of machine array light source (11) and the light emission side set on the random array light source (11), each grating
Lens (12) and the luminous point that respectively goes out of the random array light source (11) correspond；
The grating lens (12) include the gratings strips on the surface of substrate (124) and multiple intervals set on the substrate (124)
(121)。
7. 3D camera according to claim 6, which is characterized in that when the gratings strips (121) are straight-bar-shaped structure,
The position of each gratings strips (121) and phase are all satisfied formula (I):
Wherein, x is the position of the gratings strips (121), and f is focal length, and λ is wavelength, and φ (x) is the phase of the gratings strips (121)
Position, φmaxIt is the maximum phase variation of the gratings strips (121)；
When the gratings strips (121) are cyclic structure, the position of each gratings strips (121) and phase are all satisfied formula
(II):
Wherein, r is the radius of the gratings strips (121), and φ (r) is the phase of the gratings strips (121), φmaxIt is the grating
The maximum phase of item (121) changes, rmaxIt is the maximum radius of the gratings strips (121)；
When the opposite both sides of the face of substrate (124) are respectively equipped with one layer of gratings strips (121) and the gratings strips (121) as vertical bar shape
When structure, the position of each gratings strips (121) and phase are all satisfied formula (III):
Wherein, x, y be the gratings strips (121) position and x direction it is vertical with y direction, f is focal length, and λ is wave
Long, φ (x, y) is the phase of the gratings strips (121), φmaxIt is the maximum phase variation of the gratings strips (121).
8. 3D camera according to claim 1, which is characterized in that the liquid crystal/polymer composite materials are metastable state
Liquid crystal material；
The metastable state liquid crystal material has in response to applying alive molecularly oriented.
9. 3D camera according to claim 6, which is characterized in that the opposite both sides of the face difference of the substrate (124)
Equipped with one layer of gratings strips (121), and thickness of the sum of the focal length of two layers of gratings strips (121) with the substrate (124)
It is identical.
10. 3D camera according to claim 1, which is characterized in that the liquid crystal/polymer composite materials are using as follows
Any liquid crystal material:
Polymer dispersed liquid crystals；
Polymer stabilized nematic liquid crystals；
Polymer network liquid crystal.
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| CN201810646394.6A CN108828786A (en) | 2018-06-21 | 2018-06-21 | A kind of 3D camera |
| CN2018106463946 | 2018-06-21 |
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| CN201810646394.6A Pending CN108828786A (en) | 2018-06-21 | 2018-06-21 | A kind of 3D camera |
| CN201910509273.1A Pending CN110161713A (en) | 2018-06-21 | 2019-06-13 | A kind of 3D camera |
| CN201920884049.6U Active CN210090835U (en) | 2018-06-21 | 2019-06-13 | Diffuser and light projector |
| CN201920884072.5U Active CN210129072U (en) | 2018-06-21 | 2019-06-13 | 3D camera |
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| CN201920884049.6U Active CN210090835U (en) | 2018-06-21 | 2019-06-13 | Diffuser and light projector |
| CN201920884072.5U Active CN210129072U (en) | 2018-06-21 | 2019-06-13 | 3D camera |
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| CN113408513A (en) * | 2021-06-08 | 2021-09-17 | 深圳市安思疆科技有限公司 | Three-dimensional imaging module |
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| US11126060B2 (en) | 2017-10-02 | 2021-09-21 | Liqxtal Technology Inc. | Tunable light projector |
| CN108828786A (en) * | 2018-06-21 | 2018-11-16 | 深圳市光鉴科技有限公司 | A kind of 3D camera |
| CN109495623B (en) * | 2018-12-29 | 2021-09-28 | 上海摩软通讯技术有限公司 | Front camera module and mobile terminal |
| CN113189826A (en) * | 2019-01-09 | 2021-07-30 | 深圳市光鉴科技有限公司 | Structured light projector and 3D camera |
| US10585194B1 (en) | 2019-01-15 | 2020-03-10 | Shenzhen Guangjian Technology Co., Ltd. | Switchable diffuser projection systems and methods |
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| CN111323991A (en) * | 2019-03-21 | 2020-06-23 | 深圳市光鉴科技有限公司 | Light projection system and light projection method |
| CN110290375A (en) * | 2019-01-17 | 2019-09-27 | 深圳市光鉴科技有限公司 | Display device and electronic equipment with 3D camera module |
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| CN110471081A (en) * | 2019-04-30 | 2019-11-19 | 深圳市光鉴科技有限公司 | 3D imaging device and electronic equipment based on synchronous ToF discrete point cloud |
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| CN110232863A (en) * | 2019-06-26 | 2019-09-13 | 深圳市光鉴科技有限公司 | Display device and electronic equipment with 3D camera module |
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| CN210129072U (en) | 2020-03-06 |
| CN210090835U (en) | 2020-02-18 |
| CN108828786A (en) | 2018-11-16 |
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