CN112834433B - 4D camera device and electronic equipment - Google Patents

4D camera device and electronic equipment Download PDF

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Publication number
CN112834433B
CN112834433B CN201911153663.6A CN201911153663A CN112834433B CN 112834433 B CN112834433 B CN 112834433B CN 201911153663 A CN201911153663 A CN 201911153663A CN 112834433 B CN112834433 B CN 112834433B
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light
automobile tire
image
spectrometer
imaging module
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CN112834433A (en
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朱力
吕方璐
汪博
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Shenzhen Guangjian Technology Co Ltd
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Shenzhen Guangjian Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0106—General arrangement of respective parts
    • G01N2021/0112—Apparatus in one mechanical, optical or electronic block

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  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention provides a 4D camera device and electronic equipment, which comprise a spectrometer, a 3D camera and a processor module, wherein the spectrometer is connected with the 3D camera; the 3D camera comprises a light projector, a first imaging module and a second imaging module; a light projector for projecting light towards a vehicle tyre; the first imaging module is used for receiving reflected light of an automobile tire and obtaining a depth image of the surface of the automobile tire according to the reflected light; the second imaging module is used for acquiring a 2D image of the automobile tire; the spectrometer is used for collecting the spectral information of the gas in the automobile tire; the processor module is used for generating a 3D image of the automobile tire according to the depth image and the 2D image of the surface of the automobile tire, and further judging whether the tire pressure of the automobile tire is too low or too high according to the spectral information and the 3D image. The invention can judge whether the tire pressure of the automobile tire is too low or too high by integrating the 3D image and the spectral information, thereby realizing the rapid judgment of the tire pressure of the automobile tire.

Description

4D camera device and electronic equipment
Technical Field
The invention relates to the technical field of depth sensing equipment, in particular to a 4D camera device and electronic equipment.
Background
In recent years, with the development of the consumer electronics industry, the 3D camera having the depth sensing function is receiving increasing attention from the consumer electronics world. The current well-established depth measurement method is a structured light scheme, i.e. a specific structured light pattern is projected on an object, and then the depths of different positions of the object are calculated through the deformation or displacement of the pattern.
Structured light three-dimensional vision is based on the principle of optical triangulation. The optical projector projects the structured light with a certain mode on the surface of the object to form a light bar three-dimensional image modulated by the surface shape of the object to be measured on the surface. The three-dimensional image is detected by a camera at another location to obtain a two-dimensional distorted image of the light bar. The degree of distortion of the light bar depends on the relative position between the optical projector and the camera and the object surface profile (height). Intuitively, the displacement or offset displayed along the bar is proportional to the height of the object surface, and the kink indicates a change in plane, and the discontinuity indicates a physical gap in the surface. When the relative position between the optical projector and the camera is fixed, the three-dimensional profile of the object surface can be reproduced by the distorted two-dimensional light bar image coordinates.
The ToF (time of flight) technique is a 3D imaging technique that emits measurement light from a projector and reflects it back to a receiver via a car tire, so that the spatial distance of an object from a sensor can be obtained from the propagation time of the measurement light in this propagation path. Common ToF techniques include single point scanning projection methods and area light projection methods.
The spectrometer is a scientific instrument which decomposes light with complex components into spectral lines and is composed of a prism or a diffraction grating and the like, and the spectrometer can be used for measuring light rays reflected by the surface of an object. The seven colors of sunlight are visible light, but if the sunlight is decomposed by a spectrometer and arranged according to wavelength, the visible light occupies a small range in the spectrum, and the rest is a spectrum which cannot be distinguished by naked eyes, such as infrared rays, microwaves, ultraviolet rays, X rays and the like. The optical information is captured by a spectrometer, developed by a photographic negative film, or displayed and analyzed by a computerized automatic display numerical instrument, so that the element contained in the article can be detected. This technique is widely used in the detection of air pollution, water pollution, food hygiene, metal industry, and the like.
However, after searching the prior art, the prior art has no device for combining the spectrometer and the 3D camera.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a 4D camera device and an electronic device.
The 4D camera device provided by the invention comprises a spectrometer, a 3D camera and a processor module;
the 3D camera comprises a light projector, a first imaging module and a second imaging module;
the light projector is used for projecting light to a vehicle tire;
the first imaging module is used for receiving reflected light of the automobile tire and obtaining a depth image of the surface of the automobile tire according to the reflected light;
the second imaging module is used for acquiring a 2D image of the automobile tire;
the spectrometer is used for collecting the spectral information of the gas in the automobile tire;
the processor module is used for generating a 3D image of the automobile tire according to the depth image and the 2D image of the surface of the automobile tire, and further judging whether the tire pressure of the automobile tire is too low or too high according to the spectral information and the 3D image.
Preferably, when determining whether the tire pressure of the automobile tire is too low or too high, the method comprises the following steps:
step S1: acquiring a base line area of the contact between the tread of the automobile tire and the ground on the 3D image, and determining the contact length between the tread of the automobile tire and the ground according to the base line area;
step S2: comparing the contact length with the preset standard length, and triggering the step S3 when the ratio of the contact length to the standard length is lower than a preset ratio threshold;
and step S3: and determining the gas concentration of the automobile tire according to the spectrum information, and judging whether the tire pressure of the automobile tire is too high or too low according to the gas concentration.
Preferably, the first imaging module comprises a first filter and a first image sensor;
the spectrometer comprises a dispersion element, wherein the dispersion element is used for carrying out dispersion and light splitting on the reflected light so as to form a spectrum distribution with sequentially arranged wavelengths on the first image sensor;
the dispersion element is arranged on the light-in side face, the light-out side face or the light-sensitive surface of the first optical filter.
Preferably, the second imaging module comprises a second filter and a second image sensor;
the spectrometer comprises a dispersion element, wherein the dispersion element is used for performing dispersion and light splitting on the automobile tire reflected light so as to form spectral distribution with sequentially arranged wavelengths on the second image sensor;
the dispersion element is arranged on the light-in side face, the light-out side face or the light-sensitive surface of the second optical filter.
Preferably, the dispersive element employs any one of the following optical devices;
-a planar diffraction grating;
-a prism;
-an optical waveguide device.
Preferably, the image sensor is provided with a dispersion detector; the dispersion detector is used for detecting the spectral distribution;
the dispersion detector is a partial area of the image sensor or an independent detector.
Preferably, the spectrometer is arranged inside the 3D camera;
or the spectrometer is arranged at one end or one side face of the 3D camera, and the light inlet of the spectrometer is the same as the light inlet of the first imaging module and the light inlet of the second imaging module in direction.
Preferably, the light projector employs a discrete light beam projector for projecting a plurality of discrete collimated light beams towards the vehicle tyre;
the first imaging module is used for receiving the scattered and collimated light beams reflected by the automobile tire and obtaining the depth image of the surface of the automobile tire according to a light spot pattern formed by a plurality of scattered and collimated light beams.
Preferably, the light projector adopts a surface light source projector for projecting floodlight to the automobile tire;
and the second imaging module is used for receiving floodlight reflected by the automobile tire and obtaining a depth image of the surface of the automobile tire according to the propagation time of the floodlight.
Preferably, the discrete beam projector comprises an edge-emitting laser and a beam projector disposed on an optical path;
the edge-emitting laser is used for projecting laser to the beam projector;
the beam projector is used for projecting the incident laser light into a plurality of discrete collimated light beams.
Preferably, the discrete beam projector comprises a laser array, a collimating lens and a beam splitting device arranged on an optical path;
the laser array is used for projecting laser of a first order of magnitude to the collimating lens;
the collimating lens is used for collimating the incident multiple laser beams and then emitting collimated light beams with a first order of magnitude;
the beam splitting device is used for splitting the incident collimated light beam with the first order of magnitude to emit a collimated light beam with a second order of magnitude;
the second order of magnitude is greater than the first order of magnitude.
Preferably, the 3D camera comprises a driving circuit connected to the light projector and the second imaging module;
the driving circuit is used for controlling the light projector and the second imaging module to be simultaneously turned on or off and controlling the output light power of the light projector by controlling the driving current of the light projector.
The electronic equipment provided by the invention comprises the 4D camera device.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the 3D image of the automobile tire is acquired through the 3D camera, and the spectrum information of the gas in the automobile tire is acquired through the spectrometer, so that whether the tire pressure of the automobile tire is too low or too high can be judged by integrating the 3D image and the spectrum information, and the quick judgment of the tire pressure of the automobile tire is realized; in addition, the integrated spectrometer and the 3D camera can be loaded on the electronic equipment, so that a user can conveniently call the spectrometer and the 3D camera, and the application scene of the electronic equipment is enlarged; according to the invention, the dispersion element is arranged on the light-in side surface, the light-out side surface or the light-sensitive surface of the image sensor, so that the integration of the spectrometer and the 3D camera is realized, and the integration cost is reduced; the invention not only can combine the spectrometer and the 3D camera, but also can independently call the spectrometer and the 3D camera, for example, the spectrometer is independently called to carry out food safety monitoring, fruit component detection, component content in milk, protein content in body-building beverage, even fat content of human body and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts. Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of a 4D imaging device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a 4D imaging device according to a first modification of the present invention;
FIG. 3 is a flowchart illustrating steps of determining whether the tire pressure of the automobile tire is too low or too high according to an embodiment of the present invention;
FIG. 4 (a) is a schematic view of a tire pressure of an automobile tire in an embodiment of the present invention at a normal state;
FIG. 4 (b) is a schematic diagram of an embodiment of the present invention when the tire pressure of the automobile tire is too high;
FIG. 4 (c) is a schematic view of an embodiment of the present invention showing a tire pressure of an automobile tire being too low;
FIG. 5 is a schematic diagram of the operation of a spectrometer according to a variation of the present invention;
fig. 6 is a schematic structural diagram of a 4D imaging device according to a second modification of the present invention;
fig. 7 is a schematic structural diagram of a 4D imaging device according to a third modification of the present invention;
fig. 8 is a schematic structural diagram of a 4D imaging device according to a fourth modification of the present invention;
fig. 9 is a schematic structural view of a 4D imaging device according to a fifth modification of the present invention;
fig. 10 is a schematic structural view of a 4D imaging device according to a sixth modification of the present invention;
fig. 11 is a schematic structural diagram of an image sensor in an embodiment of the invention.
In the figure:
1 is a lens of a 3D camera; 101 is a light projector; 102 is a second imaging module; 103 is a first imaging module; 104 is a driving circuit; 105 is a processor module; 1031 is a first filter; 1032 is the first image sensor; 1033 is a dispersion detector; 2 is a spectrometer; 201 is a dispersive element; 3 is a lens of the RGB camera; 301 is a second filter segment; 302 is a second image sensor; 4 is an automobile tire; 401 is the baseline region.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the embodiment of the invention, the 4D camera device provided by the invention comprises a spectrometer, a 3D camera and a processor module 105;
the 3D camera comprises a light projector 101, a first imaging module 103 and a second imaging module 102;
the light projector 101 is used for projecting light to an automobile tire;
the first imaging module 103 is configured to receive reflected light of the automobile tire and obtain a depth image of the surface of the automobile tire according to the reflected light;
the second imaging module 102 is configured to acquire a 2D image of the automobile tire;
the spectrometer 2 is used for receiving automobile tire reflected light and generating spectral information of the automobile tire reflected light;
the processor module 105 is configured to generate a 3D image of the automobile tire according to the depth image and the 2D image of the surface of the automobile tire, and further determine whether the tire pressure of the automobile tire is too low or too high according to the spectral information and the 3D image.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that the above is the core idea of the present invention, and the above objects, features and advantages of the present invention can be more clearly understood. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a 4D imaging device in an embodiment of the present invention, and as shown in fig. 1, the 4D imaging device provided by the present invention includes a spectrometer 2, a 3D camera 1, and a processor module 105;
the 3D camera 1 comprises a light projector 101, a first imaging module 103 and a second imaging module 102;
the light projector 101 is used for projecting light to an automobile tire;
the first imaging module 103 is configured to receive reflected light of the automobile tire and obtain a depth image of the surface of the automobile tire according to the reflected light;
the second imaging module 102 is configured to acquire a 2D image of the automobile tire;
the spectrometer 2 is used for receiving automobile tire reflected light and generating spectral information of the automobile tire reflected light;
the processor module 105 is configured to generate a 3D image of the automobile tire according to the depth image and the 2D image of the surface of the automobile tire, and further determine whether the tire pressure of the automobile tire is too low or too high according to the spectral information and the 3D image.
In the embodiment of the invention, the 3D image of the automobile tire is acquired through the 3D camera, and the spectrum information of the gas in the automobile tire is acquired through the spectrometer, so that whether the tire pressure of the automobile tire is too low or too high can be judged by integrating the 3D image and the spectrum information, and the rapid judgment of the tire pressure of the automobile tire is realized.
In a modification of the present invention, the spectrometer 2 may be further disposed inside the 3D camera 1, as shown in fig. 2, fig. 2 is a schematic structural diagram of a 4D imaging device in a first modification of the present invention, and a person skilled in the art can understand the first modification as a modification of the embodiment shown in fig. 1, where the first imaging module 103 includes a first optical filter 1031 and a first image sensor 1032;
the spectrometer 2 comprises a dispersion element 201, wherein the dispersion element 201 is used for carrying out dispersion and light splitting on the reflected light so as to form a spectrum distribution with sequentially arranged wavelengths on the first image sensor;
the dispersive element 201 is disposed on the light incident side of the first filter 1031.
The dispersive element 201 adopts any one of the following optical devices;
-a planar diffraction grating;
-a prism;
-an optical waveguide device.
Fig. 3 is a flowchart of a step of determining whether the tire pressure of the automobile tire is too low or too high in an embodiment of the present invention, and as shown in fig. 3, in the embodiment of the present invention, when determining whether the tire pressure of the automobile tire is too low or too high, the method includes the following steps:
when judging whether the tire pressure of the automobile tire is too low or too high, the method comprises the following steps:
step S1: acquiring a baseline region 401 of the contact between the tread of the automobile tire and the ground on the 3D image, and determining the contact length between the tread of the automobile tire and the ground according to the baseline region 401;
fig. 4 (a) is a schematic diagram of a vehicle tire in an embodiment of the present invention when the tire pressure is normal, and as shown in fig. 4 (a), the baseline region 401 is a region where the tread of the vehicle tire contacts with the ground, and the contact length is a length along the thickness direction of the vehicle tire where the tread of the vehicle tire contacts with the ground. When the tire pressure of the automobile tire is normal, the contact length of the tread of the automobile tire in contact with the ground is a reference length.
Step S2: comparing the contact length with the preset standard length, and triggering the step S3 when the ratio of the contact length to the standard length is lower than a preset ratio threshold;
fig. 4 (b) is a schematic view of the tire pressure of the automobile tire in the embodiment of the present invention being too high, and fig. 4 (c) is a schematic view of the tire pressure of the automobile tire in the embodiment of the present invention being too low, as shown in fig. 4 (b) and fig. 4 (c), when the tire pressure of the automobile tire is too high or too low, the contact length between the tread of the automobile tire and the ground is smaller than the standard length.
And step S3: and determining the gas concentration of the automobile tire according to the spectrum information, and judging whether the tire pressure of the automobile tire is too high or too low according to the gas concentration.
And if the gas concentration is greater than the preset standard gas concentration, determining that the tire pressure of the automobile tire is too high, and if the gas concentration is less than the preset standard gas concentration, determining that the tire pressure of the automobile tire is too low.
Or calculating a specific tire pressure value according to the gas concentration, comparing standard tire pressures according to the tire pressure values, determining that the tire pressure of the automobile tire is too high when the tire pressure value is greater than a preset standard tire pressure, and determining that the tire pressure of the automobile tire is too low when the tire pressure value is less than the preset standard tire pressure. In the embodiment of the invention, the standard tire pressure is 2.4-2.5bar. The standard gas concentration may be calculated from the standard tire pressure.
The spectrometer 2 is arranged at one end or one side surface of the 3D camera 1;
the light inlets of the spectrometer 2 and the first imaging module 103 and the second imaging module 102 are in the same direction.
In the embodiment of the invention, the spectrometer 2 is arranged at the lower end of the 3D camera 1, and the spectrometer 2 and the 3D camera 1 are in an integrated structure. The spectrometer 2 may be an active spectrometer, for example, the spectrometer has a light projector to receive light reflected from an automobile tire after projecting light to the automobile tire to generate spectrum information, or a passive spectrometer to receive light reflected from the automobile tire after irradiating ambient light to the automobile tire to generate spectrum information.
The car tyre reflected light comprises a reflection of ambient light by the car tyre and/or a reflection of projected light by the car tyre by the light projector 101.
In one embodiment of the present invention, the light projector 101 employs a discrete light beam projector for projecting a plurality of discrete collimated light beams toward a vehicle tire;
the first imaging module 103 is configured to receive the divergent light beams reflected by the automobile tire, and obtain the depth image of the surface of the automobile tire according to a light spot pattern formed by a plurality of the divergent light beams.
The first imaging module 103 adopts an infrared camera, when the light projector 101 divides the laser emitted by the edge emitting laser into a plurality of discrete collimated light beams, the plurality of discrete collimated light beams form a light spot image when irradiating on the automobile tire, when the plurality of discrete collimated light beams irradiate on the surface of the automobile tire, the light spot pattern is deformed or displaced, and after the first imaging module 103 acquires the light spot pattern on the surface of the automobile tire, the depth image on the surface of the automobile tire is obtained according to the deformation or displacement of the light spot pattern, namely the depth information on the surface of the automobile tire.
In one embodiment of the invention, the discrete beam projector includes an edge-emitting laser and a beam projector disposed on an optical path;
the edge-emitting laser is used for projecting laser to the beam projector;
the beam projector is used for projecting the incident laser light into a plurality of discrete collimated light beams.
The number of discrete collimated light beams is between two and tens of thousands of beams, such as 2 to 10 thousands of beams.
In one embodiment of the invention, the discrete beam projector comprises a laser array, a collimating lens and a beam splitting device which are arranged on a light path;
the laser array is used for projecting laser of a first order of magnitude to the collimating lens;
the collimating lens is used for collimating the incident multiple laser beams and then emitting collimated light beams with a first order of magnitude;
the beam splitting device is used for splitting the incident collimated light beam with the first order of magnitude to emit a collimated light beam with a second order of magnitude;
the second order of magnitude is greater than the first order of magnitude.
In an embodiment of the invention, the second order of magnitude is one to two times the first order of magnitude.
In the embodiment of the present invention, the Laser array may be formed by a plurality of Vertical Cavity Surface Emitting Lasers (VCSELs) or a plurality of Edge Emitting Lasers (EELs). After passing through the collimating lens, the multiple laser beams can become highly parallel collimated beams. According to the requirement of practical application, the beam splitting device can be adopted to realize more collimated beams according to the quantity of the discrete beams. The beam splitting device may employ a diffraction grating (DOE), a Spatial Light Modulator (SLM), and the like.
In the embodiment of the present invention, the light projector 101 is a surface light source projector for projecting floodlight to the automobile tire; the surface light source projector adopts an LED light source. In a variant, other light sources, such as infrared light sources, may also be used.
The first imaging module 103 is configured to receive floodlight reflected by the automobile tire, and obtain a depth image of the surface of the automobile tire according to propagation time of the floodlight.
In an embodiment of the present invention, the floodlight projected by the surface light source projector is reflected by an automobile tire, and is partially reflected and received by the first imaging module 103, and each light detector in the first imaging module 103 can obtain the flight time t from emission to reception of the corresponding light beam, so as to obtain the flight distance s = ct of the collimated light beam by the light speed c, thereby being capable of measuring the depth information of the surface position of the automobile tire. The depth data points of the positions construct point cloud data which can reproduce the 3D shape of the object, so that 3D imaging of the automobile tire is realized.
In the embodiment of the present invention, the 3D camera 1 includes a driving circuit 104 connected to the light projector 101 and the second imaging module 102;
the driving circuit 104 is configured to control the light projector 101 and the second imaging module 102 to be turned on or off simultaneously, and can control the output optical power of the light projector 101 by controlling the driving current of the light projector 101.
The driving circuit 104 may be a separate dedicated circuit, such as a dedicated SOC chip, an FPGA chip, an ASIC chip, etc., or may include a general-purpose processor, for example, when the depth camera is integrated into an intelligent terminal, such as a mobile phone, a television, a computer, etc., a processor in the terminal may be at least a part of the processing circuit.
Fig. 5 is a schematic diagram of the spectrometer according to a variation of the present invention, and as shown in fig. 5, the incident light is dispersed and dispersed by the dispersive element 201 to form a spectrum distribution with sequentially arranged wavelengths, the spectrum distribution is detected by a partial region of the image sensor 1032, and then the processor module 105 draws a spectrum curve according to the optical signal detected by the partial region of the image sensor 1032.
Fig. 6 is a schematic structural diagram of a 4D imaging device according to a second modification of the present invention; a person skilled in the art can understand this second modification as a variation of the embodiment shown in fig. 2, and as shown in fig. 6, the first imaging module 103 includes a first optical filter 1031 and a first image sensor 1032;
the spectrometer 2 comprises a dispersion element 201, wherein the dispersion element 201 is used for carrying out dispersion and light splitting on the reflected light so as to form a spectrum distribution with sequentially arranged wavelengths on the first image sensor;
the dispersive element 201 is arranged on the light exit side of the first filter 1031.
Fig. 7 is a schematic structural diagram of a 4D imaging apparatus according to a third modification of the present invention, and those skilled in the art can understand the third modification as a modification of the embodiment shown in fig. 2, and as shown in fig. 7, the first imaging module 103 includes a first optical filter 1031 and a first image sensor 1032;
the spectrometer 2 comprises a dispersion element 201, wherein the dispersion element 201 is used for carrying out dispersion and light splitting on the reflected light so as to form a spectrum distribution with sequentially arranged wavelengths on the first image sensor;
the dispersive element 201 is disposed on a light sensitive surface of the first image sensor 1032.
Fig. 8 is a schematic structural view of a 4D imaging device according to a fourth modification of the present invention; a person skilled in the art can understand this fourth modification as a variation of the embodiment shown in fig. 2, and as shown in fig. 8, the second imaging module 102 includes a second filter 301 and a second image sensor 302;
the spectrometer 2 comprises a dispersion element 201, wherein the dispersion element 201 is used for performing dispersion and light splitting on the automobile tire reflected light so as to form a spectrum distribution with sequentially arranged wavelengths on the second image sensor;
the dispersion element 201 is disposed on the light incident side of the second filter 301.
In a fourth modification of the present invention, the second imaging module 102 employs an RGB camera.
Fig. 9 is a schematic structural view of a 4D imaging device according to a fifth modification of the present invention; a person skilled in the art can understand this fourth modification as a variation of the embodiment shown in fig. 2, and as shown in fig. 9, the second imaging module 102 includes a second filter 301 and a second image sensor 302;
the spectrometer 2 comprises a dispersion element 201, wherein the dispersion element 201 is used for performing dispersion and light splitting on the automobile tire reflected light so as to form a spectrum distribution with sequentially arranged wavelengths on the second image sensor;
the dispersive element 201 is arranged on the light exit side of the second filter 301.
In a fifth modification of the present invention, the second imaging module 102 employs an RGB camera.
Fig. 10 is a schematic structural view of a 4D imaging device according to a sixth modification of the present invention; a person skilled in the art can understand this fourth modification as a variation of the embodiment shown in fig. 10, and as shown in fig. 8, the second imaging module 102 includes a second filter 301 and a second image sensor 302;
the spectrometer 2 comprises a dispersion element 201, wherein the dispersion element 201 is used for performing dispersion and light splitting on the automobile tire reflected light so as to form a spectrum distribution with sequentially arranged wavelengths on the second image sensor;
the dispersive element 201 is arranged on a light sensitive surface of the second image sensor 302.
In a sixth modification of the present invention, the second imaging module 102 employs an RGB camera.
Fig. 11 is a schematic structural diagram of an image sensor in an embodiment of the present invention, and as shown in fig. 11, the first image sensor 1032 is provided with a dispersion detector 1033; the dispersion detector 1033 is configured to detect the spectral distribution. The dispersion detector 1033 may be a part of the first image sensor 1032, or may be a separate detector disposed on the light incident side of the first image sensor 1032. In the embodiment of the present invention, the first image sensor 1032 is a contact image sensor, and may also be a CDD or CMOS image sensor. The second image sensor 302 has the same structure as the first image sensor 1032.
When the 4D camera device provided by the invention is used, the spectrometer and the 3D camera can be used together, the 3D image of the automobile tire is obtained through the 3D camera, and the spectral information of the automobile tire is obtained through the spectrometer, so that whether the tire pressure of the automobile tire is too low or too high can be judged through the comprehensive 3D image and spectral information, and the quick judgment of the tire pressure of the automobile tire is realized; the invention not only can combine the spectrometer and the 3D camera, but also can independently call the spectrometer and the 3D camera, for example, the spectrometer is independently called to carry out food safety monitoring, fruit component detection, component content in milk, protein content in body-building beverage, even fat content of human body and the like. According to the invention, the dispersion element is arranged on the light-in side surface, the light-out side surface or the light-sensitive surface of the image sensor, so that the integration of the spectrometer and the 3D camera is realized, and the integration cost of the invention is reduced.
In an embodiment of the invention, the electronic device provided by the invention comprises the 4D imaging device. Namely, the 4D camera device can be attached to an electronic device, which may be a mobile phone, a tablet computer, a digital camera, and the like.
In the embodiment of the invention, the integrated spectrometer and the 3D camera can be loaded on the electronic equipment, so that a user can conveniently call the spectrometer and the 3D camera, and the application scene of the electronic equipment is enlarged.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.

Claims (9)

1. A4D camera device is characterized by comprising a spectrometer, a 3D camera and a processor module;
the 3D camera comprises a light projector, a first imaging module and a second imaging module;
the light projector is used for projecting light to a vehicle tire;
the first imaging module is used for receiving reflected light of the automobile tire and obtaining a depth image of the surface of the automobile tire according to the reflected light;
the second imaging module is used for acquiring a 2D image of the automobile tire;
the spectrometer is an active spectrometer and is used for collecting the spectral information of the gas in the automobile tire;
the processor module is used for generating a 3D image of the automobile tire according to the depth image and the 2D image of the surface of the automobile tire, and further judging whether the tire pressure of the automobile tire is too low or too high according to the spectral information and the 3D image;
the first imaging module comprises a first optical filter and a first image sensor;
the spectrometer comprises a dispersion element, wherein the dispersion element is used for carrying out dispersion and light splitting on the reflected light so as to form a spectrum distribution with sequentially arranged wavelengths on the first image sensor;
the dispersion element is arranged on the light-in side face, the light-out side face or the light-sensitive surface of the first optical filter.
2. A4D camera device is characterized by comprising a spectrometer, a 3D camera and a processor module;
the 3D camera comprises a light projector, a first imaging module and a second imaging module;
the light projector is used for projecting light to a vehicle tire;
the first imaging module is used for receiving reflected light of the automobile tire and obtaining a depth image of the surface of the automobile tire according to the reflected light;
the second imaging module is used for acquiring a 2D image of the automobile tire;
the spectrometer is an active spectrometer and is used for collecting the spectral information of the gas in the automobile tire;
the processor module is used for generating a 3D image of the automobile tire according to the depth image and the 2D image of the surface of the automobile tire, and further judging whether the tire pressure of the automobile tire is too low or too high according to the spectral information and the 3D image;
the second imaging module comprises a second optical filter and a second image sensor;
the spectrometer comprises a dispersion element, wherein the dispersion element is used for carrying out dispersion and light splitting on the reflected light of the automobile tire so as to form spectral distribution with sequentially arranged wavelengths on the second image sensor;
the dispersion element is arranged on the light-in side face, the light-out side face or the light-sensitive surface of the second optical filter.
3. The 4D camera device according to claim 1 or 2, wherein when determining whether the tire pressure of the automobile tire is too low or too high, the method comprises the following steps:
step S1: acquiring a base line area of the contact between the tread of the automobile tire and the ground on the 3D image, and determining the contact length between the tread of the automobile tire and the ground according to the base line area;
step S2: comparing the contact length with a preset standard length, and triggering the step S3 when the ratio of the contact length to the standard length is lower than a preset ratio threshold;
and step S3: and determining the gas concentration of the automobile tire according to the spectrum information, and judging whether the tire pressure of the automobile tire is too high or too low according to the gas concentration.
4. The 4D image pickup apparatus according to claim 1 or 2, wherein the dispersion element employs any one of the following optical devices;
-a planar diffraction grating;
-a prism;
-an optical waveguide device.
5. 4D camera device according to claim 1 or 2, characterized in that the image sensor is provided with a dispersive detector; the dispersion detector is used for detecting the spectral distribution;
the dispersion detector is a partial area of the image sensor or an independent detector.
6. The 4D camera device according to claim 1 or 2, wherein the spectrometer is arranged inside the 3D camera;
or the spectrometer is arranged at one end or one side face of the 3D camera, and the light inlet of the spectrometer is the same as the light inlet of the first imaging module and the light inlet of the second imaging module in direction.
7. The 4D camera device of claim 1 or 2, wherein the light projector employs a discrete light beam projector for projecting a plurality of discrete collimated light beams towards a vehicle tire;
the first imaging module is used for receiving the scattered collimated light beams reflected by the automobile tire and obtaining the depth image of the surface of the automobile tire according to a light spot pattern formed by a plurality of scattered collimated light beams.
8. The 4D camera device according to claim 1 or 2, wherein the light projector is a surface light source projector for projecting floodlight to the automobile tire;
the first imaging module is used for receiving floodlight reflected by the automobile tire and obtaining a depth image of the surface of the automobile tire according to the propagation time of the floodlight.
9. An electronic apparatus characterized by comprising the 4D imaging device according to claim 1 or 2.
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