CN215218570U - Lens system, imaging module and TOF depth camera - Google Patents
Lens system, imaging module and TOF depth camera Download PDFInfo
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- CN215218570U CN215218570U CN202121036415.6U CN202121036415U CN215218570U CN 215218570 U CN215218570 U CN 215218570U CN 202121036415 U CN202121036415 U CN 202121036415U CN 215218570 U CN215218570 U CN 215218570U
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Abstract
The utility model discloses a lens system, imaging module and TOF depth camera, including first lens, second lens, third lens, fourth lens and fifth lens; the object side surface of the first lens is a convex surface at the optical axis, and the image side surface of the first lens is a concave surface at the optical axis; the object side surface and the image side surface of the second lens are convex surfaces at the optical axis; the object side surface of the third lens is a convex surface at the optical axis, and the image side surface of the third lens is a concave surface at the optical axis; the object side surface of the fourth lens is a convex surface at the optical axis, and the image side surface of the fourth lens is a concave surface at the optical axis; the object side surface of the fifth lens is a convex surface at the optical axis, and the image side surface of the fifth lens is a concave surface at the optical axis; the first lens, the third lens have negative focal power, and the second lens, the fourth lens and the fifth lens have positive focal power. The utility model discloses lens system, formation of image module and TOF degree of depth camera's imaging surface has enough and appropriate illuminance, and can obtain great negative distortion compensation, can obtain good imaging quality when guaranteeing compact structure.
Description
Technical Field
The utility model relates to an optics and electron technical field, concretely relates to lens system, imaging module and TOF degree of depth camera.
Background
The existing optical lens is often applied to electronic devices such as cameras and projectors, and particularly for consumer-grade electronic devices such as mobile phones and computers, the optical lens is often small in size, low in cost and stable in performance, so that the design difficulty is high. In recent years, with the development of consumer-grade 3D imaging electronics, such as TOF depth cameras, optical lenses are increasingly widely used.
TOF depth cameras typically project a speckle pattern outward through a light source via a projection module, which receives the speckle pattern and then uses the speckle pattern to generate a depth image. The performance of the lens system of the imaging module seriously affects the imaging quality.
The above background disclosure is only for the purpose of assisting understanding of the inventive concepts and technical solutions of the present invention, and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above contents are disclosed at the filing date of the present patent application.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at overcomes prior art not enough, provides a lens system, formation of image module and TOF degree of depth camera to solve at least one kind problem among the above-mentioned background art problem.
The utility model discloses a reach above-mentioned purpose and propose following technical scheme:
a lens system comprises a first lens, a second lens, a third lens, a fourth lens and a fifth lens which are sequentially arranged along the emergent direction of a light beam; the object side surface of the first lens is a convex surface at the optical axis, and the image side surface of the first lens is a concave surface at the optical axis; the object side surface and the image side surface of the second lens are convex surfaces at the optical axis; the object side surface of the third lens is a convex surface at the optical axis, and the image side surface of the third lens is a concave surface at the optical axis; the object side surface of the fourth lens is a convex surface at the optical axis, and the image side surface of the fourth lens is a concave surface at the optical axis; the object side surface of the fifth lens is a convex surface at the optical axis, and the image side surface of the fifth lens is a concave surface at the optical axis; the first lens, the third lens have a negative optical power, and the second lens, the fourth lens, and the fifth lens have a positive optical power.
In some embodiments, an aperture value Fno of a lens group consisting of the first lens, the second lens, the third lens, the fourth lens, and the fifth lens satisfies: fno < 1.1.
In some embodiments, the first lens, the second lens, the third lens, the fourth lens, and the fifth lens satisfy:
-1.2<f1/f2<-0.8；
-0.7<f2/f3<-0.5；
-1.2<f3/f4<-0.1；
1.0<f4/f5<1.2；
0.6<f1234/f5<0.8；
-1.4<f1/f2345<-1.0；
1.52<Nd<1.65；
0.15<f/TL<0.2；
wherein f is the effective focal length of the lens system; f1 is the effective focal length of the first lens; f2 is the effective focal length of the second lens; f3 is the effective focal length of the third lens; f1234 is the combined focal length of the first lens, the second lens, the third lens, and the fourth lens; f2345 is a combined focal length of the second lens, the third lens, the fourth lens and the fifth lens; nd is the refractive index of the lens material to D light, and TL is the distance from the object side surface to the image side surface of the first lens on the optical axis.
In some embodiments, further comprising an aperture stop, wherein the aperture stop is disposed between an image side surface of the first lens and an object side surface of the second lens.
In some embodiments, the first lens, the second lens, the third lens, the fourth lens, and the fifth lens are all plastic lenses, or all glass lenses, or a combination of glass lenses and plastic lenses.
The utility model discloses another embodiment technical scheme does:
an imaging module comprises an image sensor, a filtering unit and a receiving optical element; wherein the receiving optical element comprises the lens system of any of the preceding embodiments for receiving and directing onto the image sensor at least a portion of the speckle pattern reflected back from the target object.
In some embodiments, the image sensor comprises at least one pixel for receiving an optical signal and converting into an electrical signal.
In some embodiments, the filtering unit is a filter for filtering out background light or stray light.
The utility model discloses another embodiment technical scheme does:
a depth camera comprises the imaging module, the projection module, a bracket and a processor which are described in any embodiment of the technical scheme; the projection module and the imaging module are arranged on the bracket at a preset baseline distance.
In some embodiments, the projection module includes a projection light source comprised of one or more lasers for projecting the encoded speckle pattern into the target space.
The utility model discloses technical scheme's beneficial effect is:
compared with the prior art, the utility model discloses lens system, formation of image module and TOF degree of depth camera can realize that the imaging surface has enough and appropriate illuminance, and can obtain great negative distortion compensation, can obtain good imaging quality when guaranteeing compact structure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be 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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a functional block diagram of a TOF depth camera in accordance with an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a lens system according to another embodiment of the present invention;
fig. 3 is a schematic view of an optical path structure of a lens system according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a distortion curve of the lens system of the embodiment of FIG. 3;
FIG. 5 is a graph illustrating the relative illuminance of the lens system of the embodiment of FIG. 3.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
It will be further understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner" and "outer" refer to an orientation or positional relationship as shown in the drawings, which are used for convenience in describing and simplifying the invention, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered limiting of the invention.
The utility model provides a lens system, formation of image module and TOF degree of depth camera is for understanding, describes TOF degree of depth camera, formation of image module earlier below, further explains the lens system at last again.
Referring to fig. 1, fig. 1 is a schematic diagram of a TOF depth camera 100 according to an embodiment of the invention, where the depth camera 100 includes a projection module 10, an imaging module 20, and a processor 30; the projection module 10 and the imaging module 20 are mounted on a support (the support may be a base, a circuit board, etc., and is not limited to a heroic support) at a preset baseline distance; the projection module 10 includes a projection light source 101 composed of one or more lasers for projecting the encoded speckle pattern toward the target space, and reflecting the encoded speckle pattern back to the imaging module 20 through the target object in the target space; the imaging module 20 includes an image sensor 201 for collecting light energy in the reflected speckle pattern and forming an electrical signal; the processor 30 is connected to the projection module 10 and the imaging module 20, and is configured to receive and process the electrical signal to obtain depth information of the target object.
Specifically, the projection module 10 further includes an emission optical element 102, a driver (not shown), and the like. The projection light source 101 may be a Light Emitting Diode (LED), a Laser Diode (LD), an Edge Emitting Laser (EEL), a Vertical Cavity Surface Emitting Laser (VCSEL), or the like, or may be a one-dimensional or two-dimensional light source array composed of a plurality of light sources. The light beam projected by the projection light source 101 may be visible light, infrared light, ultraviolet light, or the like. The projection light source 101 projects a light beam outward under the control of a driver. In one embodiment, the projection light source 101 is an infrared laser light source, such as a 940nm band, the speckle points of the speckle pattern may be arranged in a quadrilateral or hexagonal pattern, and correspondingly, the imaging module 20 is an infrared camera with a corresponding band.
The emission optical element 102 receives the light beam emitted from the projection light source 101 and projects the light beam onto a target region after shaping. In one embodiment, the projection module 10 further comprises a diffractive optical element 103. The transmit optical element 102 receives the pulsed light beam from the projection light source 101 and modulates the pulsed light beam by encoding, such as diffraction, refraction, reflection, etc., and then projects an encoded speckle pattern, such as a focused light beam, a flood light beam, a structured light beam, etc., into space. In one embodiment, the emitting optical element 102 is a lens or a lens group.
The imaging module 20 includes an image sensor 201, a filter unit 202, and a receiving optical element 203; wherein receiving optics 203 is configured to receive at least a portion of the speckle pattern reflected back from the target object and direct the at least a portion of the speckle pattern onto image sensor 201; the filtering unit 202 is used for filtering out background light or stray light; in one embodiment, the image sensor 201 is a TOF sensor, the filter unit 202 is a filter (e.g., an infrared filter), and the receiving optics 203 includes a lens system.
The image sensor 201 includes at least one pixel for receiving an optical signal and converting it into an electrical signal. Wherein, the speckle pattern is collected by the pixels of the image sensor 201 to convert the optical signal into an electrical signal, and the processor 30 performs processing calculation to obtain the depth information of the target object.
Referring to fig. 2 and 3, a lens system 200 according to an embodiment of the present invention includes a first lens L1, a second lens L2, a third lens L3, a fourth lens L4, and a fifth lens L5, which are sequentially disposed along a light beam exiting direction; specifically, referring to FIG. 3, the lens system 200 has an object side surface and an image side surface, and in the embodiment of the present invention, the light beam incident surface S0 is defined as the object side surface, the light beam emergent surface (i.e. the side of the optical filter) is defined as the image side surface, the side of the lens facing the object side surface is the object side surface, and the side facing the image side surface is defined as the image side surface; all the lenses are aspheric, wherein the object side surface S1 of the first lens L1 is convex at the optical axis, and the image side surface S2 is concave at the optical axis; the object-side surface S4 and the image-side surface S5 of the second lens L2 are convex on the optical axis; the object-side surface S6 of the third lens L3 is convex at the optical axis, and the image-side surface S7 is concave at the optical axis; the object-side surface S8 of the fourth lens L4 is convex at the optical axis, and the image-side surface S9 is concave at the optical axis; the object-side surface S10 of the fifth lens L5 is convex at the optical axis, and the image-side surface S11 is concave at the optical axis; the first lens L1 and the third lens L3 have negative optical power, and the second lens L2, the fourth lens L4, and the fifth lens L5 have positive optical power.
As an embodiment of the present invention, the aperture value Fno of the lens group formed by the first lens L1, the second lens L2, the third lens L3, the fourth lens L4, and the fifth lens L5 satisfies: fno < 1.1.
As an embodiment of the present invention, the lens system satisfies the following conditions:
-1.2<f1/f2<-0.8；
-0.7<f2/f3<-0.5；
-1.2<f3/f4<-0.1；
1.0<f4/f5<1.2；
0.6<f1234/f5<0.8；
-1.4<f1/f2345<-1.0；
1.52<Nd<1.65；
0.15<f/TL<0.2；
wherein f is the effective focal length of the lens system; f1 is the effective focal length of the first lens L1; f2 is the effective focal length of the second lens L2; f3 is the effective focal length of the third lens L3; f1234 is the combined focal length (unit: mm) of the first lens L1, the second lens L2, the third lens L3, and the fourth lens L4; f2345 is the combined focal length (unit: mm) of the second lens L2, the third lens L3, the fourth lens L4, and the fifth lens L5; nd is the refractive index of the lens material (i.e., refractive index with respect to D light) in D-line (587nm), and TL is the distance from the object-side surface to the image-side surface of the first lens L1 on the optical axis.
In some embodiments, the first lens L1, the second lens L2, the third lens L3, the fourth lens L4, and the fifth lens L5 are all plastic lenses or glass lenses, or are a combination of glass lenses and plastic lenses; it can be understood that the plastic lens facilitates reducing the cost, and the influence of the over-cooling or over-heating on the focal length of the lens set can be reduced by optimizing the parameters of the lens system. Specifically, the plastic lens may be made of PMMA (chemical name: polymethyl methacrylate, i.e., organic glass, commonly called acryl), PC (Polycarbonate), EP5000, or the like. The glass lens has the characteristics of high temperature resistance, corrosion resistance, scratch resistance and the like, can protect the whole lens system from being scratched in the assembling, transporting and using processes, and is not easy to be decomposed and damaged by wind in severe environments such as high temperature, low temperature, strong illumination, sand storm and the like, so that the service life of the lens system is prolonged.
In some embodiments, the lens system 200 further includes an aperture stop 204, wherein the aperture stop 204 can be disposed as required, and in the embodiment of the present invention, the aperture stop 204 is disposed between the image side S2 of the first lens L1 and the object side S5 of the second lens L2. It should be noted that, in other embodiments, the aperture stop 204 may be disposed at other positions, and is not particularly limited in the embodiment of the present invention.
The following tables 1 and 2 will provide exemplary design parameters of a lens system 200 according to embodiments of the present invention, and it is understood that the exemplary design parameters are for illustration only and that other designs based on the principles of the present invention will be apparent to those skilled in the art after reading the embodiments of the present invention and are therefore within the scope of the present invention.
Table 1 below is an exemplary lens system surface coefficient:
TABLE 1 surface coefficients of lens systems
| Surface of | Radius of curvature (R) | Coefficient of cone (K) | Thickness/distance | Refractive index (Nd) | Abbe number (Vd) | |
| S0 | Article surface | Infinity(s) | 0.000 | INF | ||
| S1 | First lens | 6.116 | -4.170 | 0.648 | 1.635 | 23.97 |
| S2 | 1.694 | -4.200 | 2.954 | |||
| S3 | Aperture | - | - | -0.1 | ||
| S4 | Second lens | 6.976 | 0.551 | 2.604 | 1.635 | 23.97 |
| S5 | -3.31 | 0.05 | 0.147 | |||
| S6 | Third lens | 7.104 | -100 | 0.99 | 1.635 | 23.97 |
| S7 | 2.429 | -11.6 | 0.326 | |||
| S8 | Fourth lens | 2.056 | -8.089 | 0.923 | 1.635 | 23.97 |
| S9 | 3.469 | -16 | 0.76 | |||
| S10 | Fifth lens element | 3.12 | -1.6 | 0.781 | 1.635 | 23.97 |
| S11 | 29.5 | -90 | 0.786 | |||
| S12 | Optical filter | Infinity(s) | 0.000 | 0.30 | ||
| S12 | 0.924 | |||||
| Image plane | Infinity(s) | 0.000 | 0.000 |
The aspherical surface curve equation of each lens is as follows:
wherein z is a position value in the optical axis direction at a position of height h with the surface vertex as a reference; c is the curvature of the lens surface near the optical axis and is the reciprocal of the radius of curvature (R) (i.e., c 1/R), R is the radius of curvature of the lens surface near the optical axis, h is the perpendicular distance of the lens surface from the optical axis, k is the conic coefficient (con constant), and A is4、A6、A8、A10、A12、A14、A16Are high order aspheric coefficients.
Table 2 below is an exemplary lens system aspheric coefficient design:
TABLE 2 aspherical coefficients
| Surface of | S2 | S3 | S5 | S6 | S7 | S8 | S9 | S10 | S11 | S12 |
| A4 | 8.24E-03 | 1.19E-02 | -2.57E-03 | -1.57E-03 | -8.04E-03 | -1.64E-02 | -7.51E-03 | -1.97E-02 | -1.85E-02 | 2.03E-02 |
| A6 | -9.46E-04 | 1.63E-03 | -1.94E-03 | 1.70E-04 | 6.81E-04 | 2.50E-04 | -1.80E-03 | -9.58E-04 | -1.22E-03 | -4.44E-03 |
| A8 | 4.28E-05 | -6.26E-04 | 4.52E-04 | 5.45E-05 | -1.28E-04 | -3.70E-05 | -1.12E-04 | 1.94E-04 | -7.16E-04 | 1.58E-04 |
| A10 | -1.01E-06 | 1.41E-04 | -8.48E-05 | -1.48E-05 | -5.54E-07 | -6.01E-07 | 1.47E-05 | -7.60E-06 | 8.87E-05 | -9.12E-07 |
| A12 | 2.37E-09 | 1.51E-05 | -2.86E-07 | -1.95E-07 | 3.46E-07 | 8.86E-08 | -8.53E-09 | -9.25E-09 | 5.99E-07 | 8.01E-07 |
| A14 | -1.90E-09 | -1.02E-05 | -2.03E-07 | 4.82E-08 | 1.18E-08 | 9.19E-09 | 2.86E-08 | -3.14E-09 | -2.01E-08 | 8.31E-12 |
| A16 | 1.77E-11 | 1.04E-07 | -2.57E-08 | -2.04E-09 | 1.34E-09 | -1.43E-10 | 2.13E-09 | 1.85E-09 | -9.93E-09 | -1.26E-09 |
In the above parametric design example, the lens system can operate at F/1.1 and can reach a 110 ° field angle, the optical distortion is-9.9%, so that the lens system has a large field angle and large negative distortion compensation.
Fig. 4 shows a distortion curve of a lens system according to an embodiment of the present invention, in fig. 4, an abscissa represents distortion, and an ordinate represents image height, and as can be seen from fig. 4, an optical distortion of the lens system is in a range of-9.9% to 0, and has a large negative distortion compensation.
Fig. 5 shows a relative illuminance curve of a lens system according to an embodiment of the present invention, where the Relative Illuminance (RI) is a ratio of the edge illuminance and the center illuminance of an image plane. In fig. 5, the coordinate center (0, 0) is the center of the image plane, the luminance is brightest, the relative illuminance is 100%, the luminance of the edge gradually becomes darker as moving to the edge of the image plane until the luminance becomes about 50% at 45.5mm from the center, and it can be seen that the image plane of the system has sufficient illuminance.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the present invention.
In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the invention as defined by the appended claims.
Claims (10)
1. A lens system, characterized by: the lens comprises a first lens, a second lens, a third lens, a fourth lens and a fifth lens which are sequentially arranged along the emergent direction of a light beam; the object side surface of the first lens is a convex surface at the optical axis, and the image side surface of the first lens is a concave surface at the optical axis; the object side surface and the image side surface of the second lens are convex surfaces at the optical axis; the object side surface of the third lens is a convex surface at the optical axis, and the image side surface of the third lens is a concave surface at the optical axis; the object side surface of the fourth lens is a convex surface at the optical axis, and the image side surface of the fourth lens is a concave surface at the optical axis; the object side surface of the fifth lens is a convex surface at the optical axis, and the image side surface of the fifth lens is a concave surface at the optical axis; the first lens, the third lens have a negative optical power, and the second lens, the fourth lens, and the fifth lens have a positive optical power.
2. The lens system of claim 1, wherein: an aperture value Fno of a lens group including the first lens, the second lens, the third lens, the fourth lens, and the fifth lens satisfies: fno < 1.1.
3. The lens system of claim 1, wherein: the first lens, the second lens, the third lens, the fourth lens, and the fifth lens satisfy:
-1.2<f1/f2<-0.8；
-0.7<f2/f3<-0.5；
-1.2<f3/f4<-0.1；
1.0<f4/f5<1.2；
0.6<f1234/f5<0.8；
-1.4<f1/f2345<-1.0；
1.52<Nd<1.65；
0.15<f/TL<0.2；
wherein f is the effective focal length of the lens system; f1 is the effective focal length of the first lens; f2 is the effective focal length of the second lens; f3 is the effective focal length of the third lens; f1234 is the combined focal length of the first lens, the second lens, the third lens, and the fourth lens; f2345 is a combined focal length of the second lens, the third lens, the fourth lens and the fifth lens; nd is the refractive index of the lens material to D light, and TL is the distance from the object side surface to the image side surface of the first lens on the optical axis.
4. The lens system of claim 1, wherein: the lens further comprises an aperture diaphragm, wherein the aperture diaphragm is arranged between the image side surface of the first lens and the object side surface of the second lens.
5. The lens system of claim 1, wherein: the first lens, the second lens, the third lens, the fourth lens and the fifth lens are all plastic lenses, or all glass lenses, or a combination of glass lenses and plastic lenses.
6. The utility model provides an imaging module which characterized in that: comprises an image sensor, a filter unit and a receiving optical element; wherein the receiving optical element comprises the lens system of any of claims 1-5 for receiving and directing onto the image sensor at least a portion of the speckle pattern reflected back by the target object.
7. The imaging module of claim 6, wherein: the image sensor includes at least one pixel for receiving an optical signal and converting into an electrical signal.
8. The imaging module of claim 6, wherein: the filtering unit is a light filter used for filtering background light or stray light.
9. A TOF depth camera, characterized by: comprising the imaging module, projection module, bracket, and processor of claim 6; the projection module and the imaging module are arranged on the bracket at a preset baseline distance.
10. The TOF depth camera of claim 9, wherein: the projection module includes a projection light source comprised of one or more lasers for projecting an encoded speckle pattern into a target space.
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