CN220913485U - 3D projector, depth camera and intelligent device - Google Patents

Abstract

3D projector, depth camera and smart machine, characterized in that includes: a laser for emitting a plurality of laser beams; a floodlight for emitting floodlight; the shell is made of a light guide material, so that the floodlight passes through and exits; the shell is provided with a hollow part for fixing the optical element; the laser beams are modulated by the optical element and then emitted. The utility model utilizes the shell made of the light guide material to emit floodlight, and can realize two functions of the structural light and the floodlight only by the space same as the structural light. Meanwhile, as the structured light and the floodlight element are respectively arranged, the switching can be performed rapidly, the service lives of the structured light and the floodlight light-emitting element can be fully utilized, and the service life of the projector can be prolonged.

Description

3D projector, depth camera and intelligent device

Technical Field

The utility model relates to the technical field of depth measurement, in particular to a 3D projector, a depth camera and intelligent equipment.

Background

The depth measurement technique can obtain depth data of a target object, so that a 3D image with depth information such as RGBD can be obtained. Compared with a 2D image, the 3D image contains more data, so that better identification of a target can be realized, and due to the development of technology, the 3D image is applied to the fields of face recognition, 3D modeling, VR and the like. The structured light technology and the TOF technology are the two most widely applied depth measurement technologies at present, and the two technologies are combined, so that the same depth camera can obtain the advantages of the two technical effects of structured light and TOF, such as a larger measurement range, stronger anti-interference performance and the like.

In the current mainstream depth camera products, the structured light projector and the floodlight projector are arranged in the same module, and project structured light when the structured light is required to be projected, and project floodlight when the floodlight is required to be projected, so that the effective projection of the structured light and the floodlight can be realized.

In order to improve the integration level of the product, two main technical routes are provided:

1. The multi-beam laser is converged and separated in a focusing mode, so that the switching of structured light and floodlight is realized. When the multiple lasers are separated, structured light is projected. Floodlight is formed when multiple lasers meet together. However, the optical element needs to be moved during switching, so that the speed is low, and high-frequency switching between structured light and floodlight is difficult to realize.

2. The laser path is interfered by electric control equipment such as a liquid crystal plate and the like, so that the switching of the structured light and floodlight is realized.

When the liquid crystal wafer is in a transparent state, a plurality of laser beams pass through the liquid crystal wafer to show a structure light form. When the liquid crystal plate is switched to a frosted state, the liquid crystal plate is opaque, and a plurality of laser beams are dispersed, so that the laser beams are emitted in a floodlight state. But the energy loss of the light is larger, the energy utilization rate is lower, the energy conservation is not facilitated,

And the floodlight effect is difficult to achieve fine tuning.

The above is described for the convenience of understanding the present utility model and does not mean that the above is necessarily prior art.

Disclosure of utility model

Therefore, the utility model can realize two functions of structured light and floodlight by utilizing the shell made of the light guide material to emit floodlight and only requiring the same space as the structured light. Meanwhile, as the structured light and the floodlight element are respectively arranged, the switching can be performed rapidly, the service lives of the structured light and the floodlight light-emitting element can be fully utilized, and the service life of the projector can be prolonged.

In a first aspect, the present utility model provides a 3D projector, comprising:

a laser for emitting a plurality of laser beams;

A floodlight for emitting floodlight;

The shell is made of a light guide material, so that the floodlight passes through and exits;

the shell is provided with a hollow part for fixing the optical element;

the laser beams are modulated by the optical element and then emitted.

Optionally, the 3D projector is characterized in that the hollow part is located at the center of the housing.

Optionally, the 3D projector is characterized in that the optical element includes:

A collimator for collimating the plurality of laser beams;

And a diffraction optical element for expanding the plurality of laser beams.

Optionally, the 3D projector is characterized in that a reflective material is coated on a side surface of the housing to improve the brightness of the floodlight.

Optionally, the 3D projector is characterized in that the light emitting side of the floodlight is tightly attached to the housing.

Optionally, the 3D projector is characterized in that a material of a lampshade of the floodlight is the same as a material of the housing.

In a second aspect, the present utility model provides a 3D projector, comprising:

a laser for emitting a plurality of laser beams;

The LED lamp is used for emitting floodlight;

The shell is made of a light guide material, so that the floodlight passes through and exits;

The shell is provided with a hollow part for fixing the optical element; the laser beams are modulated by the optical element and then emitted;

the LED lamp is embedded in the shell to provide a better floodlight emergent effect.

Optionally, the 3D projector is characterized in that the LED lamps are plural and uniformly arranged around the laser.

In a third aspect, the utility model provides a depth camera comprising a 3D projector as claimed in any one of the preceding claims.

In a fourth aspect, the present utility model provides a smart device, comprising a 3D projector as described in any one of the preceding claims.

Compared with the prior art, the utility model has the following beneficial effects:

The shell is made of the light guide material, the floodlight can be emitted while fixing the optical element required by the structural light path, the device space is greatly saved, and the two functions of the structural light and the floodlight can be realized only by the space same as the structural light.

The floodlight and the laser are arranged separately, the structure is stable, the rapid switching of the structured light and floodlight can be realized without moving, and the high-frequency switching of the structured light and floodlight can be realized, so that more combined application of the structured light and floodlight can be realized.

The utility model has the advantages of small energy loss and higher energy utilization rate, is beneficial to energy conservation, and meanwhile, the laser only works when emitting laser, the floodlight only works when emitting floodlight, and is beneficial to the maximum utilization of the service lives of the laser and floodlight devices, so that the 3D projector has longer service life.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art. Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic diagram of a 3D projector according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a floodlight according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a floodlight and housing according to an embodiment of the utility model;

FIG. 4 is a schematic diagram of another 3D projector according to an embodiment of the utility model;

FIG. 5 is a structured light spot diagram in accordance with an embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a 3D projector according to another embodiment of the utility model.

FIG. 7 is a schematic diagram of a depth camera according to an embodiment of the present utility model;

FIG. 8 is a schematic view of a robot according to an embodiment of the present utility model;

Fig. 9 is a schematic structural diagram of a smart phone according to an embodiment of the present utility model;

Fig. 10 is a schematic structural diagram of a payment terminal according to an embodiment of the present utility model.

Detailed Description

The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the utility model described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical scheme of the utility model is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

The embodiment of the utility model provides a 3D projector, which aims to solve the problems in the prior art.

The following describes the technical scheme of the present utility model and how the technical scheme of the present utility model solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present utility model will be described below with reference to the accompanying drawings.

According to the 3D projector provided by the embodiment of the utility model, the structural light component is fixed through the shell made of the light guide material, floodlight can be emitted through the shell, and the structural light and the floodlight depth are integrated, so that each component of the projector has an optical effect, and the space utilization rate is greatly improved. Meanwhile, through the design of the shell, the floodlight can be emitted more uniformly, and the fixation of the structural light assembly is more reliable.

Fig. 1 is a schematic structural diagram of a 3D projector according to an embodiment of the utility model. As shown in fig. 1, a 3D projector according to an embodiment of the present utility model includes:

a laser 1 for emitting a plurality of laser beams.

Specifically, the laser 1 is a laser transmitter, which may be an edge-emitting laser, a vertical cavity surface emitting laser, or any other type of laser. The laser light emitted by the laser 1 can meet the requirements of many application scenarios, but in a specific application field, the laser light emitted by the laser 1 needs to be processed to obtain better data results. The laser 1 may be a lattice laser, and may obtain a better array effect, so as to obtain a higher data acquisition capability. In some application scenarios, the lattice laser can also be used for treatment of human skin, such as removing wrinkles, removing scars, improving skin, etc.

Floodlight 2 for emitting floodlight.

Specifically, the floodlight 2 emits light by combining the electromagnetic induction principle and the fluorescent discharge principle, so that the floodlight has no necessary components for limiting the service life, and the service life is only determined by the quality grade of electronic components, the circuit design and the manufacturing process of a bulb body, and the service life can reach 6 ten thousand to 10 ten thousand hours generally. In this embodiment, the floodlight has a light-emitting side and a backlight side. The light exit side is directed in the emission direction of the laser 1. The backlight side is the opposite direction to the light exit side. The laser 1 and floodlight 2 are both fixed on the substrate. The substrate is a PCBA board for providing power and control signals for the laser 1 and floodlight 2.

And a housing 3 made of a light guiding material, through which the floodlight passes and exits.

Specifically, the light guide material is Polycarbonate (PC) or polymethyl methacrylate (PMMA), polystyrene (PS) and semitransparent acrylonitrile-butadiene-styrene copolymer (ABS), wherein the light transmittance of the Polycarbonate (PC) or polymethyl methacrylate (PMMA) can reach more than 92 percent. In some embodiments, a shell made of Polycarbonate (PC) or polymethyl methacrylate (PMMA) is used to make the intensity of the floodlight higher, and by designing the shell, the emitted floodlight is more uniform. In some embodiments, the housing is made of Polystyrene (PS) or translucent acrylonitrile-butadiene-styrene (ABS) and a diffusion powder is added to enhance the uniformity of the exit flood. The base plate is fixed with the housing 3 in connection, thereby achieving the fixation and protection of the 3D projector components.

The housing 3 has a hollow portion for fixing the optical element; the laser beams are modulated by the optical element and then emitted. The hollow portion of the housing 3 is perforated back and forth, and an optical element is fixed in the hollow portion. In fig. 1, the optical blank shown comprises:

a collimator 4 for collimating the plurality of laser beams. The collimator 4 can improve the collimation performance of the multiple laser beams to have a better effect.

And a diffraction optical element 5 for expanding the plurality of laser beams. The diffractive optical element 5 expands the laser beam by a multiple, for example, 50 times or 100 times, to increase the beam density, thereby enhancing the information intensity.

The collimator 4 and the diffractive optical element 5 are arranged on the same optical path. After being emitted from the laser 1, the laser beam is collimated by the collimator 4, and is then expanded by the diffractive optical element 5, so as to be emitted. In some embodiments, the diffractive optical element 5 also processes the spot pattern such that the final outgoing beam forms a specific spot.

In some embodiments, the hollow portion of the housing 3 is provided with a clamping groove for fixing the optical element. For example, a clamping groove is provided for the collimator 4 for fixing, and a diffractive optical element may be fixed at the light emitting end, as shown in fig. 1. The inner side and the outer side of the shell 3 are coated with reflective materials so as to improve the brightness of the floodlight.

In some embodiments, the inner wall of the hollow portion of the housing 3 is provided with an inclination angle. For example, the included angle between the inner wall and the laser beam is 5 degrees, and the inner wall is in an outward opening shape. The collimator 4 is circular, can travel from the outside along the hollow portion, and is fixed at a preset position. The diffractive optical element may be directly fixed by means of an open-groove as shown in fig. 1. Thereby reducing the longitudinal length of the housing 3.

In some embodiments, the housing 3 is composed of a plurality of individual components along the optical path direction, and the data of the small components is the same as the number of floodlights. A separate component directs floodlight exiting a floodlight to exit at the other end.

In some embodiments, the housing 3 is integrally formed with the optical element. The housing 3 is of the same material as the optical element, such as Polycarbonate (PC) or polymethyl methacrylate (PMMA). The shell 3 and the optical element are produced by adopting the same die, so that the production and the manufacture of the product are more convenient, the assembly error in the assembly process is avoided, and the light path modulation effect is improved.

Fig. 2 is a schematic diagram of a floodlight according to an embodiment of the utility model. The floodlights 2 are uniformly arranged on a circle centering on the laser 1, and the irradiation direction of the floodlights 2 is the same as the irradiation direction of the laser 1. The substrate is also circular, and the laser 1 and the floodlight 2 are fixed. When the number of floodlights 2 is large, the floodlights 2 constitute one endless light belt. In some embodiments, the floodlight 2 is a ring-shaped light-emitting lamp, so that floodlight is also uniform in vertical cross section along the laser.

FIG. 3 is a schematic diagram of a floodlight and housing according to an embodiment of the utility model. The floodlight 2 is closely attached to the housing 3. The light emitted from the floodlight 2 directly enters the housing 2 and finally exits through the housing 2 as uniform floodlight. The lampshade material of the floodlight 2 is the same as the shell 3, so that the light transmission is more stable. Meanwhile, due to the design that the floodlight 2 and the shell are separated, the floodlight can be maintained more conveniently, the laser 1 and the floodlight 2 can be arranged on the same substrate, more design space is provided, and the universality of products is enhanced.

Fig. 4 is a schematic structural diagram of another 3D projector according to an embodiment of the present utility model. As shown in fig. 4, another 3D projector according to an embodiment of the present utility model includes:

a laser 2 for emitting a plurality of laser beams;

an LED lamp 6 for emitting floodlight;

A housing 3 made of a light guide material, through which the floodlight passes and exits;

The shell is provided with a hollow part for fixing the optical element; the laser beams are modulated by the optical element and then emitted;

the LED lamp is embedded in the shell to provide a better floodlight emergent effect.

Unlike the previous embodiments, floodlight in the present embodiment is emitted by the LED lamp 6, and the LED lamp 6 is embedded in the housing 3. Compared with the previous embodiment, after the floodlight in the present embodiment is emitted from the LED lamp 6, the floodlight propagates in a single material, and redundant refraction, reflection and multiple reflection are avoided, so that the floodlight is more uniform and the light intensity is stronger. The inside, the outside and the bottom of the shell 3 are coated with reflective materials, so that floodlight only exits from the top, and the intensity of the exiting floodlight is maximized.

The inner side and the outer side of the shell 3 form channels for floodlight propagation, and the floodlight emergent can be more uniform through the design of the inner side and the outer side, so that uniform floodlight illumination can be realized while the light intensity is strongest. The emergent width of floodlight gradually becomes larger, namely the distance between the inner side and the outer side of the shell gradually increases along the laser emission direction. The cross section of the shell is circular, so that floodlight is uniformly distributed in the direction of the normal plane of the irradiation direction.

The projection of structured light and floodlight is controlled by the controller when the projector is in operation. For example, when the controller controls the laser 1 to operate, the laser 1 projects structured light, so that the receiver can acquire structured light data. When the controller controls the LED lamp 6 to work, the LED lamp 6 projects floodlight, so that the receiver acquires floodlight data. Fig. 5 shows a structured light spot diagram. It will be appreciated that fig. 5 shows only one structured light spot pattern, and that the structured light pattern alternative to this embodiment may be any of random speckle, coded pattern, etc.

Fig. 6 is a schematic structural diagram of a 3D projector according to another embodiment of the utility model. Unlike the previous embodiments, there is only one flood source 6 in this embodiment. The floodlight source 6 may be either a floodlight or an LED lamp, and is described in the present embodiment as floodlight. The flood source is arranged on the backlight side of the laser 1. Preferably, the centers of the flood source, the laser 1 and the optical element all coincide. The housing 3 needs to fix the laser 1 in addition to the optical element. The power supply circuit and the control circuit of the laser 1 are led out through the floodlight source, so that the uniformity of the shell for floodlight treatment is ensured. Floodlight irradiated by the floodlight source 6 is reflected by the front arc body and then emitted along the oscillation forward of the shell. The inner side and the outer side of the shell are coated with reflective materials. The cross-sectional area of the 3D projector can be substantially the same as that of a single-structure light projector, and the method is particularly suitable for application scenes with strict requirements on the size of the panel.

Fig. 7 is a schematic view of a depth camera according to an embodiment of the utility model. As shown in fig. 7, the depth camera 100 according to the embodiment of the present utility model includes:

The 3D projector 110 is used for projecting structured light and floodlight. The 3D projector 110 is the projector described in any of the previous embodiments.

A distance sensor 120 for sensing the approach of the target object to enable activation of other components of the depth camera 100.

The receiver 200 is configured to receive the structural light or the floodlight reflected signal projected by the 3D projector 110, and generate corresponding data information.

And a processor 300 for controlling the operations of the respective components in the depth camera 100 and processing the acquired signals to obtain depth information.

The 3D projector 110 and the receiver 200 are respectively positioned at both ends of the depth camera 100, thereby making the accuracy of data higher.

Compared with the prior art, the depth camera is not required to be provided with the structured light projector and the floodlight projector respectively, so that the components of the depth camera are reduced, the integration level of the depth camera is higher, the size is smaller, and the depth camera can be applied to a scene with more severe size requirements.

Fig. 8 is a schematic structural diagram of a robot according to an embodiment of the present utility model. The robot shown in fig. 8 includes a depth camera 601, a robot body 602, and a display screen 603. The depth camera 601 includes the 3D projector described in any of the previous embodiments. The depth camera 601 may acquire a scene in front of the robot so that three-dimensional information may be acquired. Typically, the depth camera 601 further comprises an RGB camera, which can obtain RGB images, so that RGBD images can be generated in combination with the depth images. The robot body 602 may select different functions according to different robot types. For example, the meal delivery robot may have a tray, a bracket, a driving wheel, etc.; the greeting robot may have a drive wheel, a manikin, etc. The display 603 is used to display information for interaction with a user. The display 603 may be unidirectional or bi-directional. Due to the adoption of the 3D projector with high integration level, the robot can accommodate more sensors under the same size, so that the robot has better environment sensing capability. Of course, robots can also be reduced in size so as to accommodate more size-critical scenarios.

Fig. 9 is a schematic structural diagram of a smart phone according to an embodiment of the present utility model. The smart phone includes a phone body 701 and a depth camera 702. The depth camera 702 includes a 3D projector as described in any of the previous embodiments. The mobile phone body 701 includes a display screen and a housing. The depth camera 702 is arranged behind the display screen to increase the screen duty cycle. The display screen may be hollowed out to better allow light from the depth camera 702 to pass through and collect data. At the moment, the requirement on the processing technology of the display screen is high, and a whole display screen digging mode or a mode of splicing two display screens can be adopted. In some embodiments, the laser transmitter is reasonably designed so that the laser can penetrate the display screen, thereby eliminating the need for hole digging of the display screen and enabling the screen duty cycle to reach a theoretical maximum value. At this time, the required emitting power of the structured light and floodlight is large, and the structured light and floodlight can directly penetrate through the display screen. Due to the adoption of the 3D projector with high integration level, the mobile phone space is better utilized, and the mobile phone performance is improved.

Fig. 10 is a schematic structural diagram of a payment terminal according to an embodiment of the present utility model. As shown in fig. 10, a payment terminal in an embodiment of the present utility model includes:

A 3D projector 510 for projecting infrared light rays toward a target object.

And a receiver 520 for acquiring a reflected signal of the target object.

And the processor 530 is configured to detect a reflected signal of the target object, send a detection result to a server, and confirm a payment status according to a return result of the server.

An input interface 540 for obtaining the amount to be paid.

And a display screen 550 for displaying the information to be paid and the information photographed by the RGB camera.

And a scanning device 560 for scanning the commodity bar code to obtain commodity price and quantity information, thereby determining the amount to be paid.

In particular, in order to improve the convenience of the terminal, the scanning device 560 may be provided, which is convenient especially for self-checkout terminals. The self-checkout terminal is generally larger, has larger upper and lower fall, and is inconvenient if the user pulls up the commodity to scan, especially when the user purchases a heavier commodity. Therefore, the scanning equipment is arranged at the bottom of the payment terminal, so that convenience can be greatly improved.

According to the embodiment, the 3D projector with high integration is adopted, so that the integration level of equipment can be improved, the size of the payment terminal can be reduced, and a user can operate the payment terminal more conveniently.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer 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 utility model. 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 utility model. Thus, the present utility model 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 describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the utility model.

Claims (10)

1. A 3D projector, comprising:

a laser for emitting a plurality of laser beams;

A floodlight for emitting floodlight;

The shell is made of a light guide material, so that the floodlight passes through and exits;

the shell is provided with a hollow part for fixing the optical element;

the laser beams are modulated by the optical element and then emitted.

2. A 3D projector according to claim 1, wherein the hollow is located in the center of the housing.

3. A 3D projector according to claim 1, wherein the optical element comprises:

A collimator for collimating the plurality of laser beams;

And a diffraction optical element for expanding the plurality of laser beams.

4. The 3D projector of claim 1, wherein the housing side is coated with a reflective material to enhance the flood light output.

5. The 3D projector of claim 1, wherein the light-emitting side of the floodlight is in close proximity to the housing.

6. The 3D projector of claim 1, wherein the floodlight is made of the same material as the housing.

7. A 3D projector, comprising:

a laser for emitting a plurality of laser beams;

The LED lamp is used for emitting floodlight;

The shell is made of a light guide material, so that the floodlight passes through and exits;

The shell is provided with a hollow part for fixing the optical element; the laser beams are modulated by the optical element and then emitted;

the LED lamp is embedded in the shell to provide a better floodlight emergent effect.

8. The 3D projector of claim 7 wherein the LED lamps are plural and are uniformly arranged around the laser.

9. A depth camera comprising a 3D projector according to any one of claims 1-8.

10. A smart device comprising a 3D projector according to any one of claims 1-8.