WO2018076705A1 - Design method for optical pattern, surface array projection device, and depth camera - Google Patents

Design method for optical pattern, surface array projection device, and depth camera Download PDF

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Publication number
WO2018076705A1
WO2018076705A1 PCT/CN2017/087624 CN2017087624W WO2018076705A1 WO 2018076705 A1 WO2018076705 A1 WO 2018076705A1 CN 2017087624 W CN2017087624 W CN 2017087624W WO 2018076705 A1 WO2018076705 A1 WO 2018076705A1
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Prior art keywords
pattern
optical
optical pattern
particles
speckle
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PCT/CN2017/087624
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French (fr)
Chinese (zh)
Inventor
黄源浩
刘龙
肖振中
许星
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深圳奥比中光科技有限公司
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Publication of WO2018076705A1 publication Critical patent/WO2018076705A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/0012—Optical design, e.g. procedures, algorithms, optimisation routines
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/42—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect
    • G02B27/4233—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive element [DOE] contributing to a non-imaging application
    • G02B27/425—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive element [DOE] contributing to a non-imaging application in illumination systems
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/14—Details
    • G03B21/20—Lamp housings
    • G03B21/2006—Lamp housings characterised by the light source
    • G03B21/2033—LED or laser light sources

Definitions

  • the present invention relates to the field of optics, and in particular to a method for designing an optical pattern, an area array projection device, and a depth camera.
  • the depth camera includes a projection module, and the projection module is generally composed of a single laser light source, a lens, and a diffractive optical element (DOE).
  • DOE diffractive optical element
  • the depth camera projects a fixed structured light speckle pattern into the target space through the projection module therein, and the pattern of the structured light speckle pattern is often determined by the DOE.
  • depth cameras With the increasing application of depth cameras, in addition to robots, drones and other devices, depth cameras will gradually be integrated into devices such as tablets and mobile phones, which requires deeper cameras with smaller size and more Low power consumption and higher performance, and projection modules using a single laser source often cannot meet this requirement.
  • the speckle pattern is generally required to have uniform and strong irrelevance. If a single laser source is not used, the irrelevance of the structured speckle pattern is affected by the DOE. In addition, you need to consider the arrangement of the light source.
  • the technical problem to be solved by the present invention is to provide an optical pattern design method, an area array projection apparatus and a depth camera, which can realize the advantages of a small depth camera and an accurate depth value.
  • the technical solution adopted by the present invention is to provide a method for designing an optical pattern, comprising: generating a regular first pattern, wherein the first pattern includes a plurality of first arranged according to a fixed horizontal and vertical spacing. a speckle particle; randomly moving each of the first speckle particles in the first pattern to obtain a second pattern; rearranging the first speckle particles in the second pattern according to a preset rule, Obtaining a first optical pattern, wherein the first optical pattern is a light source array pattern, and is used to form a composite optical pattern after being combined with the second optical pattern, wherein the second optical pattern is a pattern formed by expanding a single beam of light through a diffractive optical element .
  • the present invention also provides an area array projection apparatus comprising: an area array light source comprising a plurality of light emitting elements for emitting laser light; and a diffractive optical element for receiving laser light emitted by the area array light source And converting the patterned laser light; wherein the arrangement of the plurality of light-emitting elements is a first optical pattern designed using the method of any one of claims 1-11, The diffractive optical element is expanded to form a second optical pattern, and the converted laser pattern is a composite optical pattern.
  • the present invention further provides a depth camera comprising: the area array projection apparatus according to claim 12 for projecting an optical pattern to a target space; and an image collector for collecting the surface And the processor, configured to calculate a corresponding depth value according to the optical pattern collected by the image collector.
  • the present invention obtains a first optical pattern by randomly moving the first spot particles in the first pattern and rearranging them, thereby being combined with the second optical pattern. Then, a composite pattern is obtained, which replaces the case where the composite optical pattern structure is determined only by the second optical pattern in the prior art, and has strong uniformity and irrelevance.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for designing an optical pattern of the present invention
  • FIG. 2 is a first schematic view showing a method of designing an optical pattern of the present invention
  • FIG. 3 is a second schematic view showing a method of designing an optical pattern of the present invention.
  • FIG. 4 is a schematic view showing a first optical pattern in a method for designing an optical pattern of the present invention
  • FIG. 5 is a schematic flow chart of a method for designing an optical pattern of the present invention, in which a first optical pattern is generated from a second pattern;
  • FIG. 6 is a schematic diagram showing a second optical pattern generation process in the method for designing an optical pattern of the present invention.
  • FIG. 7 is a third schematic view showing a method of designing an optical pattern of the present invention.
  • FIG. 8 is a schematic view showing a second optical pattern of a method for designing an optical pattern of the present invention.
  • FIG. 9 is a schematic view showing a comparison between a first optical pattern and a fourth pattern of a method for designing an optical pattern of the present invention.
  • FIG. 10 is a schematic view showing a composite optical pattern of a method for designing an optical pattern of the present invention.
  • FIG. 11 is a schematic structural view of an embodiment of an area array projection apparatus of the present invention.
  • Figure 12 is a block diagram showing an embodiment of a depth camera of the present invention.
  • a first embodiment of a method for designing an optical pattern of the present invention includes:
  • the first pattern 11 includes a plurality of first speckle particles arranged according to a fixed horizontal and vertical spacing;
  • the first pattern 11 is composed of a plurality of first speckle particles, and each of the first speckle particles is arranged in a uniform row, the lateral spacing of adjacent first speckle particles is the same as each other, and the adjacent first speckle particles are longitudinally
  • the pitches are also the same as each other.
  • each of the first spot particles in the first pattern 11 may be randomly moved to randomly move the first spot particles in a circle centered on the original position and having a radius of a second predetermined value.
  • the second predetermined value is a radius of a random movement range of the first speckle particles preset by the user, and a ratio of the horizontal and vertical spacing between adjacent first speckle particles in the first pattern 11 is less than 0.3, preferably 0.05 to 0.3. It is easy to understand that when the radius of the circle is much smaller than the spacing of the adjacent first speckle particles, the obtained second pattern 12 is irregular, that is, the horizontal and vertical spacing between adjacent first speckle particles is different, but the whole In other words, the arrangement of the first spot particles is still relatively uniform.
  • the first speckle particles in the second pattern 12 are rearranged according to a preset rule to obtain a first optical pattern 13.
  • the preset rule refers to a preset adjustment method by the user, which may be to reposition the first spot particle according to a certain shape, style or according to the original coordinates of the first spot particle and using an algorithm, a function or a certain formula.
  • the first speckle particles in the second pattern 12 are rearranged according to a preset rule, and the first optical pattern 13 is specifically included:
  • each grid is arranged in an orderly manner.
  • the number of the grids is in a one-to-one or one-to-many relationship with the number of first speckle particles.
  • Re-allocating the first speckle particles in the second pattern 12 means that all the first speckle particles in the second pattern 12 are randomly distributed or re-allocated to the grid according to a specified pattern, for example, the first speckle particles may be randomly divided into the number of grids. The same number of parts, and then each of the above-mentioned spot particles is placed in each of the designated grids in a certain manner. Of course, in other application scenarios, the number of first spot particles in each grid may be different, and the grids placed in the grid may also be random, not necessarily the specified grid. Wherein, each of the above-mentioned particles is placed in a grid or may be distributed according to a specified pattern. For example, after the rearrangement, each of the first spot particles has a circular shape, an elliptical shape, or other specified patterns, such as a rectangle, a hexagon, and the like.
  • the result of the distribution is that a correspondence relationship with the lattice is established for each of the first spot particles, but the first spot particles in the second pattern 12 do not necessarily fall into the corresponding lattice, so the second pattern needs to be adjusted according to the distribution result.
  • the coordinates of the first spot particles in 12 are such that the spot particles are repositioned to ensure that all of the first spot particles in the second pattern 12 are located in their corresponding grids.
  • the coordinates are adjusted by using directional scaling, that is, a plurality of first spot particles allocated to a certain grid, etc. Move to the corresponding grid after scaling.
  • the first optical pattern 13 is a light source array pattern and is used to form a composite optical pattern 23 after being combined with the second optical pattern 21 . That is, the light sources are arranged in accordance with the pattern of the first optical pattern 13.
  • the second optical pattern 21 is a pattern in which a single beam of light is expanded by a diffractive optical element. Specifically, it may be a pattern having a regular pattern and a fixed horizontal and vertical pitch, or may be a pattern without any regular arrangement.
  • the first optical pattern 13 is used to form a composite optical pattern 23 after being combined with the second optical pattern 21, that is, the light source is arranged in accordance with the pattern of the first optical pattern 13, and then formed by expanding a single beam of light through a diffractive optical element.
  • the diffractive optical element used in the second pattern 12 forms a composite optical pattern 23 of the first optical pattern 13 and the second optical pattern 21.
  • the design method of the optical pattern of the present invention further includes:
  • the third pattern 21 is generated in the same manner as the first pattern 11 described above, but the first The number of the second spot particles in the three patterns 21 may be the same as or different from the number of the first spot particles in the first pattern 11 and the pitch of the adjacent spot particles.
  • the second spot particles in the randomly moving third pattern 21 are the same as the first first spot particles in the random moving first pattern 11, and are not described herein again. Eventually, a second optical pattern that is irregular but uniform in density is also produced.
  • the coordinates of the first speckle particles in the second pattern 12 are (X, Y), and the horizontal and vertical spacing between adjacent second speckle particles in the third pattern 21 are respectively l and w, and second.
  • the number is preferably an integer multiple of m*n.
  • the first optical pattern 13 is divided into four quadrants, and the pattern of the four quadrants of the speckle particles is superposed to form a pattern and the second optical pattern 12 Zoom to the original in both horizontal and vertical directions
  • the fourth pattern 31 obtained afterwards is identical, as shown in FIG.
  • the resulting composite optical pattern 23 has a strong irrelevance and is uniformly distributed.
  • the irrelevance of the composite optical pattern 23 means that the pattern in the sub-region of any one of the specified sizes in the composite optical pattern 23 is different from the pattern in the sub-region of the same size as any other one of the specified directions. As shown in FIG.
  • the number of speckle particles in the composite optical pattern 23 should be the product of the number of first speckle particles in the first optical pattern 13 and the number of second speckle particles in the second optical pattern 22, but is easy to understand. In the actual operation, some overlap of speckle particles will inevitably occur. However, if the speckle particles overlap too much, the uncorrelation and uniformity of the composite optical pattern will be affected. Therefore, it is generally necessary to control the number of overlapping spots. In the embodiment, the number of spots on the composite optical pattern 23 is required to be large. 90% of the product of the number of spots of the first optical pattern 13 and the second optical pattern 22.
  • an embodiment of the area array projection apparatus 40 of the present invention includes an area array light source 41 and a diffractive optical element 42.
  • the area array light source 41 includes a plurality of light emitting elements 411 for emitting laser light.
  • a plurality of light-emitting elements 411 are disposed on the semiconductor substrate, that is, the area array light source 41.
  • the number and arrangement of the light-emitting elements 411 in the figure are merely illustrative, and the number, arrangement, and direction of propagation of the actual light-emitting elements 411 may be determined according to the design requirements of the pattern of the structured light, the exit angle, and the like.
  • the light-emitting element 411 is a laser diode, preferably a vertical cavity surface laser diode, which has the characteristics of small volume and small light source divergence angle compared with other lasers.
  • the diffractive optical element 42 is for receiving the laser light emitted by the area source 41 and converting it into a patterned laser.
  • the diffractive optical element 42 is an optical element fabricated by diffractive optical technology, and is mainly used for optical wave shaping, optical interconnection, multi-wavelength partial wave transmission, and separation focusing.
  • the light emitted from the area array light source 41 is incident on the diffractive optical element 42, and according to its characteristic, each beam of light on the area array light source 41 is expanded and then emits a plurality of beams in the same pattern, due to the number of the array source 41.
  • the optical elements, and thus the pattern ultimately projected into the target space are composite patterns of a plurality of patterns formed after the respective light sources are expanded.
  • the area array projection apparatus also includes a collimating optical element 43 disposed between the area array light source 41 and the diffractive optical element 42 for collimating the area array light source.
  • the laser emitted by 41 compresses the divergence angle to make it more concentrated.
  • the collimating optical element 43 and the diffractive optical element 42 may also be the same element, such as on a diffractive optical element 42 having a collimating or focusing function toward one side of the array source 41 and a beam expanding function on the other side. This can reduce the volume of the area array projection device, making the entire projection device lighter.
  • the plurality of light-emitting elements 411 are arranged according to the first optical pattern designed according to any of the above embodiments, and the diffractive optical element 42 is formed by diffracting a single beam of light to form a second optical pattern.
  • Optical element 42 It is easy to understand that the laser pattern that has been expanded by the above-described diffractive optical element 42 by the above-described area array light source 41 is a composite optical pattern, and has a uniform distribution and strong irrelevance.
  • an embodiment of the depth camera 50 of the present invention includes an area array projection device 51, an image collector 53, and a processor 52.
  • the area array projection device 51 and the image collector 53 are both connected to the processor 52.
  • the area array projection device 51 is for projecting an optical pattern onto the target space; wherein the area array projection device 51 may be any one of the above embodiments of the area array projection device.
  • An image collector 53 for collecting an optical pattern projected by the area array projection device 51 toward the target space may be an image sensor, an image scanner, a camera, or the like.
  • the target space is the object whose depth value is to be measured.
  • the processor 52 is configured to calculate a corresponding depth value according to the optical pattern collected by the image collector 53. Specifically, the pixel matching algorithm calculates an offset value of each pixel of the optical pattern and the preset reference pattern, and further calculates a depth value according to the deviation value.
  • the image matching algorithm may specifically be a digital image correlation method, which is an image measuring method applied to computer vision technology, and is a non-contact method for full-field shape, deformation, and motion measurement.
  • a digital image correlation method which is an image measuring method applied to computer vision technology
  • an image matching algorithm that is different from the digital image correlation method such as the surf algorithm, the sift algorithm, and the opencv algorithm, may also be used.
  • the optical pattern is the composite optical pattern referred to in the above embodiment.
  • the preset reference pattern refers to a composite optical pattern having a determined depth value preset in the system. Then, the pixel value of the optical pattern acquired by the image collector 53 is compared with the pixel deviation value of the preset reference pattern, and the depth value corresponding to the collected optical pattern can be calculated according to a certain function or formula.
  • the image collector 53 captures an optical pattern projected by the area array projection device 51 into a target space, and then the processor 52 utilizes the number according to the optical pattern and a reference pattern whose preset depth value is s.
  • the image correlation method extremely deviates from the pixel deviation of the acquired optical pattern and the preset reference pattern, and then calculates the depth value of the target space according to a specific formula.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Projection Apparatus (AREA)

Abstract

A design method for an optical pattern, a surface array projection device (40 and 51), or a depth camera (50). The method comprises: generating a regular first pattern (11), the first pattern (11) comprising first spotted granules arranged according to fixed vertical and transverse intervals (S110); randomly move the first spotted granules in the first pattern (11) to produce a second pattern (12) (S120); and rearranging the first spotted granules in the second pattern (12) according to a preset rule to produce a first optical pattern (13) (S130), the first optical pattern (13) being a light source arrangement pattern used for being compounded with a second optical pattern (21) to form a compounded optical pattern (23), and the second optical pattern (21) being a pattern formed from a single beam of light being beam-expanded via a diffractive optical element (42). This design method produces a compounded optical pattern that is uniform and has strong discreteness, at the same time, a projection device made by employing this design method has the advantages of a compact size, low power consumption, and uniform transmission.

Description

一种光学图案的设计方法、面阵投影装置及一种深度相机Design method of optical pattern, area array projection device and depth camera 【技术领域】[Technical Field]
本发明涉及光学领域，特别是涉及一种光学图案的设计方法、面阵投影装置及一种深度相机。The present invention relates to the field of optics, and in particular to a method for designing an optical pattern, an area array projection device, and a depth camera.
【背景技术】【Background technique】
深度相机由于其精度高、采集速度快等优点目前被广泛使用在体感游戏、机器人及无人机视觉***等领域。深度相机包括投影模组，投影模组一般由单个激光光源、透镜、衍射光学元件(Diffractive Optical Elements，DOE)构成。深度相机通过其中的投影模组向目标空间投射固定的结构光散斑图案，而结构光散斑图案的样式往往由DOE来决定。Due to its high precision and fast acquisition speed, depth cameras are widely used in somatosensory games, robots and drone vision systems. The depth camera includes a projection module, and the projection module is generally composed of a single laser light source, a lens, and a diffractive optical element (DOE). The depth camera projects a fixed structured light speckle pattern into the target space through the projection module therein, and the pattern of the structured light speckle pattern is often determined by the DOE.
随着深度相机的应用领域越来越广泛，除了机器人、无人机等设备之外，深度相机也会逐步集成到平板、手机等设备中去，这就要求深度相机有着更小的体积、更低的功耗以及更强的性能，而采用单个激光光源的投影模组往往不能满足此要求。With the increasing application of depth cameras, in addition to robots, drones and other devices, depth cameras will gradually be integrated into devices such as tablets and mobile phones, which requires deeper cameras with smaller size and more Low power consumption and higher performance, and projection modules using a single laser source often cannot meet this requirement.
同时，为了准确计算出目标空间的深度图像一般要求散斑图案均匀且具有较强的不相关性，此时如若不采用单个激光光源，则结构光散斑图案的不相关性除了受DOE的影响外，还需要考虑光源的排列设计。At the same time, in order to accurately calculate the depth image of the target space, the speckle pattern is generally required to have uniform and strong irrelevance. If a single laser source is not used, the irrelevance of the structured speckle pattern is affected by the DOE. In addition, you need to consider the arrangement of the light source.
【发明内容】[Summary of the Invention]
本发明主要解决的技术问题是提供一种光学图案的设计方法、面阵投影装置及深度相机，能够实现深度相机体积小、计算的深度值精确等优点。The technical problem to be solved by the present invention is to provide an optical pattern design method, an area array projection apparatus and a depth camera, which can realize the advantages of a small depth camera and an accurate depth value.
为解决上述技术问题，本发明采用的技术方案是：提供一种光学图案的设计方法，包括：生成规则的第一图案，所述第一图案中包括多个按照固定横纵间距排列的第一斑点颗粒；随机移动所述第一图案中的各所述第一斑点颗粒，得到第二图案；将所述第二图案中的所述第一斑点颗粒按照预设规则重新排列， 得到第一光学图案，所述第一光学图案为光源排列图案，用于与第二光学图案复合后形成复合光学图案，所述第二光学图案为单束光经过衍射光学元件扩束形成的图案。In order to solve the above technical problem, the technical solution adopted by the present invention is to provide a method for designing an optical pattern, comprising: generating a regular first pattern, wherein the first pattern includes a plurality of first arranged according to a fixed horizontal and vertical spacing. a speckle particle; randomly moving each of the first speckle particles in the first pattern to obtain a second pattern; rearranging the first speckle particles in the second pattern according to a preset rule, Obtaining a first optical pattern, wherein the first optical pattern is a light source array pattern, and is used to form a composite optical pattern after being combined with the second optical pattern, wherein the second optical pattern is a pattern formed by expanding a single beam of light through a diffractive optical element .
为了解决上述技术问题，本发明还提供了一种面阵投影装置，包括：面阵光源，包括多个发光元件，用于发射激光；衍射光学元件，用于接收所述面阵光源发射的激光并将其转换为图案化的激光；其中，所述多个发光元件的排布为使用如权利要求1-11中任一项所述的方法设计得到的第一光学图案，单束光经过所述衍射光学元件扩束后形成第二光学图案，所述衍射光学元件转换后的激光图案为复合光学图案。In order to solve the above technical problem, the present invention also provides an area array projection apparatus comprising: an area array light source comprising a plurality of light emitting elements for emitting laser light; and a diffractive optical element for receiving laser light emitted by the area array light source And converting the patterned laser light; wherein the arrangement of the plurality of light-emitting elements is a first optical pattern designed using the method of any one of claims 1-11, The diffractive optical element is expanded to form a second optical pattern, and the converted laser pattern is a composite optical pattern.
为了解决上述技术问题，本发明还提供了一种深度相机，包括：如权利要求12所述的面阵投影装置，用于向目标空间投射光学图案；图像采集器，用于采集由所述面阵投影装置向所述目标空间投射的所述光学图案；处理器，用于根据由所述图像采集器采集的所述光学图案计算出对应的深度值。In order to solve the above technical problem, the present invention further provides a depth camera comprising: the area array projection apparatus according to claim 12 for projecting an optical pattern to a target space; and an image collector for collecting the surface And the processor, configured to calculate a corresponding depth value according to the optical pattern collected by the image collector.
本发明的有益效果是：区别于现有技术的情况，本发明通过随机移动第一图案中的第一斑点颗粒并对其进行重新排列，得到第一光学图案，进而在与第二光学图案复合后得到复合图案，取代了现有技术中仅由第二光学图案决定复合光学图案结构的情形，具有较强的均匀性与不相关性。The beneficial effects of the present invention are: different from the prior art, the present invention obtains a first optical pattern by randomly moving the first spot particles in the first pattern and rearranging them, thereby being combined with the second optical pattern. Then, a composite pattern is obtained, which replaces the case where the composite optical pattern structure is determined only by the second optical pattern in the prior art, and has strong uniformity and irrelevance.
【附图说明】[Description of the Drawings]
图1是本发明光学图案的设计方法第一实施例的流程示意图；1 is a schematic flow chart of a first embodiment of a method for designing an optical pattern of the present invention;
图2是本发明光学图案的设计方法中第一图案示意图；2 is a first schematic view showing a method of designing an optical pattern of the present invention;
图3是本发明光学图案的设计方法中第二图案示意图；3 is a second schematic view showing a method of designing an optical pattern of the present invention;
图4是本发明光学图案的设计方法中第一光学图案示意图；4 is a schematic view showing a first optical pattern in a method for designing an optical pattern of the present invention;
图5是本发明光学图案的设计方法由第二图案生成第一光学图案流程示意图；5 is a schematic flow chart of a method for designing an optical pattern of the present invention, in which a first optical pattern is generated from a second pattern;
图6是本发明光学图案的设计方法中第二光学图案生成流程示意图；6 is a schematic diagram showing a second optical pattern generation process in the method for designing an optical pattern of the present invention;
图7是本发明光学图案的设计方法中第三图案示意图；7 is a third schematic view showing a method of designing an optical pattern of the present invention;
图8是本发明光学图案的设计方法第二光学图案示意图； 8 is a schematic view showing a second optical pattern of a method for designing an optical pattern of the present invention;
图9是本发明光学图案的设计方法第一光学图案与第四图案对比示意图；9 is a schematic view showing a comparison between a first optical pattern and a fourth pattern of a method for designing an optical pattern of the present invention;
图10是本发明光学图案的设计方法复合光学图案示意图；10 is a schematic view showing a composite optical pattern of a method for designing an optical pattern of the present invention;
图11是本发明面阵投影装置一实施例结构示意图；11 is a schematic structural view of an embodiment of an area array projection apparatus of the present invention;
图12是本发明深度相机一实施例结构示意图。Figure 12 is a block diagram showing an embodiment of a depth camera of the present invention.
【具体实施方式】【detailed description】
请参阅图1至图9，本发明光学图案的设计方法第一实施例包括：Referring to FIG. 1 to FIG. 9, a first embodiment of a method for designing an optical pattern of the present invention includes:
S110，生成规则的第一图案11，第一图案11中包括多个按照固定横纵间距排列的第一斑点颗粒；S110, generating a first pattern 11 of rules, the first pattern 11 includes a plurality of first speckle particles arranged according to a fixed horizontal and vertical spacing;
第一图案11由多个第一斑点颗粒组成，且每个第一斑点颗粒按均匀的行列进行排列，相邻的第一斑点颗粒横向的间距彼此相同，同时相邻的第一斑点颗粒纵向的间距也均彼此相同。The first pattern 11 is composed of a plurality of first speckle particles, and each of the first speckle particles is arranged in a uniform row, the lateral spacing of adjacent first speckle particles is the same as each other, and the adjacent first speckle particles are longitudinally The pitches are also the same as each other.
S120，随机移动第一图案11中的各第一斑点颗粒，得到第二图案12；S120, randomly moving each of the first spot particles in the first pattern 11, to obtain a second pattern 12;
随机移动第一图案11中的各第一斑点颗粒具体可以是将第一斑点颗粒在以原位置为圆心，以第二预定值为半径的圆内随机移动。其中，第二预定值是用户预先设定的第一斑点颗粒随机移动范围的半径，与第一图案11中的相邻第一斑点颗粒之间的横纵间距的比值小于0.3，优选为0.05～0.3。容易理解地，当圆的半径远小于相邻第一散斑颗粒间距时，所得到的第二图案12不规则，即其中的相邻第一斑点颗粒之间的横纵间距不相同，但整体而言，第一斑点颗粒的排列仍然相对均匀。Specifically, each of the first spot particles in the first pattern 11 may be randomly moved to randomly move the first spot particles in a circle centered on the original position and having a radius of a second predetermined value. Wherein, the second predetermined value is a radius of a random movement range of the first speckle particles preset by the user, and a ratio of the horizontal and vertical spacing between adjacent first speckle particles in the first pattern 11 is less than 0.3, preferably 0.05 to 0.3. It is easy to understand that when the radius of the circle is much smaller than the spacing of the adjacent first speckle particles, the obtained second pattern 12 is irregular, that is, the horizontal and vertical spacing between adjacent first speckle particles is different, but the whole In other words, the arrangement of the first spot particles is still relatively uniform.
S130，将第二图案12中的第一斑点颗粒按照预设规则重新排列，得到第一光学图案13。S130. The first speckle particles in the second pattern 12 are rearranged according to a preset rule to obtain a first optical pattern 13.
预设规则是指用户预先设定的调整方法，可以是按照一定的形状、样式或者是根据第一斑点颗粒的原始坐标并利用某一算法、函数或者某一公式将第一斑点颗粒重新定位。The preset rule refers to a preset adjustment method by the user, which may be to reposition the first spot particle according to a certain shape, style or according to the original coordinates of the first spot particle and using an algorithm, a function or a certain formula.
在一个应用场景中，请参阅图5，将第二图案12中的第一斑点颗粒按照预设规则重新排列，得到第一光学图案13具体包括：In an application scenario, referring to FIG. 5, the first speckle particles in the second pattern 12 are rearranged according to a preset rule, and the first optical pattern 13 is specifically included:
S131，将第二图案12划分为多个大小相同的格子；S131, dividing the second pattern 12 into a plurality of grids of the same size;
其中，每个格子排列规则有序。Among them, each grid is arranged in an orderly manner.
S132，将第二图案12中的所有第一斑点颗粒重新分配至格子中； S132, redistributing all the first spot particles in the second pattern 12 into the grid;
第二图案12划分为多个格子后，该格子的数量与第一斑点颗粒的数量呈一对一或者一对多的关系。After the second pattern 12 is divided into a plurality of lattices, the number of the grids is in a one-to-one or one-to-many relationship with the number of first speckle particles.
重新分配第二图案12中的第一斑点颗粒是指将第二图案12中的所有第一斑点颗粒随机或者按照指定样式重新分配至格子，例如可以将第一斑点颗粒随机均分为与格子数量相同的份数，然后再以一定的方式将每份上述斑点颗粒放入每一个指定的格子当中。当然在其它应用场景中，每个格子中的第一斑点颗粒的数量可以不相同，同时放入的格子也可以是随机的，不一定是指定的格子。其中，将每份上述颗粒放入格子中也可以按照指定样式分配，例如重新排列完成后各第一斑点颗粒呈圆形、椭圆形分布，或者其它指定样式，例如矩形、六边形等。Re-allocating the first speckle particles in the second pattern 12 means that all the first speckle particles in the second pattern 12 are randomly distributed or re-allocated to the grid according to a specified pattern, for example, the first speckle particles may be randomly divided into the number of grids. The same number of parts, and then each of the above-mentioned spot particles is placed in each of the designated grids in a certain manner. Of course, in other application scenarios, the number of first spot particles in each grid may be different, and the grids placed in the grid may also be random, not necessarily the specified grid. Wherein, each of the above-mentioned particles is placed in a grid or may be distributed according to a specified pattern. For example, after the rearrangement, each of the first spot particles has a circular shape, an elliptical shape, or other specified patterns, such as a rectangle, a hexagon, and the like.
S133，按照分配结果调整第二图案12中的第一斑点颗粒的坐标，得到第一光学图案13。S133, adjusting the coordinates of the first speckle particles in the second pattern 12 according to the distribution result to obtain the first optical pattern 13.
分配结果是为每一个第一斑点颗粒建立了与格子之间的对应关系，但是第二图案12中的第一斑点颗粒不一定落入其对应的格子中，因此需要按照分配结果调整第二图案12中的第一斑点颗粒的坐标，即将上述斑点颗粒进行重新定位，以保证第二图案12中的所有第一斑点颗粒都位于其对应的格子中。可选的，为保证重新定位之后同一个格子内的第一斑点颗粒分布与第二图案12中的相同，采用定向缩放的方式调整坐标，即将分配给某个格子的若干个第一斑点颗粒等比缩放之后移入对应的格子中。The result of the distribution is that a correspondence relationship with the lattice is established for each of the first spot particles, but the first spot particles in the second pattern 12 do not necessarily fall into the corresponding lattice, so the second pattern needs to be adjusted according to the distribution result. The coordinates of the first spot particles in 12 are such that the spot particles are repositioned to ensure that all of the first spot particles in the second pattern 12 are located in their corresponding grids. Optionally, in order to ensure that the first spot particle distribution in the same grid is the same as in the second pattern 12 after repositioning, the coordinates are adjusted by using directional scaling, that is, a plurality of first spot particles allocated to a certain grid, etc. Move to the corresponding grid after scaling.
其中，第一光学图案13为光源排列图案，并用于与第二光学图案21复合后形成复合光学图案23。即光源按照第一光学图案13的样式进行排列。其中，第二光学图案21为单束光经过衍射光学元件扩束形成的图案，具体可以是具有一定样式的、固定横纵间距的规则排列的图案，也可以是无任何规则排列的图案。第一光学图案13用于与第二光学图案21复合后形成复合光学图案23，即指将光源按照第一光学图案13的样式进行排列，然后通过由单束光经过衍射光学元件扩束形成第二图案12所使用的衍射光学元件，形成第一光学图案13与第二光学图案21的复合光学图案23。The first optical pattern 13 is a light source array pattern and is used to form a composite optical pattern 23 after being combined with the second optical pattern 21 . That is, the light sources are arranged in accordance with the pattern of the first optical pattern 13. The second optical pattern 21 is a pattern in which a single beam of light is expanded by a diffractive optical element. Specifically, it may be a pattern having a regular pattern and a fixed horizontal and vertical pitch, or may be a pattern without any regular arrangement. The first optical pattern 13 is used to form a composite optical pattern 23 after being combined with the second optical pattern 21, that is, the light source is arranged in accordance with the pattern of the first optical pattern 13, and then formed by expanding a single beam of light through a diffractive optical element. The diffractive optical element used in the second pattern 12 forms a composite optical pattern 23 of the first optical pattern 13 and the second optical pattern 21.
请参阅图6至图9，本发明光学图案的设计方法进一步包括：Referring to FIG. 6 to FIG. 9, the design method of the optical pattern of the present invention further includes:
S210，生成规则的第三图案21，第三图案21中包括多个按照固定横纵间距排列的第二斑点颗粒；S210, generating a third pattern 21 of rules, wherein the third pattern 21 includes a plurality of second speckle particles arranged according to a fixed horizontal and vertical spacing;
第三图案21的生成方式与上述第一图案11的生成方式基本相同，但是第 三图案21中第二斑点颗粒的数量与第一图案11中的第一斑点颗粒的数量以及相邻斑点颗粒的间距可以相同也可以不同。The third pattern 21 is generated in the same manner as the first pattern 11 described above, but the first The number of the second spot particles in the three patterns 21 may be the same as or different from the number of the first spot particles in the first pattern 11 and the pitch of the adjacent spot particles.
S220，随机移动第三图21案中的各第二斑点颗粒，得到第二光学图案22。S220, randomly moving each of the second speckle particles in the third FIG. 21 to obtain a second optical pattern 22.
随机移动第三图案21中的各第二斑点颗粒与上述随机移动第一图案11中的各第一斑点颗粒方法相同，此处不再赘述。最终同样生成无规律但密度均匀的第二光学图案。The second spot particles in the randomly moving third pattern 21 are the same as the first first spot particles in the random moving first pattern 11, and are not described herein again. Eventually, a second optical pattern that is irregular but uniform in density is also produced.
在一个应用场景中，第二图案12中的第一斑点颗粒的坐标为(X，Y)，第三图案21中相邻第二斑点颗粒之间的横纵间距分别为l和w，第二图案12的长宽分别为L和W，且m＝L/l，n＝W/w，其中，m和n均为大于1的整数，在此情况下，第二图案12中第一斑点颗粒的个数优选为m*n的整数倍。此处设为m＝2，n＝2将第二图案划分为2*2即4个大小相同的格子，并将第二图案12中的第一斑点颗粒按照椭圆样式分配至4个大小相同的格子中，然后将分配结果中落在第(i，j)个格子中的第一斑点颗粒的坐标调整为(x，y)，其中x＝[(i-1)L+X]/m，y＝[(j-1)W+Y]/n，1≤i≤m，1≤j≤n，i和j为整数，当m＝2，n＝2时，x＝[(i-1)L+X]/2，y＝[(j-1)W+Y]/2，1≤i≤2，1≤j≤2，i和j为整数，以此对第一斑点颗粒进行重新定位，得到第一光学图案13。通过此种方式的重新定位，能够发现当格子数量为4时，将第一光学图案13分为四个象限，而四个象限的斑点颗粒图案重叠在一起得到的图案与第二光学图案12的横纵向均缩放至原来的
Figure PCTCN2017087624-appb-000001
后得到的第四图案31一致，具体如图9所示。通过对第一光学图案13和第二光学图案22的设计，所得到的复合光学图案23具有较强的不相关性，且均匀分布。其中，复合光学图案23的不相关性是指复合光学图案23中任意一个指定大小的子区中的图案与指定方向上的其他任意一个同样大小的子区中的图案均不相同。如图9，在复合光学图案23中任选的三个子区域231、232、233，能够明显看出三个子区域中斑点颗粒的图案均不相同，由此得到通过上述方法能够得出具有较强不相关性的复合光学图案。In an application scenario, the coordinates of the first speckle particles in the second pattern 12 are (X, Y), and the horizontal and vertical spacing between adjacent second speckle particles in the third pattern 21 are respectively l and w, and second. The length and width of the pattern 12 are L and W, respectively, and m=L/l, n=W/w, wherein m and n are integers greater than 1, in which case the first spot particle in the second pattern 12 The number is preferably an integer multiple of m*n. Here, it is assumed that m=2, n=2 divides the second pattern into 2*2, that is, four grids of the same size, and the first speckle particles in the second pattern 12 are distributed according to the ellipse pattern to four identical sizes. In the grid, the coordinates of the first spot particles falling in the (i, j)th grid in the distribution result are then adjusted to (x, y), where x = [(i-1) L + X] / m, y=[(j-1)W+Y]/n,1≤i≤m,1≤j≤n, i and j are integers, when m=2, n=2, x=[(i-1) ) L+X]/2, y=[(j-1)W+Y]/2,1≤i≤2,1≤j≤2, i and j are integers, thereby re-performing the first speckle particles Positioning, the first optical pattern 13 is obtained. By repositioning in this manner, it can be found that when the number of grids is 4, the first optical pattern 13 is divided into four quadrants, and the pattern of the four quadrants of the speckle particles is superposed to form a pattern and the second optical pattern 12 Zoom to the original in both horizontal and vertical directions
Figure PCTCN2017087624-appb-000001
The fourth pattern 31 obtained afterwards is identical, as shown in FIG. By designing the first optical pattern 13 and the second optical pattern 22, the resulting composite optical pattern 23 has a strong irrelevance and is uniformly distributed. The irrelevance of the composite optical pattern 23 means that the pattern in the sub-region of any one of the specified sizes in the composite optical pattern 23 is different from the pattern in the sub-region of the same size as any other one of the specified directions. As shown in FIG. 9, in the three sub-regions 231, 232, 233 which are optional in the composite optical pattern 23, it can be clearly seen that the patterns of the speckle particles in the three sub-regions are different, thereby obtaining a stronger method by the above method. Uncorrelated composite optical pattern.
理论上来说，复合光学图案23中的散斑颗粒数量应该为第一光学图案13中的第一散斑颗粒数量与第二光学图案22中的第二散斑颗粒的数量的乘积，但是容易理解地，在实际操作中难免会出现一些斑点颗粒的重叠现象，然而若斑点颗粒重叠过多则会影响到复合光学图案的不相关性与均匀性，因此，一般需要控制重叠斑点的数量，在本实施例中，要求复合光学图案23上斑点数量应大 于第一光学图案13与第二光学图案22斑点数量之积的90％。Theoretically, the number of speckle particles in the composite optical pattern 23 should be the product of the number of first speckle particles in the first optical pattern 13 and the number of second speckle particles in the second optical pattern 22, but is easy to understand. In the actual operation, some overlap of speckle particles will inevitably occur. However, if the speckle particles overlap too much, the uncorrelation and uniformity of the composite optical pattern will be affected. Therefore, it is generally necessary to control the number of overlapping spots. In the embodiment, the number of spots on the composite optical pattern 23 is required to be large. 90% of the product of the number of spots of the first optical pattern 13 and the second optical pattern 22.
请参阅图11，本发明面阵投影装置40一实施例包括：面阵光源41和衍射光学元件42。Referring to FIG. 11, an embodiment of the area array projection apparatus 40 of the present invention includes an area array light source 41 and a diffractive optical element 42.
面阵光源41包括多个发光元件411，用于发射激光。在半导体底板上配置多个发光元件411即组成面阵光源41。图中发光元件411的数量和排布仅为示意，实际发光元件411的数量、排布和发出激光的传播方向可根据结构光的图案、出射角等设计需要而定。其中，发光元件411为激光二极管，优选为垂直腔面激光二极管，相比于其他激光器而言，其具有体积小、光源发散角小等特点。The area array light source 41 includes a plurality of light emitting elements 411 for emitting laser light. A plurality of light-emitting elements 411 are disposed on the semiconductor substrate, that is, the area array light source 41. The number and arrangement of the light-emitting elements 411 in the figure are merely illustrative, and the number, arrangement, and direction of propagation of the actual light-emitting elements 411 may be determined according to the design requirements of the pattern of the structured light, the exit angle, and the like. The light-emitting element 411 is a laser diode, preferably a vertical cavity surface laser diode, which has the characteristics of small volume and small light source divergence angle compared with other lasers.
衍射光学元件42用于接收面阵光源41发射的激光并将其转换为图案化的激光。其中，衍射光学元件42是利用衍射光学技术制作的光学元件，主要用来进行光波整形、光学互连以及多波长分波传输和分离聚焦等。面阵光源41发出的光入射到衍射光学元件42上，根据其特性，面阵光源41上每束光被扩束后以相同的图案向外发射多束光，由于面阵光源41上有多个光学元件，因而最终投向目标空间中的图案是各个光源被扩束后形成的多个图案的复合图案。The diffractive optical element 42 is for receiving the laser light emitted by the area source 41 and converting it into a patterned laser. Among them, the diffractive optical element 42 is an optical element fabricated by diffractive optical technology, and is mainly used for optical wave shaping, optical interconnection, multi-wavelength partial wave transmission, and separation focusing. The light emitted from the area array light source 41 is incident on the diffractive optical element 42, and according to its characteristic, each beam of light on the area array light source 41 is expanded and then emits a plurality of beams in the same pattern, due to the number of the array source 41. The optical elements, and thus the pattern ultimately projected into the target space, are composite patterns of a plurality of patterns formed after the respective light sources are expanded.
由于激光出射往往具有一定的发散角，在一些应用场景中，面阵投影装置也包括准直光学元件43，设置于面阵光源41与衍射光学元件42之间，用来准直由面阵光源41发射的激光，压缩发散角而使其能量更集中。另外，准直光学元件43与衍射光学元件42也可以是同一个元件，比如在一块衍射光学元件42上，朝向面阵光源41一面具有准直或聚焦功能，而另一面具有扩束功能，以此能够缩小面阵投影装置的体积，使得整个投影装置更加轻便。Since the laser exit tends to have a certain divergence angle, in some applications, the area array projection apparatus also includes a collimating optical element 43 disposed between the area array light source 41 and the diffractive optical element 42 for collimating the area array light source. The laser emitted by 41 compresses the divergence angle to make it more concentrated. In addition, the collimating optical element 43 and the diffractive optical element 42 may also be the same element, such as on a diffractive optical element 42 having a collimating or focusing function toward one side of the array source 41 and a beam expanding function on the other side. This can reduce the volume of the area array projection device, making the entire projection device lighter.
其中，多个发光元件411根据以上实施例中任一实施例设计得到的第一光学图案进行排布，衍射光学元件42采用单束光经其扩束后能够形成第二光学图案所对应的衍射光学元件42。容易理解地，采用上述面阵光源41经上述衍射光学元件42扩束后的激光图案为复合光学图案，分布均匀且具有较强的不相关性。The plurality of light-emitting elements 411 are arranged according to the first optical pattern designed according to any of the above embodiments, and the diffractive optical element 42 is formed by diffracting a single beam of light to form a second optical pattern. Optical element 42. It is easy to understand that the laser pattern that has been expanded by the above-described diffractive optical element 42 by the above-described area array light source 41 is a composite optical pattern, and has a uniform distribution and strong irrelevance.
请参阅图12，本发明深度相机50一实施例包括：面阵投影装置51、图像采集器53以及处理器52。其中，面阵投影装置51和图像采集器53均与处理器52连接。Referring to FIG. 12, an embodiment of the depth camera 50 of the present invention includes an area array projection device 51, an image collector 53, and a processor 52. The area array projection device 51 and the image collector 53 are both connected to the processor 52.
面阵投影装置51用于向目标空间投射光学图案；其中面阵投影装置51可以是上述面阵投影装置实施例中的任意一种。The area array projection device 51 is for projecting an optical pattern onto the target space; wherein the area array projection device 51 may be any one of the above embodiments of the area array projection device.
图像采集器53，用于采集由面阵投影装置51向目标空间投射的光学图案； 通常图像采集器53可以是图像传感器，图像扫描仪，摄像头等。目标空间是指所要测量深度值的对象。An image collector 53 for collecting an optical pattern projected by the area array projection device 51 toward the target space; Generally, the image collector 53 may be an image sensor, an image scanner, a camera, or the like. The target space is the object whose depth value is to be measured.
处理器52，用于根据由图像采集器53采集的光学图案计算出对应的深度值。具体用于利用图像匹配算法计算出光学图案与预设的参考图案的各像素偏离值，并根据偏离值进一步计算出深度值。The processor 52 is configured to calculate a corresponding depth value according to the optical pattern collected by the image collector 53. Specifically, the pixel matching algorithm calculates an offset value of each pixel of the optical pattern and the preset reference pattern, and further calculates a depth value according to the deviation value.
其中图像匹配算法具体可以是数字图像相关法，该方法是应用于计算机视觉技术的一种图像测量方法，是一种非接触的、用于全场形状、变形、运动测量的方法。当然，在其它应用场景中，也可以采用surf算法，sift算法以及opencv算法等区别于数字图像相关法的图像匹配算法。The image matching algorithm may specifically be a digital image correlation method, which is an image measuring method applied to computer vision technology, and is a non-contact method for full-field shape, deformation, and motion measurement. Of course, in other application scenarios, an image matching algorithm that is different from the digital image correlation method, such as the surf algorithm, the sift algorithm, and the opencv algorithm, may also be used.
光学图案即以上实施例中所指的复合光学图案。预设的参考图案是指预先设定在***当中的具有确定深度值的复合光学图案。然后通过图像采集器53获取的光学图案的像素值与预设的参考图案的像素偏离值进行对比，可以根据一定的函数或者公式等计算出所采集的光学图案对应的深度值。The optical pattern is the composite optical pattern referred to in the above embodiment. The preset reference pattern refers to a composite optical pattern having a determined depth value preset in the system. Then, the pixel value of the optical pattern acquired by the image collector 53 is compared with the pixel deviation value of the preset reference pattern, and the depth value corresponding to the collected optical pattern can be calculated according to a certain function or formula.
在一个应用场景中，图像采集器53采集到由面阵投影装置51向某一目标空间投射的光学图案，然后处理器52根据此光学图案以及预设的深度值为s的参考图案，利用数字图像相关法极端出所采集的光学图案与预设的参考图案的像素偏离值，然后根据某一具体公式计算出目标空间的深度值。通过采用上述的面阵投影装置51，能够较为精确得计算出目标空间的深度值。In an application scenario, the image collector 53 captures an optical pattern projected by the area array projection device 51 into a target space, and then the processor 52 utilizes the number according to the optical pattern and a reference pattern whose preset depth value is s. The image correlation method extremely deviates from the pixel deviation of the acquired optical pattern and the preset reference pattern, and then calculates the depth value of the target space according to a specific formula. By using the above-described area array projection device 51, the depth value of the target space can be calculated relatively accurately.
以上仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。 The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation made by the specification and the drawings of the present invention may be directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims (10)

  1. 一种光学图案的设计方法，其特征在于，包括：A method for designing an optical pattern, comprising:
    生成规则的第一图案，所述第一图案中包括多个按照固定横纵间距排列的第一斑点颗粒；Generating a first pattern of rules, the first pattern comprising a plurality of first spot particles arranged in a fixed horizontal and vertical pitch;
    随机移动所述第一图案中的各所述第一斑点颗粒，得到第二图案；Randomly moving each of the first speckle particles in the first pattern to obtain a second pattern;
    将所述第二图案中的所述第一斑点颗粒按照预设规则重新排列，得到第一光学图案，其中，所述第一光学图案为光源排列图案，用于与第二光学图案复合后形成复合光学图案，所述第二光学图案为单束光经过衍射光学元件扩束形成的图案。And aligning the first spot particles in the second pattern according to a preset rule to obtain a first optical pattern, wherein the first optical pattern is a light source arrangement pattern, and is formed by being combined with the second optical pattern. A composite optical pattern, the second optical pattern being a pattern in which a single beam of light is expanded by a diffractive optical element.
  2. 根据权利要求1所述的方法，其特征在于，进一步包括：The method of claim 1 further comprising:
    生成规则的第三图案，所述第三图案中包括多个按照固定横纵间距排列的第二斑点颗粒；Generating a third pattern of rules, wherein the third pattern includes a plurality of second speckle particles arranged in a fixed horizontal and vertical pitch;
    随机移动所述第三图案中的各所述第二斑点颗粒，得到所述第二光学图案。Each of the second speckle particles in the third pattern is randomly moved to obtain the second optical pattern.
  3. 根据权利要求2所述的方法，其特征在于，The method of claim 2 wherein:
    将所述第二图案中的所述第一斑点颗粒按照预设规则重新排列，得到第一光学图案包括：And rearranging the first speckle particles in the second pattern according to a preset rule, and obtaining the first optical pattern comprises:
    将所述第二图案划分为多个大小相同的格子；Dividing the second pattern into a plurality of grids of the same size;
    将所述第二图案中的所有所述第一斑点颗粒重新分配至所述格子中；Redistributing all of the first speckle particles in the second pattern into the trellis;
    按照分配结果调整所述第二图案中的所述第一斑点颗粒的坐标，得到所述第一光学图案。Adjusting coordinates of the first speckle particles in the second pattern according to the distribution result to obtain the first optical pattern.
  4. 根据权利要求3所述的方法，其特征在于，The method of claim 3 wherein:
    每个所述格子的长宽等于所述第三图案中相邻所述第二斑点颗粒之间的横纵间距。The length and width of each of the lattices is equal to the horizontal and vertical spacing between adjacent second spot particles in the third pattern.
  5. 根据权利要求3所述的方法，其特征在于，The method of claim 3 wherein:
    所述将所述第二图案中的所有所述第一斑点颗粒重新分配至所述格子中包括：Reassigning all of the first speckle particles in the second pattern to the trellis includes:
    将所述第二图案中的所有所述第一斑点颗粒随机或者按照指定样式重新分配至所述格子。All of the first speckle particles in the second pattern are randomly assigned to the trellis in a specified pattern.
  6. 根据权利要求5所述的方法，其特征在于， The method of claim 5 wherein:
    所述指定样式为圆形或椭圆形。The specified pattern is circular or elliptical.
  7. 根据权利要求3所述的方法，其特征在于，The method of claim 3 wherein:
    所述第二图案中的所述第一斑点颗粒的坐标为(X，Y)，所述第三图案中相邻所述第二斑点颗粒之间的横纵间距分别为l和w，所述第二图案的长宽分别为L和W，且m＝L/l，n＝W/w，其中，m和n均为大于1的整数；The coordinates of the first speckle particles in the second pattern are (X, Y), and the horizontal and vertical spacing between adjacent second speckle particles in the third pattern are respectively l and w, The length and width of the second pattern are L and W, respectively, and m=L/l, n=W/w, wherein m and n are integers greater than 1;
    所述按照分配结果调整所述第二图案中的所述第一斑点颗粒的坐标包括：Adjusting the coordinates of the first speckle particles in the second pattern according to the distribution result includes:
    将所述分配结果中落在第(i，j)个格子中的第一斑点颗粒的坐标调整为(x，y)，其中x＝[(i-1)L+X]/m，y＝[(j-1)W+Y]/n，1≤i≤m，1≤j≤n，i和j为整数。Adjusting the coordinates of the first speckle particles falling in the (i, j)th grid in the distribution result to (x, y), where x = [(i-1) L + X] / m, y = [(j-1)W+Y]/n, 1≤i≤m, 1≤j≤n, i and j are integers.
  8. 根据权利要求1或2所述的方法，其特征在于，Method according to claim 1 or 2, characterized in that
    所述随机移动所述第一/三图案中的各所述第一/二斑点颗粒包括：The randomly moving each of the first/second speckle particles in the first/third pattern comprises:
    将所述第一/二斑点颗粒在以原位置为圆心，以第一/二预定值为半径的圆内随机移动。The first/second speckle particles are randomly moved within a circle centered at the original position and having a radius of the first/second predetermined value.
  9. 一种面阵投影装置，其特征在于，包括：An area array projection apparatus, comprising:
    面阵光源，包括多个发光元件，用于发射激光；An array light source comprising a plurality of light emitting elements for emitting laser light;
    衍射光学元件，用于接收所述面阵光源发射的激光并将其转换为图案化的激光；a diffractive optical element for receiving a laser light emitted by the area array light source and converting it into a patterned laser light;
    其中，所述多个发光元件的排布为使用如权利要求1-11中任一项所述的方法设计得到的第一光学图案，单束光经过所述衍射光学元件扩束后形成第二光学图案，所述衍射光学元件转换后的激光图案为复合光学图案。Wherein the arrangement of the plurality of light-emitting elements is a first optical pattern designed using the method according to any one of claims 1-11, and a single beam of light is expanded by the diffractive optical element to form a second In the optical pattern, the converted laser pattern of the diffractive optical element is a composite optical pattern.
  10. 一种深度相机，其特征在于，包括：A depth camera, comprising:
    如权利要求12所述的面阵投影装置，用于向目标空间投射光学图案；The area array projection apparatus according to claim 12, for projecting an optical pattern to a target space;
    图像采集器，用于采集由所述面阵投影装置向所述目标空间投射的所述光学图案；An image collector for collecting the optical pattern projected by the area array projection device into the target space;
    处理器，用于根据由所述图像采集器采集的所述光学图案计算出对应的深度值。 And a processor, configured to calculate a corresponding depth value according to the optical pattern collected by the image collector.
PCT/CN2017/087624 2016-10-28 2017-06-08 Design method for optical pattern, surface array projection device, and depth camera WO2018076705A1 (en)

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