WO2019134672A1 - 激光发射器、光电设备和深度相机 - Google Patents
激光发射器、光电设备和深度相机 Download PDFInfo
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- WO2019134672A1 WO2019134672A1 PCT/CN2019/070387 CN2019070387W WO2019134672A1 WO 2019134672 A1 WO2019134672 A1 WO 2019134672A1 CN 2019070387 W CN2019070387 W CN 2019070387W WO 2019134672 A1 WO2019134672 A1 WO 2019134672A1
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- 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
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- the present application relates to the field of optics, and in particular to a laser emitter, an optoelectronic device, and a depth camera.
- the photoelectric device generally comprises a light source, a collimating element and a diffractive optical element, wherein the light source may be a single edge emitting laser light source, or an area array laser light source composed of a plurality of vertical cavity surface emitting lasers.
- Embodiments of the present application provide a laser emitter, an optoelectronic device, and a depth camera.
- a laser emitter of an embodiment of the present application includes an array of light emitting elements, the array of light emitting elements including a plurality of light emitting elements regularly distributed, the plurality of the light emitting elements being divided into a plurality of groups, each group comprising at least one light emitting element, each of the The light-emitting elements belong to one of the groups, and at the same time, the light-emitting elements are individually driven in groups to emit a light beam.
- the photovoltaic device of the embodiment of the present application includes a substrate and the laser emitter described in the above embodiment, and the laser emitter is disposed on the substrate.
- the depth camera of the embodiment of the present application includes the optoelectronic device, the image collector, and the processor according to the above embodiments; the image collector is configured to collect a laser pattern projected by the optoelectronic device into the target space; Connected to the optoelectronic device and the image collector, the processor for processing the laser pattern to obtain a depth image.
- FIG. 1 is a schematic structural view of a laser emitter according to some embodiments of the present application.
- FIG. 2 is a schematic structural view of an optoelectronic device according to some embodiments of the present application.
- FIG. 3 is a schematic structural diagram of an optoelectronic device according to some embodiments of the present application.
- FIG. 4 is a schematic diagram of a partial laser pattern generated by an optoelectronic device according to some embodiments of the present application.
- FIG. 5 is a schematic structural view of a laser emitter according to some embodiments of the present application.
- FIG. 6 is a schematic structural view of a laser emitter according to some embodiments of the present application.
- FIG. 7 is a partial structural schematic view of a laser emitter of some embodiments of the present application.
- FIG. 8 is a schematic structural view of a laser emitter according to some embodiments of the present application.
- FIG. 9 is a block diagram of a depth camera of certain embodiments of the present application.
- the first feature "on” or “below” the second feature may be the direct contact of the first and second features, or the first and second features are indirectly through the intermediate medium, unless otherwise explicitly stated and defined. contact.
- the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
- the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.
- a laser emitter 10 of an embodiment of the present application includes an array of light emitting elements 12.
- the light emitting element array 12 includes a plurality of light emitting elements 122 that are regularly distributed, and the plurality of light emitting elements 122 are divided into a plurality of groups.
- Each group includes at least one light-emitting element 122, each light-emitting element 122 belonging to one of the groups, and at the same time, the light-emitting elements 122 are individually driven in groups to emit a light beam.
- the laser emitter 10 may further include a substrate 11, such as a semiconductor substrate, on which the light emitting element array 12 is disposed.
- the plurality of sets of light emitting elements 122 includes a first set of light emitting elements 122 and a second set of light emitting elements 122.
- the first set of light-emitting elements 122 are regularly or irregularly distributed, and the second set of light-emitting elements 122 are regularly or irregularly distributed.
- light emitting element 122 includes a point source light emitting device.
- each set of light emitting elements 122 is used to be driven to emit light beams of different light intensities.
- each set of light emitting elements 122 is used to be driven to emit light beams of different wavelengths.
- the point source illumination device is a vertical cavity surface emitting laser.
- the optoelectronic device 100 of the embodiment of the present application includes a substrate 20 and a laser emitter 10 disposed on the substrate 20 .
- optoelectronic device 100 further includes a collimating element 30 and a diffractive optical element 40 .
- the collimating element 30 is disposed on a side of the substrate 20 that is adjacent to the laser emitter 10.
- the collimating element 30 is located between the laser emitter 10 and the diffractive optical element 40 for projecting the beam of light emitted by the illuminating element 122 to generate a laser pattern.
- each of the collimating elements 30 includes a lens; or each collimating element 30 includes a plurality of lenses that are sequentially disposed along the direction of illumination of the light-emitting elements 122.
- the number of collimating elements 30 is one, one collimating element 30 corresponds to the light emitting element array 12; or the number of collimating elements 30 is plural, a plurality of The straight elements 30 are divided into groups, and each set of collimating elements 30 corresponds to each set of light emitting elements 122.
- the number of collimating elements 30 is one, one collimating element 30 corresponds to the light emitting element array 12, and the collimating elements 30 are spaced apart from the corresponding light emitting element array 12; or
- the number of the collimating elements 30 is plural, and the plurality of collimating elements 30 are divided into a plurality of groups, each of which is corresponding to each of the light-emitting elements 122, and the collimating elements 30 are respectively integrated with the corresponding light-emitting elements 122 on the substrate. 11 on.
- each set of collimating elements 30 has a different focal length.
- the depth camera of the embodiment of the present application includes an optoelectronic device 100 , an image collector 200 , and a processor 300 .
- the image collector 200 is used to capture a laser pattern projected by the optoelectronic device 100 into the target space.
- the processor 300 is connected to the optoelectronic device 100 and the image collector 200, respectively, and the processor 300 is configured to process the laser pattern to obtain a depth image.
- a laser emitter 10 of an embodiment of the present application includes a semiconductor substrate 11 and a light emitting element array 12 disposed on the substrate 11.
- the array of light-emitting elements 12 includes a plurality of light-emitting elements 122 that are regularly distributed, the plurality of light-emitting elements 122 being divided into groups, each group comprising at least one light-emitting element 122, each light-emitting element 122 being attributed to one of the groups.
- Each group of light-emitting elements 122 is individually and simultaneously driven to emit a light beam, i.e., at the same time, the light-emitting elements 122 are individually driven in groups to emit a light beam.
- the laser emitter 10 of the embodiment of the present application can be used for the optoelectronic device 100.
- the optoelectronic device 100 includes a substrate 20, a laser emitter 10, a collimating element 30, and a diffractive optical element 40.
- the laser emitter 10 is disposed on the substrate 20, the collimating element 30 is disposed on a side of the substrate 20 adjacent to the laser emitter 10, the collimating element 30 is located between the laser emitter 10 and the diffractive optical element 40, and the diffractive optical element 40 is used
- the light beam emitted by the light emitting element 122 is projected to generate a laser pattern.
- the laser emitter 10 of the embodiment of the present application can be applied to the optoelectronic device 100 including the collimating element 30 and the diffractive optical element 40 to emit a light beam to generate a laser pattern; the laser emitter 10 of the embodiment of the present application also It can be applied to any photovoltaic device 100 that uses a laser emitter 10 to emit a light beam.
- the photovoltaic device 100 includes a substrate 20 and a laser emitter 10, and the laser emitter 10 is disposed on the substrate 20.
- the photoelectric device generally comprises a light source, a collimating element and a diffractive optical element, wherein the light source may be a single edge emitting laser light source, or an area array laser light source composed of a plurality of vertical cavity surface emitting lasers.
- An optoelectronic device based on a single edge emitting laser source can emit a laser pattern with higher correlation, but its volume will increase significantly as the output power increases, and the uniformity of the laser pattern is poor;
- Two optoelectronic devices that emit a laser source with a vertical cavity surface can emit a laser pattern of the same power and higher uniformity in a smaller volume, but the laser pattern is less correlated, and the laser pattern is uncorrelated.
- the height directly affects the depth of the depth image and the speed of the depth image.
- the plurality of light-emitting elements 122 are regularly distributed to form a highly uniform laser pattern, and each group of the light-emitting elements 122 is separately and simultaneously driven to emit a light beam to improve the laser pattern. Correlation, thereby increasing the speed and accuracy of obtaining a depth image of the laser pattern.
- the plurality of light emitting elements 122 are at least two light emitting elements 122, and the plurality of sets of light emitting elements 122 are at least two sets of light emitting elements 122.
- a light source comprising at least two light-emitting elements 122 can increase the output power of the photovoltaic device 100 and meet the volume requirements of the photovoltaic device 100; at the same time, the irrelevance of the laser pattern produced by the photovoltaic device 100 based on the at least two sets of light-emitting elements 122 is more high.
- the irrelevance of the laser pattern refers to the uniqueness of the laser pattern generated by the light beam emitted by each of the light-emitting elements 122, and the uniqueness includes the uniqueness of the shape, size, arrangement position, and the like of the laser pattern.
- the irrelevance of the laser pattern a and the laser pattern b in FIG. 4 is smaller than the irrelevance of the laser pattern a and the laser pattern c.
- the plurality of light-emitting elements 122 are regularly distributed as a whole, and the regular distribution may be a matrix distribution as shown in FIG. 1 (the rows and columns are criss-crossed, and the rows and columns are perpendicular to each other), or are arranged in an annular shape as shown in FIG. 5. Or a parallelogram distribution as shown in FIG. 6 (the rows and columns are criss-crossed, and the angle between the rows and columns is not 90 degrees), or equally spaced along a predetermined direction; or any distribution having a certain regularity. No restrictions. It can be understood that manufacturing a plurality of regularly arranged light-emitting elements 122 on the same semiconductor substrate 11 can greatly improve manufacturing efficiency.
- the plurality of light-emitting elements 122 are m*n lattices, wherein m and n are integers greater than or equal to one.
- the plurality of light emitting elements 122 are divided into a plurality of groups, and each of the light emitting elements 122 may be regularly distributed or irregularly distributed.
- a plurality of light-emitting elements 122 are divided into two groups.
- the first set of light emitting elements 122 and the second set of light emitting elements 122 are each randomly distributed.
- first group of light-emitting elements 122 and the second group of light-emitting elements 122 may each be regularly distributed; or the first group of light-emitting elements 122 are regularly distributed, and the second group of light-emitting elements 122 are irregularly distributed; The first group of light-emitting elements 122 are irregularly distributed, and the second group of light-emitting elements 122 are regularly distributed or the like.
- the first group of light-emitting elements 122 and the second group of light-emitting elements 122 may be the same or different light-emitting elements 122, for example, the first group of the plurality of light-emitting elements 122 are the same, the second group of the plurality of light-emitting elements 122 are the same, the first group The light-emitting element 122 and the second group of light-emitting elements 122 are different light-emitting elements 122 (as shown in FIG. 1); or the plurality of light-emitting elements 122 of the first group are identical to the plurality of light-emitting elements 122 of the second group (see FIG. 5).
- a plurality of light-emitting elements 122 of the first group are not identical, the plurality of light-emitting elements 122 of the second group are not identical, and the plurality of light-emitting elements 122 of the first group and the plurality of light-emitting elements 122 of the second group Corresponding to the same (as shown in FIG. 6); or the plurality of light-emitting elements 122 of the first group are completely different, the plurality of light-emitting elements 122 of the second group are completely different, and the plurality of light-emitting elements 122 of the first group are more than the second group
- the light-emitting elements 122 correspond to the same (as shown in FIG. 7) and the like, and are not limited herein.
- each group of light-emitting elements 122 may be identical, partially identical, or completely different.
- the plurality of light-emitting elements 122 are divided into four groups, and the number of the first group of light-emitting elements 122, the second group of light-emitting elements 122, the third group of light-emitting elements 122, and the fourth group of light-emitting elements 122 are both N1 (see FIG. 8).
- N1 24); or the number of the first group of light-emitting elements 122 is N1, the number of the second group of light-emitting elements 122 and the third group of light-emitting elements 122 are N2, the number of the fourth group of light-emitting elements 122 is N3; Or the number of the first group of light-emitting elements 122 is N1, the number of the second group of light-emitting elements 122 is N2, the number of the third group of light-emitting elements 122 is N3, and the number of the fourth group of light-emitting elements 122 is N4, where N1 ⁇ N2 ⁇ N3 ⁇ N4.
- the spacing between the plurality of light emitting elements 122 can be determined according to the density of the laser pattern to be formed.
- the spacing between the plurality of light emitting elements 122 may be configured such that the gaps between the formed laser patterns are small and do not overlap.
- the illuminating element 122 comprises a point source illuminating device
- the point source illuminating device can be a Vertical-Cavity Surface-Emitting Laser (VCSEL) or other type of point source illuminating device.
- VCSEL Vertical-Cavity Surface-Emitting Laser
- the VCSEL is a novel laser that emits light on a vertical surface.
- a conventional edge-emitting laser such as a Distributed Feedback Laser (DFB)
- the VCSEL has a light-emitting direction perpendicular to the substrate 11, which is relatively easy.
- DFB Distributed Feedback Laser
- the coupling efficiency is high, so that a complicated and expensive beam shaping system is not required, and the manufacturing process is compatible with the light emitting diode, which greatly reduces the production cost.
- the plurality of groups of light-emitting elements 122 can be respectively controlled by the same controller, or the plurality of groups of light-emitting elements 122 are respectively controlled by a plurality of controllers, that is, each group of light-emitting elements 122 is correspondingly controlled by one controller.
- the controller is for directly driving the light emitting element 122 to emit a light beam, or driving the light emitting element 122 by a plurality of conductors respectively connected to the plurality of sets of the light emitting elements 122 to emit a light beam.
- the controller drives the light emitting element 122 through the conductor, a plurality of conductors are formed on the substrate 11 and connected to the light emitting element 122.
- the laser emitter 10 includes six sets of light-emitting elements 122, and the number of conductors is six, each conductor is connected to a group of light-emitting elements 122, and the controller is configured to apply a control signal on the conductors to drive a group of light-emitting lights corresponding to the conductors.
- Element 122 emits a beam of light.
- the controller simultaneously applies control signals to the respective conductors, but the control signals applied to the respective conductors may be different, so that the irrelevance of the laser pattern can be improved.
- each set of light emitting elements 122 is used to be driven to emit light beams of different light intensities.
- the plurality of sets of the light-emitting elements 122 emit light at the same time, and the intensity of the light beam emitted by each set of the light-emitting elements 122 can be freely controlled.
- a plurality of light-emitting elements 122 are divided into four groups, a first group of light-emitting elements 122 for emitting a light beam having a light intensity of L1, and a second group of light-emitting elements 122 for emitting a light beam having a light intensity of L2.
- the third group of light-emitting elements 122 is for emitting a light beam having a light intensity of L3, and the fourth group of light-emitting elements 122 is for emitting a light beam having a light intensity of L4, wherein L1 ⁇ L2 ⁇ L3 ⁇ L4.
- the light beams can sequentially obtain the spots of different shapes after passing through the collimating elements 30 and the diffractive optical elements 40, thereby generating a laser pattern having a high degree of correlation.
- the first group of light-emitting elements 122 can be used to emit a light beam having a light intensity of L1
- the second group of light-emitting elements 122 and the third group of light-emitting elements 122 are used to emit a light beam having a light intensity of L2
- the fourth group The light-emitting element 122 is for emitting a light beam having a light intensity of L3. That is, at least one set of light-emitting elements 122 is used to be driven to emit light beams of different light intensities.
- each set of light emitting elements 122 is used to be driven to emit light beams of different wavelengths.
- the plurality of sets of the light-emitting elements 122 emit light at the same time, and the wavelength of the light beam emitted by each set of the light-emitting elements 122 can be freely controlled. For example, referring to FIG.
- a plurality of light-emitting elements 122 are divided into four groups, a first group of light-emitting elements 122 for emitting a light beam of wavelength ⁇ 1, a second group of light-emitting elements 122 for emitting a light beam of wavelength ⁇ 2, and a third
- the group of light-emitting elements 122 are for emitting light beams of wavelength ⁇ 3
- the fourth group of light-emitting elements 122 are for emitting light beams of wavelength ⁇ 4, where ⁇ 1 ⁇ ⁇ 2 ⁇ ⁇ 3 ⁇ ⁇ 4.
- the light beams are sequentially passed through the collimating elements 30 and the diffractive optical elements 40, and light spots of different shapes can be obtained, and a laser pattern having high correlation is generated.
- the first set of light-emitting elements 122 can be used to emit light beams of wavelength ⁇ 1
- the second set of light-emitting elements 122 and the third set of light-emitting elements 122 are used to emit light beams of wavelength ⁇ 2
- the fourth set of light-emitting elements 122 is for emitting a light beam having a wavelength of ⁇ 3. That is, at least one set of light emitting elements 122 is used to be driven to emit light beams of different wavelengths.
- the light-emitting element 122 can emit light beams of different wavelengths by changing the temperature of the light-emitting element 122.
- the higher the temperature of the light-emitting element 122 the higher the wavelength of the emitted light beam.
- the plurality of groups of the light-emitting elements 122 are configured to emit light beams of different wavelengths.
- the control signals applied by the controller to the respective conductors can be the same, and the control logic of the light-emitting elements 122 is relatively simple. .
- each set of light emitting elements 122 has a different light emitting area.
- the plurality of sets of the light-emitting elements 122 emit light at the same time, and each set of the light-emitting elements 122 has a different light-emitting area.
- the plurality of light-emitting elements 122 are divided into four groups, the light-emitting area of the first group of light-emitting elements 122 is S1, the light-emitting area of the second group of light-emitting elements 122 is S2, and the light of the third group of light-emitting elements 122 is emitted.
- the area is S3, and the light-emitting area of the fourth group of light-emitting elements 122 is S4, where S1 ⁇ S2 ⁇ S3 ⁇ S4.
- the light beams are sequentially passed through the collimating elements 30 and the diffractive optical elements 40, and light spots of different shapes can be obtained, and a laser pattern having high correlation is generated.
- the light emitting area of the first group of light emitting elements 122 is S1
- the light emitting area of the second group of light emitting elements 122 and the third group of light emitting elements 122 is S2
- the light emitting area of the fourth group of light emitting elements 122 is S3. . That is, at least one set of light emitting elements 122 has different light emitting areas.
- each set of light-emitting elements 122 is used to be driven to emit light beams of different light intensities, different wavelengths, and have different light-emitting areas; or each set of light-emitting elements 122 is used to be driven to emit different light intensities, Light beams of different wavelengths and having the same light-emitting area; or each set of light-emitting elements 122 for being driven to emit light beams of different light intensities, of the same wavelength, and having different light-emitting areas; or each set of light-emitting elements 122 for being driven To emit light beams of the same light intensity and different wavelengths, and have different light-emitting areas.
- the number of collimating elements 30 is one, and one collimating element 30 corresponds to the array of light emitting elements 12.
- the manufacturing process is relatively simple.
- the light beams emitted by the plurality of light-emitting elements 122 pass through the collimating element 30 and are then projected by the diffractive optical element 40 to the target space to generate a laser pattern.
- the number of collimating elements 30 is plural, and the plurality of collimating elements 30 are divided into a plurality of groups, and each set of collimating elements 30 corresponds to each set of light emitting elements 122.
- the light beams emitted by each set of light-emitting elements 122 first pass through collimating elements 30 corresponding to the set of light-emitting elements 122, and are then projected by the diffractive optical elements 40 to the target space to generate a laser pattern.
- each of the collimating elements 30 may have a different focal length. Among them, different focal lengths include the positive and negative and/or the size of the focal length. That is, each set of collimating elements 30 is capable of producing different diverging or converging beams. In this way, the irrelevance of the generated laser pattern can be further improved.
- the collimating element 30 may be a lens, which is a convex lens or a concave lens, and the surface of the lens may be an aspherical surface, a spherical surface, a Fresnel surface, or a binary optical surface; or the collimating element 30
- the plurality of lenses may be convex lenses or concave lenses, or partially convex lenses, and partially concave lenses, and the surface shape of each lens may be aspherical, Any of a spherical surface, a Fresnel surface, and a binary optical surface.
- the collimating elements 30 when the number of the collimating elements 30 is one, the collimating elements 30 are spaced apart from the light emitting element array 12 (as shown in FIG. 2); when the number of the collimating elements 30 is plural, a plurality of The collimating elements 30 are integrated with the plurality of light emitting elements 122, respectively, on the substrate 11 (as shown in FIG. 3). As such, a plurality of collimating elements 30 and a plurality of light emitting elements 122 are integrated on the substrate 11 to facilitate reducing the volume of the optoelectronic device 100.
- a depth camera 1000 of an embodiment of the present application includes an optoelectronic device 100, an image collector 200, and a processor 300.
- the image collector 200 is used to capture a laser pattern projected by the optoelectronic device 100 into the target space.
- the processor 300 is connected to the optoelectronic device 100 and the image collector 200, respectively, and the processor 300 is configured to process the laser pattern to obtain a depth image.
- the image collector 200 may be an infrared camera, and the processor 300 calculates an offset value of each pixel point in the laser pattern and a corresponding pixel point in the reference pattern by using an image matching algorithm, and further obtains the laser according to the deviation value.
- the depth image of the pattern may be a Digital Image Correlation (DIC) algorithm.
- DIC Digital Image Correlation
- other image matching algorithms can be used instead of the DIC algorithm.
- the plurality of light-emitting elements 122 are regularly distributed to form a highly uniform laser pattern, and each group of the light-emitting elements 122 is separately and simultaneously driven to emit a light beam, which can improve the irrelevance of the laser pattern, thereby improving Obtain the speed and accuracy of the depth image of the laser pattern.
- first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
- features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
- the meaning of "a plurality” is at least two, for example two, three, unless specifically defined otherwise.
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Abstract
一种激光发射器(10)、光电设备(100)和深度相机(1000)。激光发射器(10)包括发光元件阵列(12)。发光元件阵列(12)包括规则分布的多个发光元件(122),多个发光元件(122)划分为多组。每组包含至少一个发光元件(122),每个发光元件(122)归属于其中一组,在相同时刻,发光元件(122)以组为单位被单独驱动以发射光束。
Description
优先权信息
本申请请求2018年1月6日向中国国家知识产权局提交的、专利申请号为201810012769.3和201820031412.5的专利申请的优先权和权益,并且通过参照将其全文并入此处。
本申请涉及光学领域,特别涉及一种激光发射器、光电设备和深度相机。
诸如激光投影仪等光电设备被用来向目标空间发射设定的光学图案,在基于光学的三维测量领域,光电设备得到了广泛应用。光电设备一般由光源、准直元件以及衍射光学元件组成,其中光源可以是单个边发射激光光源,也可以是由多个垂直腔面发射激光组成的面阵激光光源等。
发明内容
本申请实施方式提供一种激光发射器、光电设备和深度相机。
本申请实施方式的激光发射器包括发光元件阵列,所述发光元件阵列包括规则分布的多个发光元件,多个所述发光元件划分为多组,每组包含至少一个发光元件,每个所述发光元件归属于其中一组,在相同时刻,所述发光元件以组为单位被单独驱动以发射光束。
本申请实施方式的光电设备包括基板和上述实施方式所述的激光发射器,所述激光发射器设置在所述基板上。
本申请实施方式的深度相机包括上述实施方式所述的光电设备、图像采集器和处理器;所述图像采集器用于采集由所述光电设备向目标空间中投射的激光图案;所述处理器分别与所述光电设备、及所述图像采集器连接,所述处理器用于处理所述激光图案以获得深度图像。
本申请实施方式的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本申请的实践了解到。
本申请的上述和/或附加的方面和优点可以从结合下面附图对实施方式的描述中将变得明显和容易理解,其中:
图1是本申请某些实施方式的激光发射器的结构示意图;
图2是本申请某些实施方式的光电设备的结构示意图;
图3是本申请某些实施方式的光电设备的结构示意图;
图4是本申请某些实施方式的光电设备生成的部分激光图案的示意图;
图5是本申请某些实施方式的激光发射器的结构示意图;
图6是本申请某些实施方式的激光发射器的结构示意图;
图7是本申请某些实施方式的激光发射器的部分结构示意图;
图8是本申请某些实施方式的激光发射器的结构示意图;
图9是本申请某些实施方式的深度相机的模块示意图。
以下结合附图对本申请的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外,下面结合附图描述的本申请的实施方式是示例性的,仅用于解释本申请的实施方式,而不能理解为对本申请的限制。
在本申请中,除非另有明确的规定和限定,第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触,或第一和第二特征通过中间媒介间接接触。而且,第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方,或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方,或仅仅表示第一特征水平高度小于第二特征。
请参阅图1,本申请实施方式的激光发射器10包括发光元件阵列12。发光元件阵列12包括规则分布的多个发光元件122,多个发光元件122划分为多组。每组包含至少一个发光元件122,每个发光元件122归属于其中一组,在相同时刻,发光元件122以组为单位被单独驱动以发射光束。
请参阅图1,激光发射器10还可包括衬底11,例如半导体衬底,发光元件阵列12设置在衬底11上。
请参阅图1,在某些实施方式中,多组发光元件122包括第一组发光元件122和第二组发光元件122。第一组发光元件122为规则分布或不规则分布,第二组发光元件122为规则分布或不规则分布。
请参阅图1,在某些实施方式中,发光元件122包括点光源发光器件。
请参阅图8,在某些实施方式中,每组发光元件122用于被驱动以发射不同光强的光束。
请参阅图8,在某些实施方式中,每组发光元件122用于被驱动以发射不同波长的光束。
请参阅图8,在某些实施方式中,每组发光元件122具有不同的发光面积。
请参阅图1,在某些实施方式中,点光源发光器件为垂直腔面发射激光器。
请参阅图2和图3,本申请实施方式的光电设备100包括基板20和激光发射器10,激光发射器10设置在基板20上。
请参阅图2和图3,在某些实施方式中,光电设备100还包括准直元件30和衍射光学元件40。准直元件30设置在基板20的靠近激光发射器10的一侧。准直元件30位于激光发射器10与衍射光学元件40之间,衍射光学元件40用于投射由发光元件122发射的光束以生成激光图案。
请参阅图2和图3,在某些实施方式中,每个准直元件30包括一个透镜;或者每个准直元件30包括多个透镜,多个透镜沿发光元件122的发光方向依次设置。
请参阅图2和图3,在某些实施方式中,准直元件30的数量为一个,一个准直元件30与发光元件阵列12对应;或准直元件30的数量为多个,多个准直元件30划分为多组,每组准直元件30与每组发光元件122对应。
请参阅图2和图3,在某些实施方式中,准直元件30的数量为一个,一个准直元件30与发光元件阵列12对应,准直元件30与对应的发光元件阵列12间隔;或准直元件30的数量为多个,多个准直元件30划分为多组,每组准直元件30与每组发光元件122对应,准直元件30分别与对应的发光元件122集成在衬底11上。
请参阅图3,在某些实施方式中,当准直元件30的数量为多个时,每组准直元件30具有不同的焦距。
请参阅图9,本申请实施方式的深度相机包括光电设备100、图像采集器200和处理器300。图像采集器200用于采集由光电设备100向目标空间中投射的激光图案。处理器300分别与光电设备100、及图像采集器200连接,处理器300用于处理激光图案以获得深度图像。
请参阅图1,本申请实施方式的激光发射器10包括半导体衬底11和设置在衬底11上的发光元件阵列12。发光元件阵列12包括规则分布的多个发光元件122,多个发光元件122划分为多组,每组包含至少一个发光元件122,每个发光元件122归属于其中一组。每组发光元件122被单独且同时驱动以发射光束,即在相同时刻,发光 元件122以组为单位被单独驱动以发射光束。
请一并参阅图2和图3,本申请实施方式的激光发射器10可用于光电设备100。光电设备100包括基板20、激光发射器10、准直元件30和衍射光学元件40。激光发射器10设置在基板20上,准直元件30设置在基板20的靠近激光发射器10的一侧,准直元件30位于激光发射器10与衍射光学元件40之间,衍射光学元件40用于投射由发光元件122发射的光束以生成激光图案。也即是说,本申请实施方式的激光发射器10可应用于包括有准直元件30和衍射光学元件40的光电设备100,以发射光束生成激光图案;本申请实施方式的激光发射器10也可应用于任意采用激光发射器10来发射光束的光电设备100,此时,光电设备100包括基板20和激光发射器10,激光发射器10设置在基板20上。
可以理解,诸如激光投影仪等光电设备被用来向目标空间发射设定的光学图案,在基于光学的三维测量领域,光电设备得到了广泛应用。光电设备一般由光源、准直元件以及衍射光学元件组成,其中光源可以是单个边发射激光光源,也可以是由多个垂直腔面发射激光组成的面阵激光光源等。基于单个边发射激光光源的光电设备能够发射不相关性较高的激光图案,但其体积会随着输出功率的增大而明显增大,且该激光图案的均匀性较差;而基于由至少两个垂直腔面发射激光光源的光电设备可以以更小的体积发射出相同功率且具有更高均匀性的激光图案,但该激光图案的不相关性较低,而激光图案的不相关性的高低直接影响着其深度图像精度的高低及获取深度图像速度的快慢。
本申请实施方式的激光发射器10和光电设备100中,多个发光元件122规则分布能够形成高均匀性的激光图案,每组发光元件122被单独且同时驱动以发射光束能够提高激光图案的不相关性,从而提高获取该激光图案的深度图像的速度及精度。
具体地,多个发光元件122为至少两个发光元件122,多组发光元件122为至少两组发光元件122。采用至少两个发光元件122组成的光源能够增加光电设备100的输出功率,且满足光电设备100的体积要求;同时,基于至少两组发光元件122的光电设备100产生的激光图案的不相关性更高。
需要指出的是,激光图案的不相关性指的是各发光元件122发射的光束生成的激光图案具有较高的唯一性,该唯一性包括激光图案的形状、大小、排列位置等的唯一性。例如,图4中激光图案a与激光图案b的不相关性小于激光图案a与激光图案c的不相关性。
多个发光元件122在整体上为规则分布,规则分布可以是如图1所示的呈矩阵分布(行列纵横交错,且行列互相垂直),或者是如图5所示的呈圆环状分布,或者是 如图6所示的呈平行四边形分布(行列纵横交错,且行列之间夹角不为90度),或者是沿着预定方向等间距分布;或者是任意具有一定规律的分布,在此不作限制。可以理解,在同一个半导体衬底11上制造规则分布的多个发光元件122可以大幅提高制造效率。例如,多个发光元件122为m*n点阵,其中,m、n均为大于或等于1的整数。多个发光元件122划分为多组,每组发光元件122可以各自为规则分布或不规则分布。在如图1所示的激光发射器10中,m=8,n=12,多个发光元件122划分为两组。第一组发光元件122和第二组发光元件122各自为不规则分布。当然,在其他示例中,第一组发光元件122和第二组发光元件122也可以各自为规则分布;或者第一组发光元件122为规则分布,第二组发光元件122为不规则分布;或者第一组发光元件122为不规则分布,第二组发光元件122为规则分布等。第一组发光元件122和第二组发光元件122可以为相同或不同的发光元件122,例如,第一组的多个发光元件122相同,第二组的多个发光元件122相同,第一组发光元件122与第二组发光元件122为不同的发光元件122(如图1所示);或者第一组的多个发光元件122与第二组的多个发光元件122完全相同(如图5所示);或者第一组的多个发光元件122不完全相同,第二组的多个发光元件122不完全相同,第一组的多个发光元件122与第二组的多个发光元件122对应相同(如图6所示);或者第一组的多个发光元件122完全不同,第二组的多个发光元件122完全不同,第一组的多个发光元件122与第二组的多个发光元件122对应相同(如图7所示)等等,在此不作限制。
每组发光元件122的数量可以完全相同、部分相同、或完全不同。例如,多个发光元件122被划分为4组,第一组发光元件122、第二组发光元件122、第三组发光元件122、和第四组发光元件122的数量均为N1(如图8所示,N1=24);或者第一组发光元件122的数量为N1,第二组发光元件122和第三组发光元件122的数量均为N2,第四组发光元件122的数量为N3;或者第一组发光元件122的数量为N1,第二组发光元件122的数量为N2,第三组发光元件122的数量为N3,第四组发光元件122的数量为N4,其中,N1≠N2≠N3≠N4。
多个发光元件122之间的间距可以根据需要形成的激光图案的密度确定。例如,多个发光元件122之间的间距可被配置为使得形成的各激光图案之间间隙较小且不重叠。
在某些实施方式中,发光元件122包括点光源发光器件,点光源发光器件可以是垂直腔面发射激光器(Vertical-Cavity Surface-Emitting Laser,VCSEL)或者其他类型的点光源发光器件。
具体地,VCSEL是一种垂直表面出光的新型激光器,与传统的边发射型激光器, 例如分布式反馈激光器(Distributed Feedback Laser,DFB)相比,VCSEL的发光方向与衬底11垂直,可以较容易地实现高密度二维面阵的集成,实现更高功率输出,且由于其较之于边发射型激光器拥有更小的体积,从而更加便于被集成到小型电子元器件中;同时VCSEL与光纤的耦合效率高,从而不需要复杂昂贵的光束整形***,且制造工艺与发光二极管兼容,大大降低了生产成本。
多组发光元件122可由同一个控制器分别控制,或者多组发光元件122分别由多个控制器控制,即每组发光元件122由一个控制器对应控制。控制器用于直接驱动发光元件122发射光束,或通过分别与多组发光元件122连接的多个导体驱动发光元件122以发射光束。当控制器通过导体驱动发光元件122时,多个导体形成在衬底11上并与发光元件122连接。例如,激光发射器10包括6组发光元件122,则导体的数量为6个,每个导体连接一组发光元件122,控制器用于在导体上施加控制信号以驱动与该导体对应的一组发光元件122发射光束。在本申请实施方式中,控制器同时在各导体上施加控制信号,但施加在各导体上的控制信号可以是不同的,从而能够提高激光图案的不相关性。
在某些实施方式中,每组发光元件122用于被驱动以发射不同光强的光束。
具体地,在本申请实施方式中,多组发光元件122同时发光,每组发光元件122发射的光束的强度可以自由控制。例如,请参阅图8,多个发光元件122被划分为4组,第一组发光元件122用于发射光强为L1的光束,第二组发光元件122用于发射光强为L2的光束,第三组发光元件122用于发射光强为L3的光束,第四组发光元件122用于发射光强为L4的光束,其中,L1≠L2≠L3≠L4。如此,通过控制不同组的发光元件122的光束的强度配比,光束在依次经过准直元件30、衍射光学元件40后,可获得不同形状的光斑,生成不相关性较高的激光图案。当然,在其他实施方式中,第一组发光元件122可用于发射光强为L1的光束,第二组发光元件122和第三组发光元件122用于发射光强为L2的光束,第四组发光元件122用于发射光强为L3的光束。也即是说,至少一组发光元件122用于被驱动以发射不同光强的光束。
在某些实施方式中,每组发光元件122用于被驱动以发射不同波长的光束。
具体地,在本申请实施方式中,多组发光元件122同时发光,每组发光元件122发射的光束的波长可以自由控制。例如,请参阅图8,多个发光元件122被划分为4组,第一组发光元件122用于发射波长为λ1的光束,第二组发光元件122用于发射波长为λ2的光束,第三组发光元件122用于发射波长为λ3的光束,第四组发光元件122用于发射波长为λ4的光束,其中,λ1≠λ2≠λ3≠λ4。如此,通过控制不同组的发光元件122的光束的波长配比,光束在依次经过准直元件30、衍射光学元件 40后,可获得不同形状的光斑,生成不相关性较高的激光图案。当然,在其他实施方式中,第一组发光元件122可用于发射波长为λ1的光束,第二组发光元件122和第三组发光元件122用于发射波长为λ2的光束,第四组发光元件122用于发射波长为λ3的光束。也即是说,至少一组发光元件122用于被驱动以发射不同波长的光束。
其中,可在使用激光发射器10的过程中,通过改变发光元件122的温度来使发光元件122能够发射不同波长的光束,一般情况下,发光元件122的温度越高,发射的光束的波长越长;也可在制造激光发射器10时,将多组发光元件122配置为发射不同波长的光束,如此,控制器施加在各导体上的控制信号可以相同的,发光元件122的控制逻辑较为简单。
在某些实施方式中,每组发光元件122具有不同的发光面积。
具体地,在本申请实施方式中,多组发光元件122同时发光,每组发光元件122具有不同的发光面积。例如,请参阅图8,多个发光元件122被划分为4组,第一组发光元件122的发光面积为S1,第二组发光元件122的发光面积为S2,第三组发光元件122的发光面积为S3,第四组发光元件122的发光面积为S4,其中,S1≠S2≠S3≠S4。如此,通过将不同组的发光元件122配置为不同的发光面积,光束在依次经过准直元件30、衍射光学元件40后,可获得不同形状的光斑,生成不相关性较高的激光图案。当然,在其他实施方式中,第一组发光元件122的发光面积为S1,第二组发光元件122和第三组发光元件122的发光面积为S2,第四组发光元件122的发光面积为S3。也即是说,至少一组发光元件122具有不同的发光面积。
在某些实施方式中,每组发光元件122用于被驱动以发射不同光强、不同波长的光束,并具有不同的发光面积;或者每组发光元件122用于被驱动以发射不同光强、不同波长的光束,并具有相同的发光面积;或者每组发光元件122用于被驱动以发射不同光强、相同波长的光束,并具有不同的发光面积;或者每组发光元件122用于被驱动以发射相同光强、不同波长的光束,并具有不同的发光面积。
请参阅图2,在某些实施方式中,准直元件30的数量为一个,一个准直元件30与发光元件阵列12对应。如此,制造工艺较为简单。多个发光元件122发射的光束均先经过该准直元件30,再由衍射光学元件40投射至目标空间以生成激光图案。
请参阅图3,在某些实施方式中,准直元件30的数量为多个,多个准直元件30划分为多组,每组准直元件30与每组发光元件122对应。每组发光元件122发射的光束先经过与该组发光元件122对应的准直元件30,再由衍射光学元件40投射至目标空间以生成激光图案。进一步地,当准直元件30的数量为多个时,每组准直元件30可具有不同的焦距。其中,不同的焦距包括焦距的正负和/或大小。也即是说,每 组准直元件30能够产生不同的发散或汇聚光束的效果。如此,能够进一步提高生成的激光图案的不相关性。
在上述实施方式中,准直元件30可为一个透镜,该透镜为凸透镜或凹透镜,该透镜的面型可以为非球面、球面、菲涅尔面、或二元光学面;或者准直元件30为由多个沿发光元件122的发光方向依次设置的透镜组成的透镜组,多个透镜可均为凸透镜或凹透镜,或部分为凸透镜,部分为凹透镜,每个透镜的面型可以为非球面、球面、菲涅尔面、二元光学面中的任意一种。
在某些实施方式中,当准直元件30的数量为一个时,准直元件30与发光元件阵列12间隔(如图2所示);当准直元件30的数量为多个时,多个准直元件30分别与多个发光元件122集成在衬底11上(如图3所示)。如此,多个准直元件30与多个发光元件122集成在衬底11上,有利于减小光电设备100的体积。
请参阅图9,本申请实施实施方式的深度相机1000包括光电设备100、图像采集器200和处理器300。图像采集器200用于采集由光电设备100向目标空间中投射的激光图案。处理器300分别与光电设备100、及图像采集器200连接,处理器300用于处理激光图案以获得深度图像。
具体地,图像采集器200可为红外相机,处理器300采用图像匹配算法计算出该激光图案中各像素点与参考图案中的对应各个像素点的偏离值,再根据该偏离值进一步获得该激光图案的深度图像。其中,图像匹配算法可为数字图像相关(Digital Image Correlation,DIC)算法。当然,也可以采用其它图像匹配算法代替DIC算法。
本申请实施方式的深度相机1000中,多个发光元件122规则分布能够形成高均匀性的激光图案,每组发光元件122被单独且同时驱动以发射光束能够提高激光图案的不相关性,从而提高获取该激光图案的深度图像的速度及精度。
在本说明书的描述中,参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本申请的描述中,“多个”的含义是至少两个,例如两个,三个,除非另有明确具体的限定。
尽管上面已经示出和描述了本申请的实施例,可以理解的是,上述实施例是示例性的,不能理解为对本申请的限制,本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型,本申请的范围由权利要求及其等同物限定。
Claims (20)
- 一种激光发射器,其特征在于,包括:发光元件阵列,所述发光元件阵列包括规则分布的多个发光元件,多个所述发光元件划分为多组,每组包含至少一个发光元件,每个所述发光元件归属于其中一组,在相同时刻,所述发光元件以组为单位被单独驱动以发射光束。
- 根据权利要求1所述的激光发射器,其特征在于,所述激光发射器还包括衬底,所述发光元件阵列设置在所述衬底上。
- 根据权利要求1所述的激光发射器,其特征在于,多组所述发光元件包括第一组发光元件和第二组发光元件,所述第一组发光元件为规则分布或不规则分布,所述第二组发光元件为规则分布或不规则分布。
- 根据权利要求1所述的激光发射器,其特征在于,所述发光元件包括点光源发光器件。
- 根据权利要求1所述的激光发射器,其特征在于,每组所述发光元件用于被驱动以发射不同光强的光束。
- 根据权利要求1所述的激光发射器,其特征在于,每组所述发光元件用于被驱动以发射不同波长的光束。
- 根据权利要求1所述的激光发射器,其特征在于,每组所述发光元件具有不同的发光面积。
- 一种光电设备,其特征在于,包括:基板;和激光发射器,所述激光发射器设置在所述基板上,所述激光发射器包括:发光元件阵列,所述发光元件阵列包括规则分布的多个发光元件,多个所述发光元件划分为多组,每组包含至少一个发光元件,每个所述发光元件归属于其中一组,在相同时刻,所述发光元件以组为单位被单独驱动以发射光束。
- 根据权利要求8所述的光电设备,其特征在于,所述激光发射器还包括衬底,所述发光元件阵列设置在所述衬底上。
- 根据权利要求8所述的光电设备,其特征在于,所述光电设备还包括:准直元件,所述准直元件设置在所述基板的靠近所述激光发射器的一侧;和衍射光学元件,所述准直元件位于所述激光发射器与所述衍射光学元件之间,所述衍射光学元件用于投射由所述发光元件发射的光束以生成激光图案。
- 根据权利要求8或10所述的光电设备,其特征在于,多组所述发光元件包括 第一组发光元件和第二组发光元件,所述第一组发光元件为规则分布或不规则分布,所述第二组发光元件为规则分布或不规则分布。
- 根据权利要求8或10所述的光电设备,其特征在于,所述发光元件包括点光源发光器件。
- 根据权利要求8或10所述的光电设备,其特征在于,每组所述发光元件用于被驱动以发射不同光强的光束。
- 根据权利要求8或10所述的光电设备,其特征在于,每组所述发光元件用于被驱动以发射不同波长的光束。
- 根据权利要求8或10所述的光电设备,其特征在于,每组所述发光元件具有不同的发光面积。
- 根据权利要求10所述的光电设备,其特征在于,每个所述准直元件包括一个透镜;或者每个所述准直元件包括多个透镜,多个所述透镜沿所述发光元件的发光方向依次设置。
- 根据权利要求10所述的光电设备,其特征在于,所述准直元件的数量为一个,一个所述准直元件与所述发光元件阵列对应;或所述准直元件的数量为多个,多个所述准直元件划分为多组,每组所述准直元件与每组所述发光元件对应。
- 根据权利要求10所述的光电设备,其特征在于,所述准直元件的数量为一个,一个所述准直元件与所述发光元件阵列对应,所述准直元件与对应的所述发光元件阵列间隔;或所述准直元件的数量为多个,多个所述准直元件划分为多组,每组所述准直元件与每组所述发光元件对应,所述准直元件分别与对应的所述发光元件集成在衬底上。
- 根据权利要求17或18所述的光电设备,其特征在于,当所述准直元件的数量为多个时,每组所述准直元件具有不同的焦距。
- 一种深度相机,其特征在于,包括:权利要求8-19任意一项所述的光电设备;图像采集器,所述图像采集器用于采集由所述光电设备向目标空间中投射的激光图案;和分别与所述光电设备、及所述图像采集器连接的处理器,所述处理器用于处理所述激光图案以获得深度图像。
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