WO2021042854A1 - Pop-up three-dimensional recognition device and mobile terminal - Google Patents

Pop-up three-dimensional recognition device and mobile terminal Download PDF

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Publication number
WO2021042854A1
WO2021042854A1 PCT/CN2020/099895 CN2020099895W WO2021042854A1 WO 2021042854 A1 WO2021042854 A1 WO 2021042854A1 CN 2020099895 W CN2020099895 W CN 2020099895W WO 2021042854 A1 WO2021042854 A1 WO 2021042854A1
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WO
WIPO (PCT)
Prior art keywords
pop
dimensional
camera
push rod
dimensional recognition
Prior art date
Application number
PCT/CN2020/099895
Other languages
French (fr)
Chinese (zh)
Inventor
张永亮
Original Assignee
中兴通讯股份有限公司
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Filing date
Publication date
Application filed by 中兴通讯股份有限公司 filed Critical 中兴通讯股份有限公司
Publication of WO2021042854A1 publication Critical patent/WO2021042854A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/02—Constructional features of telephone sets
    • H04M1/0202—Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets
    • H04M1/026—Details of the structure or mounting of specific components
    • H04M1/0264—Details of the structure or mounting of specific components for a camera module assembly
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/02—Constructional features of telephone sets
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/02—Constructional features of telephone sets
    • H04M1/0202—Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets
    • H04M1/026—Details of the structure or mounting of specific components
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
    • H04M1/72454—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions according to context-related or environment-related conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M2250/00—Details of telephonic subscriber devices
    • H04M2250/12—Details of telephonic subscriber devices including a sensor for measuring a physical value, e.g. temperature or motion
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M2250/00—Details of telephonic subscriber devices
    • H04M2250/20—Details of telephonic subscriber devices including a rotatable camera

Definitions

  • the invention relates to the field of three-dimensional recognition and mobile terminals.
  • the three-dimensional recognition devices mounted on mobile terminals on the market are mainly optical devices (including cameras and target depth information acquisition devices) that use structured light or TOF (time of flight) technology fixed inside the fuselage.
  • These three-dimensional recognition devices are all one-way applications, that is, either located on the front of the terminal (the side where the screen is located) and facing the front, or fixed on the electric push rod behind the internal display of the fuselage by integrating a pop-up front camera. , And fixed to the front, or located on the back of the terminal and facing the rear.
  • the present invention provides a pop-up three-dimensional recognition device
  • the pop-up three-dimensional recognition device includes: a pushing member, the pushing member includes a driving member and a push rod, the driving member is used to drive the The push rod extends or retracts;
  • the three-dimensional recognition assembly includes a pop-up body and a depth camera and a multi-fold optical zoom camera arranged on the pop-up body; a rotating part, the rotating part is connected to the push rod And the pop-up body, the rotating member is used to drive the pop-up body to rotate so as to rotate the depth camera and the multiple optical zoom camera provided on the pop-up body.
  • the present invention also provides a mobile terminal that includes a housing and the above-mentioned pop-up three-dimensional recognition device, the housing is formed with a receiving groove, and the pop-up three-dimensional recognition The device is telescopically installed in the containing tank.
  • FIG. 1 is a schematic diagram of a dual-motor scheme of a pop-up three-dimensional recognition device according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a single-motor solution of a pop-up three-dimensional recognition device according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a control circuit of a single-motor scheme of a pop-up three-dimensional recognition device according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a control path of a pop-up three-dimensional recognition device according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a mobile terminal according to another embodiment of the present invention.
  • Fig. 6 is another schematic diagram of a mobile terminal according to another embodiment of the present invention (with an RGB camera added);
  • FIG. 7 is still another schematic diagram of a mobile terminal according to another embodiment of the present invention.
  • Fig. 8 is a schematic diagram of another state of Fig. 7.
  • the direction in the present invention is based on the direction shown in FIG. 1, that is, the "up, down, horizontal, and vertical" in the present invention correspond to the “up, down, horizontal, and vertical” in FIG. 1, respectively. direction.
  • the present invention provides a pop-up three-dimensional recognition device, including:
  • a pushing member the pushing member includes a driving member and a push rod 19, and the driving member is used to drive the push rod 19 to extend or retract;
  • the three-dimensional recognition component includes a pop-up body 21 and a depth camera 22 and a multiple optical zoom camera 23 arranged on the pop-up body 21;
  • the rotating member is connected to the push rod 19 and the ejecting body 21, and the rotating member is used to drive the ejecting body 21 to rotate so as to rotate the depth camera 22 and the multiple optical zoom camera 23 provided on the ejecting body 21.
  • the push rod 19 is extended to push out the three-dimensional recognition assembly 2 and the rotating member to a preset position, and the ejector 21 is driven to rotate by the rotating member, so that the depth camera 22 and the multiple optical zoom provided on the ejector 21 are made.
  • the camera 23 rotates.
  • this embodiment can make the three-dimensional recognition device of the mobile terminal pop up and rotate, so that a single recognition device can implement three-dimensional recognition in both directions, which saves costs.
  • This embodiment is particularly suitable for mobile terminals, especially mobile phones.
  • the pop-up three-dimensional recognition device is arranged in the housing 70.
  • the push rod 19 of the mobile phone screen is extended to expose the three-dimensional recognition component 2 to the housing 70 on the top of the mobile phone, and the camera can start to take pictures or take a video.
  • the three-dimensional recognition assembly 2 can be driven to rotate 360° through the rotating member, so that images of various angles can be taken.
  • the above-mentioned driving member may be a driving motor.
  • the current mainstream direction of the depth camera 22 is to use TOF (time of flight, time of flight) technology and structured light technology.
  • TOF technology emits infrared light to the target through an infrared pulse transmitter, the infrared camera receives the infrared light reflected by the target, and the system calculates the time difference between the received infrared light and the previously emitted infrared light to establish the depth information of the scene.
  • structured light technology involves infrared fill light, infrared dot-matrix projector, infrared camera, distance sensor, etc., by calculating the difference between the received light spot array reflected by the scene and the previously emitted structural characteristic light spot array
  • the structured light has a large baseline (that is, the projector and the receiver need to keep a certain distance), and the TOF technology baseline can be almost zero.
  • the existing TOF technology is used solely for forward and backward applications, so the depth camera 22 shown in FIG. 5 preferably adopts the TOF technical solution.
  • An infrared transmitter and an infrared receiver are provided outside the depth camera 22.
  • the multi-fold optical zoom camera 23 at present, two times or less can be realized with a camera module close to a cube, and three times or more need to be considered as a periscope type, consisting of a lens, an upward turning prism, a zoom/focus lens group, and a lens.
  • the group is composed of driving mechanism, upper filter, lower filter, lower turning prism and optical sensor substrate, etc.
  • the lens group is a zoom/focus lens group.
  • the periscope multi-fold optical zoom camera 23 module cavity is significantly elongated by the lens group to become a significant cuboid; the steering lens and the steering lens change the light path to this lens group cavity, and the lens group driving mechanism controls the lens group distance conversion Achieve multiple optical zoom (the lens presents a wide-angle to telephoto effect).
  • the effect of optical zoom is much better than that of digital zoom by software means.
  • Multi-fold optical zoom can be flexibly configured according to different scenes to achieve better camera results, which is very suitable for the trend of continuous improvement of camera performance of mobile terminals.
  • the system controls it at a relatively short focal length to achieve close-up portrait selfies or maintain a telephoto, but by adjusting the lens group or inserting a clip to meet the macro function (the so-called telephoto) Macro lens) to achieve the needs of macro shooting; when used in the backward direction, the system mainly controls it at a long focal length to achieve the ideal long-range shooting requirements.
  • the focal length can also be arbitrarily changed to meet diverse camera requirements.
  • This front-to-back conversion can be achieved by rotating the ejection body 21 by 180 degrees.
  • the periscope type multiple optical zoom camera 23 can be integrated into the rotating structure of the pop-up body 21, which is beneficial for optimizing the structural space.
  • the depth camera 22 and the periscope multi-fold optical zoom camera 23 are combined into the pop-up body 21, and the depth D information of the depth camera 22 and the two-dimensional RGB information of the multi-fold optical zoom camera 23 are synthesized into three-dimensional RGBD information for three-dimensional Identification and related applications.
  • Rotating the pop-up body 21 can perform three-dimensional recognition applications in any direction. Of course, it is typically directly turned from the forward direction to the backward direction to realize the backward three-dimensional recognition. In this way, it can not only meet the current mature three-dimensional face recognition security unlocking and payment applications, but also meet the current backward three-dimensional recognition-based AR/VR photography & games, virtual shopping, ranging, indoor positioning and navigation, etc. Apply trends.
  • the pushing member further includes a coupling 11, a revolving frame 12, a limit proximity sensor set on the revolving frame 12, a screw rod 15, and a screw rod 15
  • the nut base 16, the push rod 19 is connected to the nut base 16, and the coupling 11 is connected to the driving member 18 and the screw rod 15.
  • the bottom of the screw 15 is embedded on the coupling 11, and the top is connected to the upper end of the revolving frame 12.
  • the driving member 18 drives the screw rod 15 to rotate through the coupling 11 (here the screw rod 15 only rotates, and does not move in the up and down direction), so that the nut seat 16 sleeved on the screw rod 15 moves up and down, so that the screw connected to the nut seat 16
  • the push rod 19 extends or retracts.
  • the screw rod 15 is only provided with threads in the part located in the revolving frame 12, so as to limit the stroke interval of the nut seat 16.
  • the nut seat 16 preferably uses balls to form a ball screw 15. It is also possible to install a nut seat retaining ring 17 at a position close to the top of the revolving frame 12 on the nut seat 16, and the push rod 19 is connected to the nut seat retaining ring 17.
  • the driving member 18 drives the screw rod 15 to rotate through the coupling 11 to drive the nut base 16 to move up and down, thereby changing the rotational movement of the driving member 18 into linear motion, and then drives the three-dimensional recognition assembly 2 fixed on the push rod 19 to move up and down.
  • the upper limit proximity sensor switch 13 and the lower limit proximity sensor switch 14 are respectively arranged inside the turret 12 at positions corresponding to the upper and lower limit of the stroke of the nut seat 16.
  • the upper limit proximity switch 13 and the lower limit proximity switch 14 can be made of Hall devices. It can also be made of optocoupler and thyristor.
  • the driver 18 is shut down to prevent the driver 18 from continuously running at the upper or lower stroke limit.
  • the lens area of the depth camera 22 and the multi-fold optical zoom camera 23 in the three-dimensional recognition component is not large, the camera module and connection lines behind the lens occupy a large space, so the shape of the pop-up body 21 is usually wide in the upper part and narrow in the lower part.
  • the upper part is a cube whose cross-section is rectangular, trapezoidal or elliptical and close to a regular plane shape
  • the lower part is a cylinder or an ellipsoid shape close to a cylinder. Therefore, the ejection body 21 needs to rise above the top of the casing 70 to rotate (it cannot rotate inside the casing 70).
  • the housing 70 is formed with a receiving groove 80, and the pop-up three-dimensional recognition device is telescopically installed in the receiving groove 80; at the same time, the pop-up three-dimensional recognition
  • the device also includes a fixed base 90 (usually firmly fixed with the housing 70 or the middle frame inside the mobile terminal), the middle opening through the push rod 19 is used to ensure the stable operation of the pusher, and the push rod 19 In the retracted state, the rod 19 supports the ejection body 21.
  • a fixed base 90 usually firmly fixed with the housing 70 or the middle frame inside the mobile terminal
  • the receiving groove 80 is presented in the form of openings in the baffle 72, the baffle 72 can also be directly made into a trough to directly wrap the receiving trough 80, or even a trough-shaped baffle 72. It can be integrated with the fixed base 90.
  • the present invention mainly has the following two implementation schemes:
  • the first implementation scheme dual-motor scheme
  • the dual motors here refer to the driving part 18 and the rotating motor 30.
  • a rotating motor 30 capable of driving the ejection body 21 to rotate is provided at the bottom of the ejection body 21.
  • the rotating motor 30 drives the ejection body 21 to rotate, so that the camera provided on the ejection body 21 rotates and changes direction.
  • the direction and angle of rotation of the pop-up body 21 can be arbitrary, and the rotation angle can reach 360°.
  • the common mode is forward+backward, so that the camera on the pop-up body 21 can be reused forward and backward.
  • the rotating motor 30 drives the ejector 21 to rotate, causing structural damage to the ejector 21 (so the ejector 21 is still in the mobile phone).
  • the nut seat 16 reaches the upper limit of the stroke, the corresponding upper limit is close to the inductive switch 13 and then the driving member 18 is turned off, and the control circuit of the rotating motor 30 is turned on at the same time.
  • the upper limit proximity switch 13 immediately turns off the control circuit of the rotating motor 30, which ensures that the rotating motor 30 can only work after the nut seat 16 reaches the upper limit of the stroke, when the nut seat 16 is about to fall When the rotating motor 30 stops rotating.
  • the rotating motor 30 stops rotating.
  • the driving member 18 will not be triggered to reverse the rotation immediately after the state of the upper limit proximity sensor switch 13 changes, but the reverse rotation can only be performed after the return notification signal of the rotating electric machine 30 is received.
  • an angle sensor (or angle sensor) 50 capable of sensing the rotation of the drive shaft of the rotating motor 30 can be provided at the bottom of the ejector 21. When the angle sensor 50 detects that the rotation angle is 0 degrees or 360 When the degree is higher, the angle sensor 50 sends a return notification signal to the driving member 18.
  • the angle sensor 50 can also send a return notification signal to the driving member 18 when the angle sensor 50 detects that the rotation angle is 180 degrees.
  • the above-mentioned angle sensor 50 is preferably a three-axis Hall angle sensor 50.
  • an ambient light sensor may be provided at the bottom of the pop-up body 21, and it is determined whether to control the rotating motor 30 to rotate according to the current state value of the ambient light sensor.
  • the second implementation scheme single motor scheme
  • a torsion spring 40 is placed between the upper outer end of the revolving frame 12 and the lower end of the fixed base 90, and the torsion spring 40 is preloaded to keep the revolving frame 12 in a balanced position.
  • a nut seat retainer ring 17 is placed inside the top of the slewing frame 12. The nut seat 16 is driven by the drive member 18 in the turret 12 to stop rising when the nut seat retainer ring 17, and then the drive member 18 overcomes the torque generated by the torsion spring 40, so that The nut base 16 and the revolving frame 12 can continue to rotate within 360 degrees, thereby driving the three-dimensional identification assembly 2 fixed with the nut base 16 to rotate.
  • the driving member 18 rotates in the reverse direction, and the driving member 18 drives the screw rod 15 to apply a reverse torque.
  • the torsion spring 40 drives the slewing frame 12 and the nut base 16 to reversely rotate to a balanced position, and then the nut base 16 descends. Therefore, the nut seat 16 forms an upward movement—forward rotation—reverse rotation—downward movement, and then the push rod 19 and the ejector 21 fixed together with the nut seat 16 form a lifting and rotating mechanism accordingly.
  • the lifting and rotating mechanism of the pop-up body 21 needs to be performed under the strict logic control circuit of the system, otherwise the pop-up body 21 may cause structural damage if it is lifted or rotated at an improper time. For this reason, after the upper limit proximity sensor switch 13 in the single-motor scheme is triggered to shut down the drive member 18 due to the proximity of the nut base 16, the system performs corresponding control through the combinational logic control circuit.
  • the system control instruction performs forced reversal on the current state of the upper limit proximity sensor switch 13 shutting down the drive member 18 after a preset time delay through the delay circuit, or forced reversal according to the state of the optional ambient light sensor at the bottom of the pop-up body 21, In order to be able to start the driving member 18 again to overcome the pretension force of the torsion spring 40 to rotate. Then, after the system controls the driving member 18 to complete the equal reverse rotation, the driving member 18 is set to the off state (that is, the state of the driving member 18 is restored to the state consistent with the upper limit proximity sensor switch 13 turning off the driving member 18). At this time, the push rod 19 changes from rotation to lifting.
  • the upper limit proximity sensor switch 13 is at the same time as the driving member 18 is shut down.
  • the lower limit proximity sensor switch 14 is set by the system to be able to move the driving member 18. This is set again
  • the off state is to facilitate the upper limit proximity sensor switch 13 and the lower limit proximity sensor switch 14 to achieve state interlocking according to the forward and reverse control signals, which is beneficial to the reliability of the reciprocating movement of the push rod 19 during the lifting period.
  • the logic control circuit of this part is shown in the switch control circuit of the driver 18 in the lower left part of FIG. 3.
  • the system can control the relevant circuits in the driving chip of the driver 18 through pulse control signals and forward/reverse control signals, thereby realizing effective control of the stepping progress and forward and reverse rotation of the driver 18, as shown in Figure 3 as a whole (Compared with the use of time relay and linkage switch, the chip control saves space and occupies more).
  • the turret 12 can be fixed, and the nut base 16 rotates with respect to the screw rod 15 and only moves up and down, and does not rotate left and right.
  • the turret 12 and the turret in the single-motor drive solution The nut base 16 rotates at the top of the ascent stroke. This rotation causes the push rod 19 fixed with the nut base 16 to also rotate, so that the ejector 21 of the three-dimensional identification assembly 2 fixed with the push rod 19 also rotates. Realize the 3D recognition component 2 to change the orientation.
  • the ejector 21 after the ejector 21 rotates, it can also stop the rotation when the sensor 50 at the bottom of the ejector 21 that can sense the rotation of the push rod 19 reaches 360 degrees, and then reverse the rotation back to 0 degrees ( The reverse value is negative), when it rotates to the intermediate value of 0 ⁇ 360 degrees, it will definitely turn back to 0 degrees.
  • the system counts the cumulative value of the angle sensor 50 at the bottom of the pop-up body 21, and the system reads the angle sensor 50 as 0 degrees.
  • the action state of the upper limit proximity sensor switch 13 will be reversed again (that is, return to the original action state of the upper limit proximity sensor switch 13 to facilitate the interlocking of the state through the latch and the lower limit proximity sensor switch 14) and the control circuit of the driver 18 will switch back to The reverse state prepares the driving member 18 for reverse rotation.
  • the state change of the nut base 16 will immediately trigger the driving member 18 of the electric push rod 19 to reverse.
  • an additional conventional RGB camera 24 can also be added to the pop-up 21 device according to application requirements. For example, it is used to make up for the lack of performance of the multi-fold optical zoom camera 23, which is dedicated to telephoto or macro functions or long-distance functions. A camera that has both focal and macro functions, a camera that enhances the high-definition resolution for forward applications, and so on.
  • the pop-up body 21 When the pop-up body 21 is turned backward, as shown in the right figure of FIG. 5, it can form a comprehensive camera function combination effect of telephoto + wide angle + depth + main camera.
  • the multi-zoom camera is used to control the short focal length to achieve close-up portrait selfies when used in the forward direction, and to control the long focal length to achieve the ideal long-range shooting requirements when used in the backward direction;
  • the wide-angle camera 25 can be increased The large viewing area achieves a wider field of view and a grand and spectacular artistic effect;
  • the depth camera 22 receives the infrared rays previously emitted to the scene and then the system calculates the infrared round-trip time difference to determine the depth of the scene, so as to realize the stereo recognition of the scene;
  • the main camera is committed to With ultra-high precision, users can get a more perfect scene detail shooting experience.
  • the cameras on the pop-up body 21 are a depth camera 22 based on TOF technology at the upper part and a multi-zoom camera at the lower part.
  • the upper part of the depth camera 22 is an infrared transmitter, and the lower part is an infrared receiver (infrared camera).
  • the multi-zoom camera adopts a periscope type, and the lower part of the periscope cavity penetrates into the narrowed cylindrical part of the lower part of the pop-up body 21.
  • the present invention also provides a mobile terminal.
  • the mobile terminal includes a housing 70 and the above-mentioned pop-up three-dimensional recognition device.
  • the housing 70 is formed with a receiving groove, and the pop-up three-dimensional recognition device is telescopically installed in the housing 70.
  • the mobile terminal can be a mobile phone or a tablet computer. Since the mobile terminal includes all the technical solutions of the above-mentioned pop-up three-dimensional recognition device, it has at least all the beneficial effects brought by all the above-mentioned technical solutions, which will not be repeated here.
  • Waterproof and dustproof foam and a baffle 72 can also be added to the inside of the housing 70, wherein the middle opening of the baffle 72 can accommodate the ejector 21 to lift up and down.
  • the baffle 72 in Fig. 2 can also be made to be thicker in the longitudinal direction and directly integrated with the fixed base 90. However, in general, it is not enough to leave a sinking space for the pop-up body 21 to be hidden inside the fuselage. Other cameras are placed in the space, so the pop-up body 21 of the three-dimensional recognition component 2 and the camera fixed on the rear of the fuselage can only be arranged in a misplaced layout, which is the state shown in Figure 1.
  • the mobile terminal body when the thickness of the mobile terminal body is relatively thick, and there is enough space between the sinking space of the pop-up body 21 of the baffle 72 and the laterally parallel body rear shell, a typical wide-angle camera 25 can be placed.
  • the rear camera (can be fixed on the baffle 72 or the fixed base 90 or can be fixed with another structure).
  • the pop-up body 21 of the three-dimensional recognition component 2 and the camera fixed at the rear of the body do not need to be misaligned, and the mobile terminal can achieve the effects of FIG. 7 and FIG. 8.
  • the pop-up and rotatable three-dimensional recognition assembly 2 containing two-dimensional and three-dimensional optical sensing devices can ensure that the front of the mobile terminal can normally have the function of a three-dimensional or three-dimensional front camera while ensuring a complete and full screen on the front of the mobile terminal. After changing the orientation, it can continue to be applied to three-dimensional recognition, especially when it is facing backwards, it can simultaneously participate in the realization of the comprehensive rear-facing camera function of the typical multi-function combination of telephoto + wide-angle + depth + main camera.
  • the above-mentioned mobile terminal also has a processor and a memory.
  • the processor runs the program by acquiring the information of the limit proximity sensor switch and the control circuit to ensure that the pop-up body is ejected to the preset position (the edge of the outer surface of the housing) before starting the pair of rotating parts.
  • the pop-up body rotates and adjusts the rotation direction according to the information from the angle sensor; after the pop-up body pops up and determines the direction, the processor calculates the depth information of the depth camera about the target object and obtains the color information of the multi-fold optical zoom camera about the target object.
  • the depth information and color information are fused and processed into three-dimensional image information to realize three-dimensional recognition of the target.
  • the processor running program is stored in the memory of the mobile terminal.

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Environmental & Geological Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Studio Devices (AREA)

Abstract

A pop-up three-dimensional recognition device and a mobile terminal. The three-dimensional recognition device comprises a pushing member, a three-dimensional recognition assembly (2), and a rotating member. The pushing member comprises a driving member (18) and a push rod (19), and the driving member is used for driving the push rod to extend or retract; the three-dimensional recognition assembly comprises a pop-up body (21), and a depth camera (22) and a multiple optical zoom camera (23) provided on the pop-up body; the rotating member is connected to the push rod and the pop-up body, and the rotating member is used for driving the pop-up body to rotate, so that the depth camera and the multiple optical zoom camera provided on the pop-up body rotate.

Description

弹出式三维识别装置及移动终端Pop-up three-dimensional recognition device and mobile terminal 技术领域Technical field
本发明涉及三维识别及移动终端领域。The invention relates to the field of three-dimensional recognition and mobile terminals.
背景技术Background technique
目前市场上移动终端所装载的三维识别装置主要是固定在机身内部的采用结构光或TOF(time of flight，飞光时间)技术的光学装置(包含摄像头和目标深度信息采集装置)。这些三维识别装置均是单向应用的，即或者位于终端的正面(屏幕所在面)并朝向前方，或者以集成于弹出式前置摄像头的方式固定在机身内部显示屏后的电动推杆上，并且固定朝向前方，或者位于终端的背面并朝向后方。At present, the three-dimensional recognition devices mounted on mobile terminals on the market are mainly optical devices (including cameras and target depth information acquisition devices) that use structured light or TOF (time of flight) technology fixed inside the fuselage. These three-dimensional recognition devices are all one-way applications, that is, either located on the front of the terminal (the side where the screen is located) and facing the front, or fixed on the electric push rod behind the internal display of the fuselage by integrating a pop-up front camera. , And fixed to the front, or located on the back of the terminal and facing the rear.
发明内容Summary of the invention
根据本发明的一个方面，本发明提供一种弹出式三维识别装置，所述弹出式三维识别装置包括：推动件，所述推动件包括驱动件和推杆，所述驱动件用于驱动所述推杆伸出或缩回；三维识别组件，所述三维识别组件包括弹出体和设置在所述弹出体上的深度摄像头和多倍光学变焦摄像头；旋转件，所述旋转件连接所述推杆和所述弹出体，所述旋转件用于驱动所述弹出体旋转以使得设置于所述弹出体上的深度摄像头和多倍光学变焦摄像头旋转。According to one aspect of the present invention, the present invention provides a pop-up three-dimensional recognition device, the pop-up three-dimensional recognition device includes: a pushing member, the pushing member includes a driving member and a push rod, the driving member is used to drive the The push rod extends or retracts; the three-dimensional recognition assembly includes a pop-up body and a depth camera and a multi-fold optical zoom camera arranged on the pop-up body; a rotating part, the rotating part is connected to the push rod And the pop-up body, the rotating member is used to drive the pop-up body to rotate so as to rotate the depth camera and the multiple optical zoom camera provided on the pop-up body.
根据本发明的另一方面，本发明还提供一种移动终端，所述移动终端包括壳体和上述所述的弹出式三维识别装置，所述壳体形成有容纳槽，所述弹出式三维识别装置可伸缩地安装于所述容纳槽内。According to another aspect of the present invention, the present invention also provides a mobile terminal that includes a housing and the above-mentioned pop-up three-dimensional recognition device, the housing is formed with a receiving groove, and the pop-up three-dimensional recognition The device is telescopically installed in the containing tank.
附图说明Description of the drawings
为了更清楚地说明本发明实施方式或现有技术中的技术方案，下面将对实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得 其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on the structure shown in these drawings.
图1为本发明实施例弹出式三维识别装置双电机方案的示意图；FIG. 1 is a schematic diagram of a dual-motor scheme of a pop-up three-dimensional recognition device according to an embodiment of the present invention;
图2为本发明实施例弹出式三维识别装置单电机方案的示意图；2 is a schematic diagram of a single-motor solution of a pop-up three-dimensional recognition device according to an embodiment of the present invention;
图3为本发明实施例弹出式三维识别装置单电机方案控制电路的示意图；3 is a schematic diagram of a control circuit of a single-motor scheme of a pop-up three-dimensional recognition device according to an embodiment of the present invention;
图4为本发明实施例弹出式三维识别装置控制路径的示意图；4 is a schematic diagram of a control path of a pop-up three-dimensional recognition device according to an embodiment of the present invention;
图5为本发明另一实施例移动终端的示意图；FIG. 5 is a schematic diagram of a mobile terminal according to another embodiment of the present invention;
图6为本发明另一实施例移动终端的另一示意图(增加了RGB摄像头)；Fig. 6 is another schematic diagram of a mobile terminal according to another embodiment of the present invention (with an RGB camera added);
图7为本发明另一实施例移动终端的再一示意图；FIG. 7 is still another schematic diagram of a mobile terminal according to another embodiment of the present invention;
图8为图7另一状态的示意图。Fig. 8 is a schematic diagram of another state of Fig. 7.
附图标号说明：Attached icon number description:
标号Label 名称 name 标号Label 名称name
1111 联轴器 Coupling 1212 回转架 Turret
1313 上限接近感应开关Upper limit proximity sensor switch 1414 下限接近感应开关Lower limit proximity sensor switch
1515 丝杆 Screw 1616 螺母座 Nut seat
1717 螺母座挡圈Nut seat retaining ring 1818 驱动件 Drive
1919 推杆 Putter 22 三维识别组件Three-dimensional recognition component
21twenty one 弹出体Pop-up 22twenty two 深度摄像头Depth camera
23twenty three 多倍光学变焦摄像头Multiple optical zoom camera 24twenty four RGB摄像头 RGB camera
2525 广角摄像头Wide-angle camera 2626 高清主摄像头HD main camera
2727 闪光灯 flash 3030 旋转电机 Rotating motor
4040 扭转弹簧 Torsion spring 5050 角度传感器 Angle sensor
6060 环境光学传感器Environmental optical sensor 7070 壳体 case
7171 防尘防水泡棉Dustproof and waterproof foam 7272 挡板 Baffle
8080 容纳槽 Holding tank 9090 固定基座Fixed base
本发明目的的实现、功能特点及优点将结合实施方式，参照附图做进一步说明。The realization of the objectives, functional characteristics and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings.
具体实施方式detailed description
下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式仅仅是本发明的一部分实 施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施方式，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
需要说明，本发明实施方式中所有方向性指示(诸如上、下……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that all directional indicators (such as up, down...) in the embodiments of the present invention are only used to explain the relative positional relationship, movement, etc., between the components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indication changes accordingly.
另外，在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其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该特征。In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features.
并且，本发明各个实施方式之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered as a combination of such technical solutions. It does not exist, nor does it fall within the scope of protection claimed by the present invention.
需要说明的是，本发明中的方向以图1所示方向为基准，即本发明中的“上、下、水平、竖直”分别对应图1中的“上、下、水平、竖直”方向。It should be noted that the direction in the present invention is based on the direction shown in FIG. 1, that is, the "up, down, horizontal, and vertical" in the present invention correspond to the "up, down, horizontal, and vertical" in FIG. 1, respectively. direction.
参见图1和图2，根据本发明的一个方面，本发明提供一种弹出式三维识别装置，包括：1 and 2, according to one aspect of the present invention, the present invention provides a pop-up three-dimensional recognition device, including:
推动件，推动件包括驱动件和推杆19，驱动件用于驱动推杆19伸出或缩回；A pushing member, the pushing member includes a driving member and a push rod 19, and the driving member is used to drive the push rod 19 to extend or retract;
三维识别组件2，所述三维识别组件包括弹出体21和设置在所述弹出体21上的深度摄像头22和多倍光学变焦摄像头23；A three-dimensional recognition component 2. The three-dimensional recognition component includes a pop-up body 21 and a depth camera 22 and a multiple optical zoom camera 23 arranged on the pop-up body 21;
旋转件，旋转件连接推杆19和弹出体21，旋转件用于驱动弹出体21旋转以使得设置于所述弹出体21上的深度摄像头22和多倍光学变焦摄像头23旋转。The rotating member is connected to the push rod 19 and the ejecting body 21, and the rotating member is used to drive the ejecting body 21 to rotate so as to rotate the depth camera 22 and the multiple optical zoom camera 23 provided on the ejecting body 21.
本实施例中，通过推杆19伸出将三维识别组件2和旋转件推出至预设位置，通过旋转件驱动弹出体21旋转从而使得设置于弹出体21上的深度摄像头22和多倍光学变焦摄像头23旋转。In this embodiment, the push rod 19 is extended to push out the three-dimensional recognition assembly 2 and the rotating member to a preset position, and the ejector 21 is driven to rotate by the rotating member, so that the depth camera 22 and the multiple optical zoom provided on the ejector 21 are made. The camera 23 rotates.
与现有技术相比，该实施例能够使移动终端三维识别装置弹出并旋转，从而能够以单个识别装置双向实施三维识别，节约了成本。该实施例尤其适 用于移动终端中，尤其是手机。弹出式三维识别装置设置于壳体70内，需要使用时，通过手机屏幕的按键控制推杆19伸出将三维识别组件2暴露于手机顶部的壳体70外，摄像头即可以开始拍照或者摄像，通过旋转件可以驱动三维识别组件2实现360°旋转，从而拍摄各个角度的图像。上述驱动件可以是驱动电机。Compared with the prior art, this embodiment can make the three-dimensional recognition device of the mobile terminal pop up and rotate, so that a single recognition device can implement three-dimensional recognition in both directions, which saves costs. This embodiment is particularly suitable for mobile terminals, especially mobile phones. The pop-up three-dimensional recognition device is arranged in the housing 70. When needed, the push rod 19 of the mobile phone screen is extended to expose the three-dimensional recognition component 2 to the housing 70 on the top of the mobile phone, and the camera can start to take pictures or take a video. The three-dimensional recognition assembly 2 can be driven to rotate 360° through the rotating member, so that images of various angles can be taken. The above-mentioned driving member may be a driving motor.
深度摄像头22目前主流方向是用TOF(time of flight，飞光时间)技术和结构光技术实现。TOF技术通过红外脉冲发射器发射红外光到目标物，红外摄像头接收目标物反射的红外光，***计算接收的红外光与之前发射的红外光两者之间的时间差确立景物深度信息。相对于TOF技术，结构光技术涉及红外补光灯、红外点阵投影器、红外摄像头、距离传感器等，通过计算接收到的经景物反射的变化的光斑阵列和之前发射的结构特征光点阵列差异确立景物深度信息，器件较多且体积较大，且条纹调整的衍射光斑易受强光干扰且衰减厉害，所以后向应用效果差。同时，结构光具有较大基线(baseline，即投射器和接收器需要保留一定的距离)，TOF技术基线几乎可以为零。加之已有TOF技术单独用于前向和后向应用，所以图5所示的深度摄像头22优选采用TOF技术方案。深度摄像头22外设有红外发射器和红外接收器。The current mainstream direction of the depth camera 22 is to use TOF (time of flight, time of flight) technology and structured light technology. TOF technology emits infrared light to the target through an infrared pulse transmitter, the infrared camera receives the infrared light reflected by the target, and the system calculates the time difference between the received infrared light and the previously emitted infrared light to establish the depth information of the scene. Compared with TOF technology, structured light technology involves infrared fill light, infrared dot-matrix projector, infrared camera, distance sensor, etc., by calculating the difference between the received light spot array reflected by the scene and the previously emitted structural characteristic light spot array To establish scene depth information, there are more devices and larger volumes, and the fringe-adjusted diffraction spot is susceptible to strong light interference and attenuation is severe, so the backward application effect is poor. At the same time, the structured light has a large baseline (that is, the projector and the receiver need to keep a certain distance), and the TOF technology baseline can be almost zero. In addition, the existing TOF technology is used solely for forward and backward applications, so the depth camera 22 shown in FIG. 5 preferably adopts the TOF technical solution. An infrared transmitter and an infrared receiver are provided outside the depth camera 22.
对于多倍光学变焦摄像头23，目前两倍及以下尚可用接近正方体的摄像头模组实现，三倍以上的则需要考虑做成潜望式，由镜头、上转向棱镜、变焦/对焦透镜组、透镜组驱动机构、上滤光片、下滤光片、下转向棱镜和光学感应基片等组成，透镜组为变焦/对焦透镜组。潜望式多倍光学变焦摄像头23模组腔体被透镜组显著拉长，成为一个显著的长方体；转向透镜和转向透镜改变光线路径到这个透镜组腔体，透镜组驱动机构控制透镜组距离变换实现多倍光学变焦(镜头呈现为广角到长焦效果)。光学变焦的效果远比软件手段的数码变焦效果好，多倍光学变焦可以根据不同场景灵活配置取得更佳摄像效果，非常契合移动终端不断提升摄像性能的趋势。多倍光学变焦摄像头23用于前向时，***把其控制在相对短焦距以实现近距人像自拍或者维持长焦但通过调控镜头组或***夹片方式以满足微距功能(即所谓长焦微距镜头)实现微距拍摄等需求；用于后向时，***主要把其控制在长焦距实现理想的远景拍摄需求，当然也可以任意变换焦距以满足多样性的摄像需求。这种前后向转换可以通过弹出体21旋转180度实现。潜望式的多倍光学变焦摄像头 23可以融合到弹出体21的旋转结构，有利于优化结构空间。For the multi-fold optical zoom camera 23, at present, two times or less can be realized with a camera module close to a cube, and three times or more need to be considered as a periscope type, consisting of a lens, an upward turning prism, a zoom/focus lens group, and a lens. The group is composed of driving mechanism, upper filter, lower filter, lower turning prism and optical sensor substrate, etc. The lens group is a zoom/focus lens group. The periscope multi-fold optical zoom camera 23 module cavity is significantly elongated by the lens group to become a significant cuboid; the steering lens and the steering lens change the light path to this lens group cavity, and the lens group driving mechanism controls the lens group distance conversion Achieve multiple optical zoom (the lens presents a wide-angle to telephoto effect). The effect of optical zoom is much better than that of digital zoom by software means. Multi-fold optical zoom can be flexibly configured according to different scenes to achieve better camera results, which is very suitable for the trend of continuous improvement of camera performance of mobile terminals. When the multi-fold optical zoom camera 23 is used in the forward direction, the system controls it at a relatively short focal length to achieve close-up portrait selfies or maintain a telephoto, but by adjusting the lens group or inserting a clip to meet the macro function (the so-called telephoto) Macro lens) to achieve the needs of macro shooting; when used in the backward direction, the system mainly controls it at a long focal length to achieve the ideal long-range shooting requirements. Of course, the focal length can also be arbitrarily changed to meet diverse camera requirements. This front-to-back conversion can be achieved by rotating the ejection body 21 by 180 degrees. The periscope type multiple optical zoom camera 23 can be integrated into the rotating structure of the pop-up body 21, which is beneficial for optimizing the structural space.
将深度摄像头22和潜望式的多倍光学变焦摄像头23共同做到弹出体21中，把深度摄像头22的深度D信息和多倍光学变焦摄像头23的二维RGB信息合成三维RGBD信息以进行三维识别及相关应用。对弹出体21旋转，则在可以任意方向进行三维识别应用，当然典型的还是直接由前向转为后向，实现后向三维识别。如此，既能满足当前成熟的前向人脸三维识别安全解锁和支付应用，也能契合目前后向基于三维识别的AR/VR拍照&游戏、虚拟购物、测距、室内定位导航等更广泛的应用潮流。The depth camera 22 and the periscope multi-fold optical zoom camera 23 are combined into the pop-up body 21, and the depth D information of the depth camera 22 and the two-dimensional RGB information of the multi-fold optical zoom camera 23 are synthesized into three-dimensional RGBD information for three-dimensional Identification and related applications. Rotating the pop-up body 21 can perform three-dimensional recognition applications in any direction. Of course, it is typically directly turned from the forward direction to the backward direction to realize the backward three-dimensional recognition. In this way, it can not only meet the current mature three-dimensional face recognition security unlocking and payment applications, but also meet the current backward three-dimensional recognition-based AR/VR photography & games, virtual shopping, ranging, indoor positioning and navigation, etc. Apply trends.
根据本发明的优选实施方式，再次参照图1和图2，推动件还包括联轴器11、回转架12和设置在回转架12的限位接近感应开关、丝杆15、套装于丝杆15的螺母座16，推杆19与螺母座16连接，联轴器11连接驱动件18和丝杆15。丝杆15底部内嵌到联轴器11上，顶部连接回转架12上端。驱动件18通过联轴器11驱动丝杆15转动(这里丝杆15只转动，并不在上下方向移动)，使得套装在丝杆15上的螺母座16上下移动，以使得与螺母座16连接的推杆19伸出或缩回。丝杆15仅在位于回转架12内的部分设置螺纹，以此限制了螺母座16的行程区间。螺母座16优选采用滚珠即形成滚珠丝杆15。还可以在螺母座16靠近回转架12顶端的位置加装螺母座挡圈17，推杆19与螺母座挡圈17连接。该实施例中，驱动件18通过联轴器11驱动丝杆15旋转，带动螺母座16升降，从而把驱动件18旋转运动变直线运动，进而驱动固定在推杆19上的三维识别组件2升降。回转架12内部在与螺母座16的行程上限和行程下限对应的位置分别设置有上限接近感应开关13和下限接近感应开关14，上限接近感应开关13和下限接近感应开关14可以采用霍尔器件制成，也可以采用光耦和晶闸管制成，当螺母座16接近接近上限接近感应开关13或下限接近感应开关14则关停驱动件18，以避免驱动件18在行程上限或下限持续运转。虽然三维识别组件中的深度摄像头22和多倍光学变焦摄像头23的镜头面积不大，但镜头后的摄像头模组和连接线路等占据较大空间，故造成弹出体21形状通常是上宽下窄，上部为横截面是长方形、梯形或椭圆形以及接近规则平面形态的立方体，下部为圆柱体或接近圆柱体的椭圆体形态。因此，弹出体21需要上部上升到壳体70顶部外才能旋转(在壳体70内部不能旋转)。According to the preferred embodiment of the present invention, referring again to FIGS. 1 and 2, the pushing member further includes a coupling 11, a revolving frame 12, a limit proximity sensor set on the revolving frame 12, a screw rod 15, and a screw rod 15 The nut base 16, the push rod 19 is connected to the nut base 16, and the coupling 11 is connected to the driving member 18 and the screw rod 15. The bottom of the screw 15 is embedded on the coupling 11, and the top is connected to the upper end of the revolving frame 12. The driving member 18 drives the screw rod 15 to rotate through the coupling 11 (here the screw rod 15 only rotates, and does not move in the up and down direction), so that the nut seat 16 sleeved on the screw rod 15 moves up and down, so that the screw connected to the nut seat 16 The push rod 19 extends or retracts. The screw rod 15 is only provided with threads in the part located in the revolving frame 12, so as to limit the stroke interval of the nut seat 16. The nut seat 16 preferably uses balls to form a ball screw 15. It is also possible to install a nut seat retaining ring 17 at a position close to the top of the revolving frame 12 on the nut seat 16, and the push rod 19 is connected to the nut seat retaining ring 17. In this embodiment, the driving member 18 drives the screw rod 15 to rotate through the coupling 11 to drive the nut base 16 to move up and down, thereby changing the rotational movement of the driving member 18 into linear motion, and then drives the three-dimensional recognition assembly 2 fixed on the push rod 19 to move up and down. . The upper limit proximity sensor switch 13 and the lower limit proximity sensor switch 14 are respectively arranged inside the turret 12 at positions corresponding to the upper and lower limit of the stroke of the nut seat 16. The upper limit proximity switch 13 and the lower limit proximity switch 14 can be made of Hall devices. It can also be made of optocoupler and thyristor. When the nut base 16 approaches the upper limit proximity sensor switch 13 or the lower limit proximity sensor switch 14, the driver 18 is shut down to prevent the driver 18 from continuously running at the upper or lower stroke limit. Although the lens area of the depth camera 22 and the multi-fold optical zoom camera 23 in the three-dimensional recognition component is not large, the camera module and connection lines behind the lens occupy a large space, so the shape of the pop-up body 21 is usually wide in the upper part and narrow in the lower part. , The upper part is a cube whose cross-section is rectangular, trapezoidal or elliptical and close to a regular plane shape, and the lower part is a cylinder or an ellipsoid shape close to a cylinder. Therefore, the ejection body 21 needs to rise above the top of the casing 70 to rotate (it cannot rotate inside the casing 70).
根据本发明的优选实施方式，仍参照图1和图2，所述壳体70形成有容纳槽80，弹出式三维识别装置可伸缩地安装于所述容纳槽80内；同时，弹出式三维识别装置还包括固定基座90(通常是牢靠地和壳体70或者移动终端内部的中框固定在一起)，中间开孔穿行推杆19用于确保所述推动件稳定运行，以及在所述推杆19缩回状态下，托住所述弹出体21。特别地，虽然图1和图2中，容纳槽80是挡板72开孔方式呈现的，但挡板72也可以直接做成斗槽状直接包裹容纳槽80，甚至斗槽状的挡板72可以和固定基座90做成为一体结构。According to the preferred embodiment of the present invention, still referring to FIGS. 1 and 2, the housing 70 is formed with a receiving groove 80, and the pop-up three-dimensional recognition device is telescopically installed in the receiving groove 80; at the same time, the pop-up three-dimensional recognition The device also includes a fixed base 90 (usually firmly fixed with the housing 70 or the middle frame inside the mobile terminal), the middle opening through the push rod 19 is used to ensure the stable operation of the pusher, and the push rod 19 In the retracted state, the rod 19 supports the ejection body 21. Particularly, although in FIGS. 1 and 2, the receiving groove 80 is presented in the form of openings in the baffle 72, the baffle 72 can also be directly made into a trough to directly wrap the receiving trough 80, or even a trough-shaped baffle 72. It can be integrated with the fixed base 90.
本发明主要有以下两种实施方案：The present invention mainly has the following two implementation schemes:
第一种实施方案：双电机方案The first implementation scheme: dual-motor scheme
请参照图1，这里的双电机指驱动件18和旋转电机30。该方案是在驱动件18之外，在推杆19上端，弹出体21底部设置可以驱动弹出体21旋转的旋转电机30。当弹出体21和摄像头被部分推出到预设位置后(可以是推出手机壳体70后)，旋转电机30驱动弹出体21旋转，从而使得设置于弹出体21的摄像头旋转而改变方向。弹出体21旋转的方向和角度是可以任意的,旋转角度可以达到360°，常用模式是前向+后向，以便于弹出体21上的摄像头能够前后向复用。Please refer to FIG. 1, the dual motors here refer to the driving part 18 and the rotating motor 30. In this solution, in addition to the driving member 18, at the upper end of the push rod 19, a rotating motor 30 capable of driving the ejection body 21 to rotate is provided at the bottom of the ejection body 21. When the ejection body 21 and the camera are partially pushed out to the preset position (may be after the mobile phone housing 70 is pushed out), the rotating motor 30 drives the ejection body 21 to rotate, so that the camera provided on the ejection body 21 rotates and changes direction. The direction and angle of rotation of the pop-up body 21 can be arbitrary, and the rotation angle can reach 360°. The common mode is forward+backward, so that the camera on the pop-up body 21 can be reused forward and backward.
需要重点说明的是，上述方案中，为避免弹出体21没有完全伸出到壳体70外部时，旋转电机30就驱动弹出体21旋转造成弹出体21结构损坏(因此时弹出体21还在手机壳内)，需要在螺母座16到达行程上限时，对应的上限接近感应开关13再关闭驱动件18，同时接通旋转电机30的控制线路。一旦螺母座16从行程顶部下降则上限接近感应开关13立即关断旋转电机30的控制线路，这就保证了旋转电机30只能在螺母座16到达行程上限后才能工作，当螺母座16即将下降时旋转电机30停止旋转。当然，旋转电机30最后一次旋转结束后必须要保证弹出体21恢复到旋转前的状态，否则就无法缩回机身内部(只要弹出体21不是规则的圆形，要保证弹出体21的方向与弹出手机壳体70前的方向一致，不然可能会卡住而不能缩回)。所以，优选地，上限接近感应开关13状态发生变化后不会立即触发驱动件18进行反转，而是要等旋转电机30的归位通知信号后才能反转。为确认旋转电机30是否回复到初始位置，可以在弹出体21底部设置能够感知旋转电机30传动轴转动 的角度传感器(或角度感应器)50，当角度传感器50测出旋转角度是0度或360度时，角度传感器50发出归位通知信号至驱动件18。当然，如果弹出体21横截面是规则的长方形或椭圆形，也可以在角度传感器50测出旋转角度是180度时，角度传感器50发出归位通知信号至驱动件18。上述角度传感器50优选为三轴霍尔角度传感器50。为确保弹出体21露出壳体70外时，旋转电机30才开始旋转，还可以在弹出体21底部设置环境光传感器，根据当时的环境光传感器状态值，判定是否控制旋转电机30旋转。It is important to note that in the above solution, in order to avoid that the ejector 21 is not fully extended to the outside of the housing 70, the rotating motor 30 drives the ejector 21 to rotate, causing structural damage to the ejector 21 (so the ejector 21 is still in the mobile phone). In the housing), when the nut seat 16 reaches the upper limit of the stroke, the corresponding upper limit is close to the inductive switch 13 and then the driving member 18 is turned off, and the control circuit of the rotating motor 30 is turned on at the same time. Once the nut seat 16 descends from the top of the stroke, the upper limit proximity switch 13 immediately turns off the control circuit of the rotating motor 30, which ensures that the rotating motor 30 can only work after the nut seat 16 reaches the upper limit of the stroke, when the nut seat 16 is about to fall When the rotating motor 30 stops rotating. Of course, after the last rotation of the rotating motor 30, it is necessary to ensure that the ejection body 21 is restored to the state before the rotation, otherwise it cannot be retracted into the fuselage (as long as the ejection body 21 is not a regular circle, the direction of the ejection body 21 must be The direction before ejecting the mobile phone casing 70 is the same, otherwise it may be stuck and cannot be retracted). Therefore, preferably, the driving member 18 will not be triggered to reverse the rotation immediately after the state of the upper limit proximity sensor switch 13 changes, but the reverse rotation can only be performed after the return notification signal of the rotating electric machine 30 is received. In order to confirm whether the rotating motor 30 has returned to the initial position, an angle sensor (or angle sensor) 50 capable of sensing the rotation of the drive shaft of the rotating motor 30 can be provided at the bottom of the ejector 21. When the angle sensor 50 detects that the rotation angle is 0 degrees or 360 When the degree is higher, the angle sensor 50 sends a return notification signal to the driving member 18. Of course, if the cross section of the pop-up body 21 is a regular rectangle or an ellipse, the angle sensor 50 can also send a return notification signal to the driving member 18 when the angle sensor 50 detects that the rotation angle is 180 degrees. The above-mentioned angle sensor 50 is preferably a three-axis Hall angle sensor 50. In order to ensure that the rotating motor 30 starts to rotate when the pop-up body 21 is exposed outside the housing 70, an ambient light sensor may be provided at the bottom of the pop-up body 21, and it is determined whether to control the rotating motor 30 to rotate according to the current state value of the ambient light sensor.
第二种实施方案：单电机方案The second implementation scheme: single motor scheme
请参照图2，在回转架12外部上端和固定基座90下端之间放置扭转弹簧40，并给扭转弹簧40以预紧力使回转架12保持一个平衡位置。回转架12顶部内侧放置螺母座挡圈17，螺母座16在回转架12内随驱动件18驱动上升到螺母座挡圈17时停止上升，之后驱动件18克服扭转弹簧40产生的转矩，使得螺母座16和回转架12能继续在360度以内旋转，从而带动和螺母座16固定一起的三维识别组件2旋转。进一步地，驱动件18反向转动，驱动件18驱动丝杆15施加反向转矩，扭转弹簧40带动回转架12及螺母座16反向旋转到平衡位置，之后螺母座16下降。螺母座16因此形成上升——正向旋转——反向旋转——下降的动作，随之和螺母座16固定一起的推杆19以及弹出体21就相应形成升降并旋转的机制。2, a torsion spring 40 is placed between the upper outer end of the revolving frame 12 and the lower end of the fixed base 90, and the torsion spring 40 is preloaded to keep the revolving frame 12 in a balanced position. A nut seat retainer ring 17 is placed inside the top of the slewing frame 12. The nut seat 16 is driven by the drive member 18 in the turret 12 to stop rising when the nut seat retainer ring 17, and then the drive member 18 overcomes the torque generated by the torsion spring 40, so that The nut base 16 and the revolving frame 12 can continue to rotate within 360 degrees, thereby driving the three-dimensional identification assembly 2 fixed with the nut base 16 to rotate. Further, the driving member 18 rotates in the reverse direction, and the driving member 18 drives the screw rod 15 to apply a reverse torque. The torsion spring 40 drives the slewing frame 12 and the nut base 16 to reversely rotate to a balanced position, and then the nut base 16 descends. Therefore, the nut seat 16 forms an upward movement—forward rotation—reverse rotation—downward movement, and then the push rod 19 and the ejector 21 fixed together with the nut seat 16 form a lifting and rotating mechanism accordingly.
需要重点说明的是，弹出体21的升降并旋转的机制需要在***严格的逻辑控制电路下进行，不然弹出体21在不恰当的时间升降或旋转会造成结构损坏。为此，单电机方案下的上限接近感应开关13因螺母座16接近被触发关停驱动件18后，***通过组合逻辑控制电路进行相应控制。首先，***控制指令对上限接近感应开关13当前关停驱动件18的状态通过延迟电路延迟预设时间后进行强制反转，或根据弹出体21底部的可选环境光传感器状态进行强制反转，以便能再次启动驱动件18克服扭转弹簧40预紧力进行旋转。然后，***控制驱动件18完成等量反向旋转后，再把驱动件18设置为关断状态(即驱动件18状态恢复到和上限接近感应开关13关停驱动件18相一致的状态)。此时是推杆19为由旋转变为升降的阶段，上限接近感应开关13处于关停驱动件18的同时，下限接近感应开关14是由***设定为能驱动件18运动的，这个再次设置关断状态是便于上限接近感应开关13和下限接近感应 开关14根据正反转控制信号实现状态互锁，有利于推杆19升降期间往复的可靠性。这部分的逻辑控制电路如图3左下部分的驱动件18开关控制电路所示。***另外可以通过脉冲控制信号和正转/反转控制信号对驱动件18驱动芯片内的相关电路控制，进而实现对驱动件18的步进进度、正反转的有效控制，整体如图3所示(芯片控制相对采用时间继电器和联动开关更节省空间占用)。It is important to note that the lifting and rotating mechanism of the pop-up body 21 needs to be performed under the strict logic control circuit of the system, otherwise the pop-up body 21 may cause structural damage if it is lifted or rotated at an improper time. For this reason, after the upper limit proximity sensor switch 13 in the single-motor scheme is triggered to shut down the drive member 18 due to the proximity of the nut base 16, the system performs corresponding control through the combinational logic control circuit. First, the system control instruction performs forced reversal on the current state of the upper limit proximity sensor switch 13 shutting down the drive member 18 after a preset time delay through the delay circuit, or forced reversal according to the state of the optional ambient light sensor at the bottom of the pop-up body 21, In order to be able to start the driving member 18 again to overcome the pretension force of the torsion spring 40 to rotate. Then, after the system controls the driving member 18 to complete the equal reverse rotation, the driving member 18 is set to the off state (that is, the state of the driving member 18 is restored to the state consistent with the upper limit proximity sensor switch 13 turning off the driving member 18). At this time, the push rod 19 changes from rotation to lifting. The upper limit proximity sensor switch 13 is at the same time as the driving member 18 is shut down. The lower limit proximity sensor switch 14 is set by the system to be able to move the driving member 18. This is set again The off state is to facilitate the upper limit proximity sensor switch 13 and the lower limit proximity sensor switch 14 to achieve state interlocking according to the forward and reverse control signals, which is beneficial to the reliability of the reciprocating movement of the push rod 19 during the lifting period. The logic control circuit of this part is shown in the switch control circuit of the driver 18 in the lower left part of FIG. 3. In addition, the system can control the relevant circuits in the driving chip of the driver 18 through pulse control signals and forward/reverse control signals, thereby realizing effective control of the stepping progress and forward and reverse rotation of the driver 18, as shown in Figure 3 as a whole (Compared with the use of time relay and linkage switch, the chip control saves space and occupies more).
需要说明的是，上述双电机驱动的方案中回转架12是可以固定不动的，螺母座16相对丝杆15转动也是仅上下位移，左右不旋转，但单电机驱动方案中的回转架12和螺母座16在上升行程的顶端是会旋转的，这个旋转使得和螺母座16固定一起的推杆19也得以旋转，进而使得和推杆19固定一起的三维识别组件2弹出体21也跟随旋转，实现三维识别组件2变换朝向。It should be noted that in the above-mentioned dual-motor drive solution, the turret 12 can be fixed, and the nut base 16 rotates with respect to the screw rod 15 and only moves up and down, and does not rotate left and right. However, the turret 12 and the turret in the single-motor drive solution The nut base 16 rotates at the top of the ascent stroke. This rotation causes the push rod 19 fixed with the nut base 16 to also rotate, so that the ejector 21 of the three-dimensional identification assembly 2 fixed with the push rod 19 also rotates. Realize the 3D recognition component 2 to change the orientation.
单电机方案中，弹出体21旋转后，同样可以在位于弹出体21底部的能感知推杆19转动的角度传感器50的感应值达360度时停止旋转，然后反向再转回0度值(反向值为负)，旋转到0～360度中间值时也一定会再反向转回0度，***统计弹出体21底部角度传感器50累计值，***读取角度传感器50为0度值才会把上限接近感应开关13作用状态再度反转(即回到上限接近感应开关13原本作用状态，以便于通过锁存器和下限接近感应开关14状态互锁)以及驱动件18控制电路切回为反转状态，为驱动件18反转做准备。驱动件18反转到下限接近感应开关14时，因螺母座16接近发生状态变化会立即触发电动推杆19驱动件18进行反转。In the single-motor solution, after the ejector 21 rotates, it can also stop the rotation when the sensor 50 at the bottom of the ejector 21 that can sense the rotation of the push rod 19 reaches 360 degrees, and then reverse the rotation back to 0 degrees ( The reverse value is negative), when it rotates to the intermediate value of 0～360 degrees, it will definitely turn back to 0 degrees. The system counts the cumulative value of the angle sensor 50 at the bottom of the pop-up body 21, and the system reads the angle sensor 50 as 0 degrees. The action state of the upper limit proximity sensor switch 13 will be reversed again (that is, return to the original action state of the upper limit proximity sensor switch 13 to facilitate the interlocking of the state through the latch and the lower limit proximity sensor switch 14) and the control circuit of the driver 18 will switch back to The reverse state prepares the driving member 18 for reverse rotation. When the driving member 18 is reversed to the lower limit and approaching the inductive switch 14, the state change of the nut base 16 will immediately trigger the driving member 18 of the electric push rod 19 to reverse.
上述单电机方案和双电机方案控制路径如图4所示。The control path of the above-mentioned single-motor scheme and dual-motor scheme is shown in Fig. 4.
如图4所示，也可根据应用需求在弹出体21装置上再增加额外的常规RGB摄像头24，如用来弥补多倍光学变焦摄像头23性能不足方面的专用于长焦或微距功能或长焦微距功能兼而有之的摄像头，增强前向应用时的高清分辨率的摄像头等等。As shown in Figure 4, an additional conventional RGB camera 24 can also be added to the pop-up 21 device according to application requirements. For example, it is used to make up for the lack of performance of the multi-fold optical zoom camera 23, which is dedicated to telephoto or macro functions or long-distance functions. A camera that has both focal and macro functions, a camera that enhances the high-definition resolution for forward applications, and so on.
弹出体21转向后向时，按图5右图示出的来说，能够形成长焦+广角+深度+主摄像的全面摄像功能组合效果。单独每个摄像头来说，多倍变焦摄像头用于前向时控制在短焦距实现近距人像自拍等需求，用于后向时主要控制在长焦距实现理想的远景拍摄需求；广角摄像头25可以增大取景面，达到更加开阔的视野和宏大壮观的艺术效果；深度摄像头22接收其之前发射到景物反 射回的红外线后***计算红外往返时间差来确定景物深度，从而实现对景物立体识别；主摄像头致力于超高精度，可以使得用户得到更完美的景物细节拍摄体验。摄像头组合来说，目前通常是两个摄像头组合摄像且大多数是另外三者分别和主摄像头组合，实现摄像效果互补和增强。弹出体21上的摄像头为位于上部的基于TOF技术的深度摄像头22和位于下部的多倍变焦摄像头。深度摄像头22上部为红外发射器，下部为红外接收器(红外摄像头)。多倍变焦摄像头采用了潜望式的，潜望腔体下部深入到弹出体21下部变窄的圆柱体部分。When the pop-up body 21 is turned backward, as shown in the right figure of FIG. 5, it can form a comprehensive camera function combination effect of telephoto + wide angle + depth + main camera. For each camera alone, the multi-zoom camera is used to control the short focal length to achieve close-up portrait selfies when used in the forward direction, and to control the long focal length to achieve the ideal long-range shooting requirements when used in the backward direction; the wide-angle camera 25 can be increased The large viewing area achieves a wider field of view and a grand and spectacular artistic effect; the depth camera 22 receives the infrared rays previously emitted to the scene and then the system calculates the infrared round-trip time difference to determine the depth of the scene, so as to realize the stereo recognition of the scene; the main camera is committed to With ultra-high precision, users can get a more perfect scene detail shooting experience. In terms of camera combinations, currently two cameras are usually combined to take pictures and most of the other three are combined with the main camera to achieve complementary and enhanced camera effects. The cameras on the pop-up body 21 are a depth camera 22 based on TOF technology at the upper part and a multi-zoom camera at the lower part. The upper part of the depth camera 22 is an infrared transmitter, and the lower part is an infrared receiver (infrared camera). The multi-zoom camera adopts a periscope type, and the lower part of the periscope cavity penetrates into the narrowed cylindrical part of the lower part of the pop-up body 21.
根据本发明的另一方面，本发明还提供一种移动终端，移动终端包括壳体70和上述的弹出式三维识别装置，壳体70形成有容纳槽，弹出式三维识别装置可伸缩地安装于容纳槽内。该移动终端可以是手机或平板电脑。由于移动终端包括了上述弹出式三维识别装置的全部技术方案，因此，至少具有上述全部技术方案所带来的所有有益效果，在此不再一一赘述。还可以在壳体70内侧加装防水防尘泡棉和挡板72，其中挡板72中间开孔能容下弹出体21升降。图2的挡板72还可以做到纵向厚度比较厚直接和固定基座90成为一体结构，但通常情况下因为要考虑留出弹出体21隐藏在机身内部的下沉空间，并无足够横向空间再放置其他摄像头，所以三维识别组件2弹出体21和固定在机身后部的摄像头只能错位布局，也就是图一的状态。但在移动终端机身厚度较厚时，在挡板72的弹出体21下沉空间到横向并行的机身后壳之间还有足够空间的情况下，则可以再放置典型如广角摄像头25的后置摄像头(可以固定在挡板72或固定基座90上也可以另外结构固定)。这样三维识别组件2弹出体21和固定在机身后部的摄像头就不用再错位布局，移动终端就可以作出图7和图8的效果。其中，图8的光学感应装置还要确保回转架12和电动推杆19马达空间占用不大，否则主摄像头和闪光灯27就只能和图7以及图1那样进行错位布局。图1在弹出体21马达或推杆19横向空间占用不大的情况下，也可以如图8一样处理。该实施例通过弹出式升起且能旋转的包含二维和三维光学感应器件的三维识别组件2，在确保移动终端正面完整全面屏情况下能正常具有三维或三维前摄像头功能的同时，在旋转改变朝向后还能继续应用于三维识别，特别是朝向后向时能同步参与实现典型如长焦+广角+深度+主摄像头多功能组合的全面后向摄像功能。According to another aspect of the present invention, the present invention also provides a mobile terminal. The mobile terminal includes a housing 70 and the above-mentioned pop-up three-dimensional recognition device. The housing 70 is formed with a receiving groove, and the pop-up three-dimensional recognition device is telescopically installed in the housing 70. In the containment tank. The mobile terminal can be a mobile phone or a tablet computer. Since the mobile terminal includes all the technical solutions of the above-mentioned pop-up three-dimensional recognition device, it has at least all the beneficial effects brought by all the above-mentioned technical solutions, which will not be repeated here. Waterproof and dustproof foam and a baffle 72 can also be added to the inside of the housing 70, wherein the middle opening of the baffle 72 can accommodate the ejector 21 to lift up and down. The baffle 72 in Fig. 2 can also be made to be thicker in the longitudinal direction and directly integrated with the fixed base 90. However, in general, it is not enough to leave a sinking space for the pop-up body 21 to be hidden inside the fuselage. Other cameras are placed in the space, so the pop-up body 21 of the three-dimensional recognition component 2 and the camera fixed on the rear of the fuselage can only be arranged in a misplaced layout, which is the state shown in Figure 1. However, when the thickness of the mobile terminal body is relatively thick, and there is enough space between the sinking space of the pop-up body 21 of the baffle 72 and the laterally parallel body rear shell, a typical wide-angle camera 25 can be placed. The rear camera (can be fixed on the baffle 72 or the fixed base 90 or can be fixed with another structure). In this way, the pop-up body 21 of the three-dimensional recognition component 2 and the camera fixed at the rear of the body do not need to be misaligned, and the mobile terminal can achieve the effects of FIG. 7 and FIG. 8. Among them, the optical sensing device of FIG. 8 must ensure that the space of the rotating frame 12 and the electric push rod 19 is not too large, otherwise the main camera and the flash 27 can only be arranged in a misaligned layout as shown in FIG. 7 and FIG. 1. In FIG. 1, when the ejector 21 motor or the push rod 19 does not occupy much lateral space, it can also be processed as in FIG. 8. In this embodiment, the pop-up and rotatable three-dimensional recognition assembly 2 containing two-dimensional and three-dimensional optical sensing devices can ensure that the front of the mobile terminal can normally have the function of a three-dimensional or three-dimensional front camera while ensuring a complete and full screen on the front of the mobile terminal. After changing the orientation, it can continue to be applied to three-dimensional recognition, especially when it is facing backwards, it can simultaneously participate in the realization of the comprehensive rear-facing camera function of the typical multi-function combination of telephoto + wide-angle + depth + main camera.
此外，上述移动终端还具有处理器和存储器，处理器通过获取限位接近感应开关和控制电路的信息进行程序运行以确保弹出体弹出到预设位置(壳体外表面边沿)后再启动旋转件对弹出体进行旋转并根据来自角度传感器的信息调整旋转方向；处理器在弹出体弹出并确定方向后，通过计算深度摄像头关于目标物的深度信息和获取多倍光学变焦摄像头关于目标物的彩色信息，把深度信息和彩色信息融合处理为三维图像信息，进而实现对目标物的三维识别，处理器运行程序存储在移动终端的存储器中。In addition, the above-mentioned mobile terminal also has a processor and a memory. The processor runs the program by acquiring the information of the limit proximity sensor switch and the control circuit to ensure that the pop-up body is ejected to the preset position (the edge of the outer surface of the housing) before starting the pair of rotating parts. The pop-up body rotates and adjusts the rotation direction according to the information from the angle sensor; after the pop-up body pops up and determines the direction, the processor calculates the depth information of the depth camera about the target object and obtains the color information of the multi-fold optical zoom camera about the target object. The depth information and color information are fused and processed into three-dimensional image information to realize three-dimensional recognition of the target. The processor running program is stored in the memory of the mobile terminal.
本发明的上述技术方案中，以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的技术构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围。Among the above technical solutions of the present invention, the above are only preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Under the technical concept of the present invention, equivalent structural transformations made using the contents of the description and drawings of the present invention , Or direct/indirect application in other related technical fields are included in the scope of patent protection of the present invention.

Claims (13)

  1. 一种弹出式三维识别装置，其特征在于，包括：A pop-up three-dimensional recognition device, which is characterized in that it comprises:
    推动件，所述推动件包括驱动件和推杆，所述驱动件用于驱动所述推杆伸出或缩回；A pushing member, the pushing member includes a driving member and a push rod, and the driving member is used to drive the push rod to extend or retract;
    三维识别组件，所述三维识别组件包括弹出体和设置在所述弹出体上的深度摄像头和多倍光学变焦摄像头；A three-dimensional recognition component, the three-dimensional recognition component comprising a pop-up body and a depth camera and a multi-fold optical zoom camera arranged on the pop-up body;
    旋转件，所述旋转件连接所述推杆和所述弹出体，所述旋转件用于驱动所述弹出体旋转以使得设置于所述弹出体上的深度摄像头和多倍光学变焦摄像头旋转。A rotating member that connects the push rod and the pop-up body, and the rotating member is used to drive the pop-up body to rotate so as to rotate the depth camera and the multiple optical zoom camera provided on the pop-up body.
  2. 根据权利要求1所述的弹出式三维识别装置，其特征在于，所述推动件设置限位接近感应开关以用于感知所述推杆伸缩的上限位状态和下限位状态，所述弹出体底部设置角度传感器用于感应所述推杆转动的角度；The pop-up three-dimensional identification device according to claim 1, wherein the pusher is provided with a limit proximity sensor switch for sensing the upper limit state and the lower limit state of the push rod expansion and contraction, and the bottom of the pop-up body Setting an angle sensor for sensing the angle of rotation of the push rod;
    其中，所述限位接近感应开关感知所述推杆的上限位状态，以用于控制所述弹出体弹出到预设位置后再启动所述旋转件驱动所述弹出体旋转，所述角度传感器与所述驱动件信号连接以用于调整所述弹出体的旋转方向。Wherein, the limit proximity sensor switch senses the upper limit state of the push rod, and is used to control the ejection body to eject to a preset position before starting the rotating member to drive the ejection body to rotate, and the angle sensor Signal connection with the driving member for adjusting the rotation direction of the ejection body.
  3. 根据权利要求2所述的弹出式三维识别装置，其特征在于，所述推动件还包括联轴器、回转架和设置在所述回转架的丝杆、套装于所述丝杆的螺母座，所述推杆与所述螺母座连接，所述联轴器连接所述驱动件和所述丝杆，所述限位接近感应开关设置于所述回转架；The pop-up three-dimensional identification device according to claim 2, wherein the pushing member further comprises a coupling, a revolving frame, a screw rod arranged on the revolving frame, and a nut seat sleeved on the screw rod, The push rod is connected with the nut base, the coupling is connected with the driving part and the screw rod, and the limit proximity sensor switch is arranged on the rotating frame;
    所述的弹出式三维识别装置还包括固定基座，在所述推杆缩回状态下，所述固定基座托住所述弹出体。The pop-up three-dimensional recognition device further includes a fixed base, and when the push rod is retracted, the fixed base supports the pop-up body.
  4. 根据权利要求3所述的弹出式三维识别装置，其特征在于，所述旋转件包括旋转电机，所述旋转电机与所述弹出体传动连接。The pop-up three-dimensional identification device according to claim 3, wherein the rotating member comprises a rotating motor, and the rotating motor is drivingly connected with the pop-up body.
  5. 根据权利要求4所述的弹出式三维识别装置，其特征在于，The pop-up three-dimensional recognition device according to claim 4, wherein:
    所述驱动件通过所述联轴器驱动所述丝杆转动，以使得套装在所述丝杆 上的所述螺母座上下移动；The driving member drives the screw rod to rotate through the coupling, so that the nut seat sleeved on the screw rod moves up and down;
    所述旋转电机位于所述推杆的上端、所述弹出体的底部。The rotating motor is located at the upper end of the push rod and the bottom of the ejection body.
  6. 根据权利要求3所述的弹出式三维识别装置，其特征在于，所述旋转件包括扭转弹簧，所述扭转弹簧的一端与所述固定基座连接，所述扭转弹簧的另一端与所述回转架连接；The pop-up three-dimensional identification device according to claim 3, wherein the rotating member comprises a torsion spring, one end of the torsion spring is connected to the fixed base, and the other end of the torsion spring is connected to the rotating base. Frame connection
    所述驱动件通过所述联轴器驱动所述丝杆转动，以使得套装在所述丝杆上的所述螺母座上下移动，并在所述螺母座到达其上限位置而停止上升后驱动所述螺母座旋转。The driving member drives the screw rod to rotate through the coupling, so that the nut base sleeved on the screw rod moves up and down, and drives the screw rod after the nut base reaches its upper limit position and stops rising. The nut seat rotates.
  7. 根据权利要求2至4中任一项所述的弹出式三维识别装置，其特征在于，所述三维识别装置还包括控制电路，所述控制电路与所述驱动件连接，以用于控制所述驱动件正转或反转。The pop-up three-dimensional recognition device according to any one of claims 2 to 4, wherein the three-dimensional recognition device further comprises a control circuit, and the control circuit is connected to the driving member for controlling the The drive unit rotates forward or reverse.
  8. 根据权利要求7所述的弹出式三维识别装置，其特征在于，所述限位接近感应开关包括上限接近感应开关和下限接近感应开关，所述上限接近感应开关设置于所述回转架的上端，所述下限接近感应开关设置于所述回转架的下端；所述限位接近感应开关为霍尔感应器件，所述霍尔感应器件与所述控制电路信号连接。The pop-up three-dimensional identification device according to claim 7, wherein the limit proximity sensor switch comprises an upper limit proximity sensor switch and a lower limit proximity sensor switch, and the upper limit proximity sensor switch is arranged at the upper end of the revolving frame, The lower limit proximity sensor switch is arranged at the lower end of the revolving frame; the limit proximity sensor switch is a Hall sensor device, and the Hall sensor device is signally connected to the control circuit.
  9. 根据权利要求3所述的弹出式三维识别装置，其特征在于，所述弹出体底部设置有环境光学传感器，所述环境光学传感器用于对弹出体是否弹出到预设位置进行辅助判断。The pop-up three-dimensional recognition device according to claim 3, wherein an environmental optical sensor is provided at the bottom of the pop-up body, and the environmental optical sensor is used to assist in determining whether the pop-up body is popped up to a preset position.
  10. 根据权利要求1所述的弹出式三维识别装置，其特征在于，所述深度摄像头用于在所述旋转件带动下获取多个方向下的目标物体的深度信息；所述多倍光学变焦摄像头用于在所述旋转件带动下获取多个方向下的目标物的彩色信息，所述多倍光学变焦摄像头可以通过调整光学焦距适配多个方向的不同摄像需求。The pop-up three-dimensional recognition device according to claim 1, wherein the depth camera is used to obtain the depth information of the target object in multiple directions under the drive of the rotating member; the multiple optical zoom camera is used for In order to obtain the color information of the target in multiple directions under the driving of the rotating member, the multi-fold optical zoom camera can adapt to different camera requirements in multiple directions by adjusting the optical focal length.
  11. 根据权利要求10所述的弹出式三维识别装置，其特征在于，The pop-up three-dimensional recognition device according to claim 10, wherein:
    所述多倍光学变焦摄像头可以通过调整光学焦距适配前向自拍和后向远景拍摄彩色信息时的不同摄像需求。The multiple optical zoom camera can adjust the optical focal length to adapt to different camera requirements for forward Selfie and backward long-range shooting of color information.
  12. 一种移动终端，其特征在于，所述移动终端包括壳体和上述权利要求1-11中任一项所述的弹出式三维识别装置，所述壳体形成有容纳槽，所述弹出式三维识别装置可伸缩地安装于所述容纳槽内。A mobile terminal, characterized in that, the mobile terminal comprises a housing and the pop-up three-dimensional identification device according to any one of the above claims 1-11, the housing is formed with a receiving groove, and the pop-up three-dimensional The identification device is telescopically installed in the containing groove.
  13. 根据权利要求12所述的移动终端，其特征在于，所述移动终端还具有处理器和存储器，所述处理器通过获取限位接近感应开关和控制电路的信息进行程序运行以确保所述弹出体弹出到预设位置后再启动旋转件对所述弹出体进行旋转，并根据角度传感器信息调整旋转方向，所述预设位置为所述壳体的外表面边沿；The mobile terminal according to claim 12, wherein the mobile terminal further has a processor and a memory, and the processor executes program operation by acquiring information about the limit proximity sensor switch and the control circuit to ensure that the ejection body After being ejected to a preset position, the rotating member is started to rotate the ejection body, and the rotation direction is adjusted according to the angle sensor information, where the preset position is the edge of the outer surface of the housing;
    所述处理器在所述弹出体弹出并确定方向后，通过计算所述深度摄像头关于目标物的深度信息和所述多倍光学变焦摄像头关于目标物的彩色信息，把深度信息和彩色信息融合处理为三维图像信息，进而实现对目标物的三维识别；After the pop-up body is ejected and the direction is determined, the processor calculates the depth information of the depth camera about the target object and the color information of the multi-fold optical zoom camera about the target object, and then merges the depth information and the color information. It is the three-dimensional image information, and then realizes the three-dimensional recognition of the target object;
    所述程序存储在所述移动终端的所述存储器中。The program is stored in the memory of the mobile terminal.
PCT/CN2020/099895 2019-09-02 2020-07-02 Pop-up three-dimensional recognition device and mobile terminal WO2021042854A1 (en)

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