CN106226977A - Laser projection module, image capturing system and control method thereof and device - Google Patents
Laser projection module, image capturing system and control method thereof and device Download PDFInfo
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- CN106226977A CN106226977A CN201610716953.7A CN201610716953A CN106226977A CN 106226977 A CN106226977 A CN 106226977A CN 201610716953 A CN201610716953 A CN 201610716953A CN 106226977 A CN106226977 A CN 106226977A
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- 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
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Abstract
The invention discloses laser projection module, image capturing system and control method thereof and device.Wherein, this laser projection module includes the first LASER Light Source, the second LASER Light Source and light-emitting window；Described first LASER Light Source and described second LASER Light Source alternate emission light, the first light and the second light of described second LASER Light Source transmitting that described first LASER Light Source is launched are projected in same target through described light-emitting window, respectively so that image acquisition device obtains first image comprising described first light characteristics of described target and comprises the second image of described second light characteristics.By the way, it is possible to use less device resource to realize the multiple image of synchronization gain.
Description
Technical field
The present invention relates to acquisition technology field, particularly relate to laser projection module, image capturing system and control thereof
Method and apparatus processed.
Background technology
Owing to different types of image can reflect the different information of object, for realizing different application, often need to obtain
Polytype image of object, such as, obtain laser image and the depth image of object.
The mode obtaining different types of image at present mainly has two kinds, and one is that different types of image needs by not
Gather acquisition respectively with the camera of type, such as, obtain infrared image respectively with deep by infrared camera and depth camera
Degree image；Another kind is to utilize TOF technology, such as, utilize TOF principle to calculate depth image while obtaining infrared image.
But both approaches has shortcoming, former to take substantial amounts of device resource, latter relatively costly.
Summary of the invention
The technical problem that present invention mainly solves be to provide laser projection module, image capturing system and control method thereof and
Device, it is possible to use less device resource to realize the multiple image of synchronization gain.
For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of laser projection module, bag
Include the first LASER Light Source, the second LASER Light Source and light-emitting window；
Described first LASER Light Source and described second LASER Light Source alternate emission light, described first LASER Light Source launch the
The second light that one light and described second LASER Light Source are launched is projected in same target through described light-emitting window respectively, so that figure
As harvester collects first image comprising described first light characteristics of described target and comprises described second light
Second image of feature.
Wherein, also including semi-transparent semi-reflecting lens, at least part of first light of described first LASER Light Source swashs with described second
At least part of second light of radiant is orthogonal, and described semi-transparent semi-reflecting lens is arranged at described at least part of first light with described
The intersection of at least part of second light, described at least part of first light after described semi-transparent semi-reflecting lens transmission with described at least
Part the second light overlaps after described semi-transparent semi-reflecting lens reflects；
The first light that described first LASER Light Source is launched projects through described light-emitting window after described semi-transparent semi-reflecting lens transmission
To in described target, the second light that described second LASER Light Source is launched after described semi-transparent semi-reflecting lens reflects through described light-emitting window
It is projected in described target.
Wherein, described at least part of first light is first light at the light-emitting zone center being positioned at described first LASER Light Source
Line, described at least part of second light is second light at the light-emitting zone center being positioned at described second LASER Light Source.
Wherein, the absorbance of described semi-transparent semi-reflecting lens and the scope of reflectance are 20% to 80%, and described light-emitting window sets
It is equipped with diffusive optical element.
For solving above-mentioned technical problem, another technical solution used in the present invention is: provide a kind of image capturing system,
It is characterized in that, including above-mentioned laser projection module and image collecting device,
Described image collecting device is incident upon for the first light of the first LASER Light Source at described laser projection module
Time in target, gather first image comprising described first light characteristics of described target, at the of described laser projection module
When second light of dual-laser light source is incident upon in described target, gather described target comprises the of described second light characteristics
Two images.
Wherein, described first LASER Light Source and the second LASER Light Source one of them be structure ray laser light source, described first
In image and the second image one is structure ray laser image, and another is laser image.
Wherein, also include the image processing apparatus being connected with image collecting device, be used for obtaining described image collecting device
The structure ray laser image gathered and laser image, and use structure light trigonometry that the structure ray laser image collected is entered
Row is calculated the depth image of described target.
Wherein, the control dress being connected with described first LASER Light Source, the second LASER Light Source and image collecting device is also included
Put, be used for controlling described first LASER Light Source, the second LASER Light Source alternate emission light, and control described image collecting device
Acquisition time and/or frequency acquisition.
For solving above-mentioned technical problem, another technical scheme that the present invention uses is: provide a kind of image acquisition to control
Method, including:
The first LASER Light Source and the second LASER Light Source that make laser projection module replace to target throw light；
Image collecting device is made to gather described mesh when the first light of described first LASER Light Source is projected to described target
Target the first image, makes described image collecting device be projected to described target time institute at the second light of described second LASER Light Source
State the second image of target.
For solving above-mentioned technical problem, another technical scheme again that the present invention uses is: provide a kind of image acquisition control
Device processed, including:
First control module, replaces to target for the first LASER Light Source and the second LASER Light Source making laser projection module
Throw light；
Second control module, for making image collecting device be projected to described at the first light of described first LASER Light Source
Gather the first image of described target during target, make described image collecting device throw at the second light of described second LASER Light Source
It is incident upon the second image of described target during described target.
The invention has the beneficial effects as follows: laser projection module is provided with two kinds of LASER Light Sources, and two kinds of LASER Light Sources are alternately
Luminescence is projected in target, therefore when the first LASER Light Source in this laser projection module projects the first light to target, image
Harvester can collect first image comprising the first light characteristics of this target, when the second LASER Light Source projects to target
During the second light, image collecting device can collect second image comprising the second light characteristics of this target, it is achieved that with
One image collecting device utilizes this laser projection module same to collect two types image, i.e. use less device resource
Realize the multiple image of synchronization gain, low cost, and the equipment volume also reduced, it addition, this two types image is all to have image
Harvester directly obtains, and needs not move through process and obtain, therefore amount of calculation is low.
Accompanying drawing explanation
Fig. 1 is the structural representation of image capturing system one embodiment of the present invention；
Fig. 2 is the structural representation of another embodiment of image capturing system of the present invention；
Fig. 3 is the structural representation of image capturing system another embodiment of the present invention；
Fig. 4 is the flow chart of image acquisition control method one embodiment of the present invention；
Fig. 5 is the structural representation that image acquisition of the present invention controls device one embodiment.
Detailed description of the invention
In order to be better understood from technical scheme, below in conjunction with the accompanying drawings the embodiment of the present invention is retouched in detail
State.
The term used in embodiments of the present invention is only merely for describing the purpose of specific embodiment, and is not intended to be limiting
The present invention." a kind of ", " described " and " being somebody's turn to do " of singulative used in the embodiment of the present invention and appended claims
It is also intended to include most form, unless context clearly shows that other implications.It is also understood that term used herein
Any or all possible combination that "and/or" refers to and comprises one or more project of listing being associated.
Refer to the structural representation that Fig. 1, Fig. 1 are image capturing system one embodiments of the present invention.In the present embodiment, this is adopted
Collecting system 10 includes image collecting device 11 and laser projection module 12.
Laser projection module 12 is for projecting laser to target 20.
Image collecting device 11 is for when laser projection module 12 projects laser to target 20, and gather target comprises this
The image of laser feature.
Wherein, this laser projection module 12 and image collecting device 11 can be separately positioned or be wholely set, and work as separation
When arranging, this laser projection module 12 and the position relationship of image collecting device 11 may be configured as having identical or approximation to target
The identical degree of depth, or laser projection module 12 is setting value with image collecting device 11 to the depth difference of target.
Specifically, this laser projection module 12 includes first LASER Light Source the 121, second LASER Light Source 122 and light-emitting window
124。
Described first LASER Light Source 121 and described second LASER Light Source 122 alternate emission light, described first LASER Light Source
The second light that 121 the first light launched and described second LASER Light Source 122 are launched is projected to through described light-emitting window 124 respectively
In target 20, so that image collecting device 11 collects first image comprising described first light characteristics of described target 20
With the second image comprising described second light characteristics.
Above-mentioned first LASER Light Source 121 and the second LASER Light Source 122 alternate emission light refer to and engrave when any one
State two LASER Light Sources only have one launch light, and the tranmitting frequency of two LASER Light Sources and launch duration be preferably but do not limit
Being set to identical, such as, the first LASER Light Source continues to launch for 0.5 second the first light, and then the second LASER Light Source continues to launch the in 1 second
One light, so circulates；The most such as, the first LASER Light Source twice emitting sets the first light of duration, then the second laser light
The second light once setting duration is only launched in source, so circulates.
Wherein, above-mentioned LASER Light Source can be any type LASER Light Source, and accordingly, this image collecting device 11 is can
Gather the sampler such as camera of the light that above-mentioned two LASER Light Source is launched.Generally, the first LASER Light Source and the second LASER Light Source
The light launched is same laser, such as, be iraser, or be Ultra-Violet Laser, accordingly, and this image collecting device 11
For infrared camera or ultraviolet-cameras.
Though it should be understood that the light that above-mentioned first LASER Light Source and the second LASER Light Source occur can be same laser, on
The light stating the first LASER Light Source and the transmitting of the second LASER Light Source takes on a different character such as, and one of them LASER Light Source is launched
Being structure ray laser, what another one was launched is the laser being unpatterned.
In one specifically application, the first LASER Light Source 121 and the second LASER Light Source 122 one of them be structure ray laser light
Source, another is LASER Light Source.In described first image and the second image one is structure ray laser image, and another is sharp
Light image.In the present embodiment, one of them of the first LASER Light Source and the second LASER Light Source is structure light infrared light supply, another
Being pure infrared light supply, accordingly, in the first image and the second image is structure light infrared image, and another is infrared figure
Picture.
Above-mentioned LASER Light Source is only to project laser to object space, and this laser is without forming pattern.Specifically, this laser light
Source can be the lasing light emitter of edge transmitting type, single surface-emission laser or vertical cavity surface lasing light emitter, can be point source or array
Light source.Uniformity coefficient in view of laser influences whether image quality, thus the LASER Light Source in the present embodiment is vertical cavity surface
Laser instrument, the laser that this planar laser with vertical cavity sends uniformly is diffused into target empty after beam expanding lens and diffraction optical element
In between.
Structure ray laser light source can be made up of lasing light emitter and diffraction optical element, this lasing light emitter and above-mentioned LASER Light Source class
Seemingly, lasing light emitter can be the lasing light emitter of edge transmitting type can also be vertical cavity surface lasing light emitter, can be point source or array light
Source, the laser that this lasing light emitter is obtained by this image acquisition device for emission energy.Diffraction optical element is according to different knots
Structure light pattern needs to be configured of the functions such as collimation, beam splitting, diffusion.Said structure light pattern can be modulated
Striped, or it is distributed irregular speckle pattern, the light that such as lasing light emitter is launched is multiple sharp by being divided into after diffraction optical element
Light light beam is projected in object space by diffusion simultaneously, thus forms the speckle pattern of irregular alignment.Speckle center energy level needs
Meet harmless requirement, it is therefore desirable to consider the power of laser and the configuring condition of diffraction optical element.
The dense degree of speckle pattern have impact on the follow-up image procossing obtaining image acquisition device such as to be affected
The speed calculating the depth value of image and precision, speckle particle is the most, calculates speed the slowest, but precision is the highest.Therefore, should
Structure ray laser light source can select suitable speckle particle density according to the approximate depth of the target area of shooting image, is protecting
While card calculates speed, still there is higher computational accuracy.Certainly, this speckle particle density also can be by above-mentioned acquisition system root
Determine according to the calculating demand of self.
Wherein, this structure ray laser light source to target area is but does not limit to be the angle of flare projection speckle particle figure with certain
Case.
In the present embodiment, laser projection module is provided with two kinds of LASER Light Sources, and two kinds of LASER Light Source alternately luminescence projections
To target, therefore when the first LASER Light Source in this laser projection module projects the first light to target, image collecting device
First image comprising the first light characteristics of this target can be collected, when the second LASER Light Source projects the second light to target
Time, image collecting device can collect second image comprising the second light characteristics of this target, it is achieved that same image is adopted
Acquisition means utilizes this laser projection module same to collect two types image, i.e. use less device resource to realize synchronizing
Obtain multiple image, low cost, and, this two types image is all to have image collecting device to directly obtain, and needs not move through
Process obtains, therefore amount of calculation is low.
Refer to the structural representation that Fig. 2, Fig. 2 are another embodiments of image capturing system of the present invention.It is different from one real
Executing example, the light occurred for improving two LASER Light Sources in the projection module 12 in acquisition system 10 arrives target same position
Degree of accuracy, in the acquisition system 10 of the present embodiment projection module 12 also include semi-transparent semi-reflecting lens 123.
In the present embodiment, the first LASER Light Source 121 and the second LASER Light Source 122 are not provided with on the same line, and first
At least part of first light of LASER Light Source 121 is orthogonal with at least part of second light of described second LASER Light Source 122.Its
In, this at least part of first light and at least part of second light are preferably the central area near LASER Light Source light-emitting zone
Light.As in figure 2 it is shown, described above-mentioned LASER Light Source occurs orthogonal light to be the luminescence being positioned at described first LASER Light Source 121
First light z of regional center and be positioned at the second light y at light-emitting zone center of described second LASER Light Source 122.Certainly, exist
In other embodiments, above-mentioned orthogonal light is alternatively the light of this light-emitting zone immediate vicinity of its LASER Light Source.
Semi-transparent semi-reflecting lens 123 is arranged at intersecting of described at least part of first light z and described at least part of second light y
Locate, and the second light that the first light of the first LASER Light Source 121 transmitting and the second LASER Light Source 122 are launched lays respectively at this partly
Two opposite flanks 1231 of semi-reflective mirror 123 thoroughly so that the first light passes through light-emitting window 124 after semi-transparent semi-reflecting lens 123 transmission
It is projected in target 20, and the second light is projected in target 20 by light-emitting window 124 after semi-transparent semi-reflecting lens 123 reflects, and enters
And making two kinds of LASER Light Sources on the premise of identical light-emitting area, the laser region to target projection is identical, two laser
Light source projects is overlapping in mesh target area.
Specifically, this at least part of first light after the transmission of described semi-transparent semi-reflecting lens 123 with this at least part of second light
Line overlaps after described semi-transparent semi-reflecting lens 123 reflects.Such as, as in figure 2 it is shown, be positioned at the luminescence of described first LASER Light Source 121
First light z of regional center and to be positioned at the second light y that the second LASER Light Source 122 launches orthogonal, this semi-transparent semi-reflecting lens 123 with
This orthogonal the first light z and the second light y all becomes 45 degree of angles, to realize being positioned at the luminous zone of described first LASER Light Source 121
The first light z at center, territory is after described semi-transparent semi-reflecting lens transmission and is positioned at the second light y warp that the second LASER Light Source 122 is launched
Overlap after the reflection of described semi-transparent semi-reflecting lens.
It should be noted that the optics unit that semi-transparent semi-reflecting lens of the present invention is absorbance and reflectance is all not zero
Part, the absorbance of this semi-transparent semi-reflecting lens and reflectance can be configured according to concrete application demand.Generally, by semi-transparent semi-reflecting lens
Absorbance and reflectance are disposed as between 20% to 80%, such as, if after gathering this image, needing to carry out the first image
Higher, then by the transmission of semi-transparent semi-reflecting lens more than the calculating of the second image, i.e. accuracy of information and definition to the first image
Rate is 70%, and reflectance is 30%.
Alternatively, above-mentioned light-emitting window 124 is provided with optical element, such as, for making projection laser have broader transmitting
Angle, can light-emitting window 124 configure one for the optical element spreading light beam, such as diffraction optical element, this diffraction optics
Element can realize difference in functionality as desired, and the light such as allowing light source send more spreads, or makes light source specifically uniqueness
Shape etc..The most such as, for making the light sent out more concentrate, lens are set at light-emitting window 124.
Alternatively, for ensureing the dirt exclusion capabilities of projection module, a transparent protection can also be configured at light-emitting window 124
Film.
Generally, when projection module or acquisition system be provided with light tight shell, with comprised device be placed in interior time,
This projection module or acquisition system include above-mentioned light-emitting window 124, when projecting module and acquisition system without arranging shell, then may be used
Do not include above-mentioned light-emitting window 124.In like manner, when acquisition system is provided with light tight shell, acquisition system may also include setting
Light inlet 13 on shell, this image collecting device 11 carries out above-mentioned image acquisition by this light inlet 13 to target；When
When acquisition system is without arranging shell, then may not include light inlet 13.In the present embodiment, the light-emitting window shown in Fig. 1 and 2 and light inlet
Between distance may be configured as less than 10cm, compared with relatively remote (typically larger than 100cm) target above-mentioned collection not
Can impact.Further, this light-emitting window 124 can be arranged on same position with light inlet, i.e. light-emitting window is also light inlet.
Referring to Fig. 3, this acquisition system 10 also includes the image processing apparatus 16 being all connected with image collecting device 11, with
And the control device 17 being connected with described first LASER Light Source the 121, second LASER Light Source 122 and image collecting device 11.
Wherein, image processing apparatus 16 is used for obtaining the image that described image collecting device 11 gathers, and to collecting
Image process, such as, structure light when image collecting device 11 collects structure ray laser light source projects target swashs
During light image, image processing apparatus 16 obtains structure ray laser image and the laser image of described image acquisition device, and
Use structure light trigonometry that the structure ray laser image collected is calculated the depth image of described target；Example again
As, to collect image smooth, denoising.
In the embodiment that this structured light patterns is speckle pattern, image processing apparatus 16 can be specifically for according to triangle
Method principle, by speckle particle in the speckle image that calculating collects relative to correspondence speckle particle in reference speckle pattern
Deviation value calculates the depth value of target, and wherein, this reference speckle pattern advances with the projection module set to setting
The planar projective reference speckle pattern of distance, and utilize the image acquisition element set to gather the reference speckle pattern of this plane
Case obtains, after above-mentioned " setting " is interpreted as once setting, when the follow-up collection carrying out this laser image also
This image acquisition element and projection module will not be moved.
Further, image processing apparatus 16, also can be according to the degree of depth of this target after obtaining the depth image of target
Laser image during the laser light source projects target that image and image acquisition device obtain is combined, to realize body-sensing friendship
Mutually, recognition of face etc..Certainly, the image that above-mentioned image acquisition device obtains is not necessarily for the calculating of depth image, this
Any restriction is not done in the process of the bright image to collecting.
Control device 17 to be used for controlling described first LASER Light Source the 121, second LASER Light Source 122 alternate emission light, with
And control acquisition time and/or the frequency acquisition of described image collecting device 11.Such as, the luminous frequency of two LASER Light Sources is controlled
Rate is identical, but fluorescent lifetime is different, and 2 times that the frequency acquisition of image collecting device 11 is LASER Light Source glow frequency, and
Image acquisition is carried out while such as laser pulse emission during LASER Light Source luminescence.Certainly, this acquisition system only needs wherein one
When planting image, control device 17 can control one of them LASER Light Source and independently project.
It is understood that acquisition system also may not include above-mentioned image processing apparatus and controls device, at above-mentioned image
The function that reason device and control device are realized can be realized by the external equipment being connected with acquisition system.And, at above-mentioned image
Reason device and control device by different circuit realiration, or can be realized by same circuit such as same processor.
It addition, above-mentioned acquisition system can be integrated in same equipment, the device as included by above-mentioned acquisition system is respectively provided with
In a shell.Certainly, above-mentioned acquisition system is also separated into multiple equipment, such as, image collecting device, laser projection mould
Group, image processing apparatus and control device are respectively independent equipment.
Above-mentioned image includes photo or video, when above-mentioned image is video, and described first image collecting device and
The frequency acquisition of two image collecting devices synchronizes, if or the collection frequency of the first image collecting device and the second image collecting device
Rate is asynchronous, then obtain the video image that frequency is consistent by the way of image interpolation.
The present invention also provides for the embodiment of a kind of laser projection module, this laser projection module laser as illustrated in fig. 1 and 2
Projection module, specifically describes and refer to the explanation of laser projection module in said system embodiment, and therefore not to repeat here.
Refer to the flow chart that Fig. 4, Fig. 4 are image acquisition control method one embodiments of the present invention.In the present embodiment, this figure
As collection control method is applied to above-mentioned acquisition system, above-mentioned control device perform, comprise the following steps:
S41: make the first LASER Light Source of laser projection module and the second LASER Light Source replace to target throw light.
Wherein, this laser projection module, as described in above-described embodiment, specifically refer to above-mentioned related description.
S42: make image collecting device gather institute when the first light of described first LASER Light Source is projected to described target
State the first image of target, make described image collecting device be projected to described target at the second light of described second LASER Light Source
Second image of Shi Suoshu target.
S43: described first image and/or described second image are processed.
Such as, described first LASER Light Source and the second LASER Light Source one of them be structure ray laser light source, described first
In image and the second image one is structure ray laser image, and another is laser image.This S43 is particularly as follows: use structure
Light trigonometry is calculated the depth image of described target to the structure ray laser image collected.
The most such as, this S43 also includes: to collect image smooth, denoising；And/or, to described first figure
Picture and/or the second image carry out interpolation, dividing processing.
It should be noted that in other embodiments, this collection control method may not include above-mentioned S43.
Referring to Fig. 5, Fig. 5 is the structural representation that image acquisition of the present invention controls device one embodiment.In the present embodiment,
This control device 50 includes the first control module 51 and the second control module 52.
First control module 51 replaces to mesh for the first LASER Light Source and the second LASER Light Source making laser projection module
Mark throw light；
Second control module 52 is for making image collecting device be projected to institute at the first light of described first LASER Light Source
Gather the first image of described target when stating target, make described image collecting device at the second light of described second LASER Light Source
It is projected to the second image of described target during described target.
Wherein, controlling device 50 can be for the control device described in above-described embodiment, and the above-mentioned module of this control device 50 is divided
Yong Yu not perform the corresponding steps in said method embodiment or said system embodiment control the corresponding function of device, tool
Body performs the explanation of process as above method and system embodiment, and therefore not to repeat here.
In such scheme, laser projection module is provided with two kinds of LASER Light Sources, and two kinds of LASER Light Source alternately luminescence projections
To target, therefore when the first LASER Light Source in this laser projection module projects the first light to target, image collecting device
First image comprising the first light characteristics of this target can be collected, when the second LASER Light Source projects the second light to target
Time, image collecting device can collect second image comprising the second light characteristics of this target, it is achieved that same image is adopted
Acquisition means utilizes this laser projection module same to collect two types image, i.e. use less device resource to realize synchronizing
Obtain multiple image, low cost, and, this two types image is all to have image collecting device to directly obtain, and needs not move through
Process obtains, therefore amount of calculation is low.
The foregoing is only embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilization is originally
Equivalent structure or equivalence flow process that description of the invention and accompanying drawing content are made convert, or are directly or indirectly used in what other were correlated with
Technical field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. a laser projection module, it is characterised in that include the first LASER Light Source, the second LASER Light Source and light-emitting window；
Described first LASER Light Source and described second LASER Light Source alternate emission light, the first light that described first LASER Light Source is launched
The second light that line and described second LASER Light Source are launched is projected in same target through described light-emitting window, respectively so that image is adopted
Acquisition means collects first image comprising described first light characteristics of described target and comprises described second light characteristics
The second image.
Laser projection module the most according to claim 1, it is characterised in that also including semi-transparent semi-reflecting lens, described first swashs
At least part of first light of radiant is orthogonal with at least part of second light of described second LASER Light Source, and described semi-transparent half
Anti-mirror is arranged at the intersection of described at least part of first light and described at least part of second light, and described at least part of first
Light overlaps after described semi-transparent semi-reflecting lens reflects with described at least part of second light after described semi-transparent semi-reflecting lens transmission；
The first light that described first LASER Light Source is launched is projected to institute through described light-emitting window after described semi-transparent semi-reflecting lens transmission
Stating in target, the second light that described second LASER Light Source is launched projects through described light-emitting window after described semi-transparent semi-reflecting lens reflects
To described target.
Laser projection module the most according to claim 2, it is characterised in that described at least part of first light is for being positioned at
Stating first light at the light-emitting zone center of the first LASER Light Source, described at least part of second light is for being positioned at described second laser
Second light at the light-emitting zone center of light source.
Laser projection module the most according to claim 1, it is characterised in that the absorbance of described semi-transparent semi-reflecting lens and reflection
The scope of rate is 20% to 80%, and described light-emitting window is provided with diffusive optical element.
5. an image capturing system, it is characterised in that include laser projection module described in any one of Claims 1-4 with
And image collecting device,
Described image collecting device is incident upon target for the first light of the first LASER Light Source at described laser projection module
Time upper, gathered first image comprising described first light characteristics of described target, and swashed at the second of described laser projection module
When second light of radiant is incident upon in described target, gather second figure comprising described second light characteristics of described target
Picture.
System the most according to claim 5, it is characterised in that described first LASER Light Source and the second LASER Light Source wherein
Individual for structure ray laser light source, in described first image and the second image is structure ray laser image, and another is sharp
Light image.
System the most according to claim 6, it is characterised in that also include the image procossing dress being connected with image collecting device
Put, for obtaining structure ray laser image and the laser image of described image acquisition device, and use structure light trigonometry
The structure ray laser image collected is calculated the depth image of described target.
System the most according to claim 5, it is characterised in that also include and described first LASER Light Source, the second laser light
The control device that source and image collecting device connect, is used for controlling described first LASER Light Source, the second LASER Light Source alternate emission
Light, and control acquisition time and/or the frequency acquisition of described image collecting device.
9. an image acquisition control method, it is characterised in that including:
The first LASER Light Source and the second LASER Light Source that make laser projection module replace to target throw light；
Image collecting device is made to gather described target when the first light of described first LASER Light Source is projected to described target
First image, makes described image collecting device described mesh when the second light of described second LASER Light Source is projected to described target
Target the second image.
10. an image acquisition controls device, it is characterised in that including:
First control module, alternately projects to target for the first LASER Light Source and the second LASER Light Source making laser projection module
Light；
Second control module, for making image collecting device be projected to described target at the first light of described first LASER Light Source
Time gather the first image of described target, make described image collecting device be projected at the second light of described second LASER Light Source
Second image of described target during described target.
Priority Applications (1)
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