CN220171253U - 3D module and electronic equipment - Google Patents
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Abstract
The utility model provides a 3D module and electronic equipment, wherein the electronic equipment comprises a 3D module, and the 3D module comprises a transmitting end, a receiving end and a processor; the transmitting end at least comprises a first light source, a second light source and a light field regulating device, wherein the light field regulating device is arranged on the light emitting side of the first light source and the light emitting side of the second light source, and the distances between the first light source and the second light source and the light field regulating device are the same or different; the first light source emits light and the second light source emits light to form a floodlight illumination light field and a structural light field respectively, wherein the floodlight illumination light field and the structural light field are at least partially overlapped in space; the receiving end is used for receiving the reflected light beam reflected by the measured object to generate an image; the processor is used for processing the image to obtain the reference information of the measured object. The 3D module has the characteristics of compact structure and low energy consumption, can ensure the improvement of the directionality of floodlight illumination, enhance the illumination brightness, and can flexibly customize a special FOV.
Description
Technical Field
The utility model belongs to the technical field of imaging, and particularly relates to a 3D module and electronic equipment.
Background
The related art 3D module (structured light/active binocular module) includes a flood illumination sub-module, a structured light field projection sub-module, and one or more imaging sub-modules. The floodlight module is usually an infrared LED (for example, the wavelength is 850nm or 940 nm), uniform light spots are projected at a certain angle, and an illuminated object is received by the imaging module and outputs an image for detecting various characteristics, such as face recognition; the structured light field projection sub-module comprises a substrate (such as a copper substrate, a ceramic substrate and the like), a laser (a vertical cavity surface emitting semiconductor laser VCSEL or an edge emitting semiconductor laser EEL), a collimating mirror, a DOE and the like, projects a light field with a special pattern (such as speckle) onto an object, is received by the imaging sub-module, calculates distance information through a trigonometry method, outputs a depth image, namely, each pixel in the image represents the distance information of the point, and can be used for various distance judgment such as living body detection. The one or more imaging sub-modules may be an infrared camera, a color camera, or a combination of both.
However, the flood illumination submodule, the structural light field projection submodule, the imaging submodule and the like of the 3D module in the related art are independent, so that the size is large, the power consumption is high, the light field characteristics are limited greatly, and the use of the three-dimensional module in a consumer electronics application scene is limited.
Disclosure of Invention
The technical aim of the utility model is to provide a 3D module and electronic equipment, which have the characteristics of compact structure and low energy consumption, and can ensure that the directionality of floodlight illumination is improved, the illumination brightness is enhanced, and a special FOV is flexibly customized, so that the application range in a consumer electronics application scene is widened.
In order to solve the technical problems, the utility model is realized as follows:
in a first aspect of the present utility model, a 3D module is provided, including a motherboard, a transmitting end, a receiving end, and a processor, where the transmitting end and the receiving end are disposed on a same side of the motherboard, and the processor is embedded in the motherboard or designed integrally with the receiving end; the emitting end at least comprises a first light source, a second light source and a light field regulating device, wherein the light field regulating device is arranged on the light emitting sides of the first light source and the second light source, and the distances between the first light source and the second light source and the light field regulating device are the same or different; the first light source emits light and the second light source emits light through the light field regulating device to form a floodlight illumination light field and a structural light field respectively, wherein the floodlight illumination light field and the structural light field are at least partially overlapped in space; the receiving end is used for receiving the reflected light beam reflected by the tested object to generate an image; the processor is used for processing the image to obtain the reference information of the tested object.
In some embodiments, the emitting end further includes a substrate fixed on the main board, the substrate is provided with a height difference structure, the height difference structure has a first position and a second position with different distances from the light field adjusting device, and the first light source and the second light source are respectively located at the first position and the second position.
In one embodiment, the height difference structure and the substrate are integrally provided; or, the height difference structure comprises an assembly surface of the substrate far away from the main board and a lifting sheet arranged on the assembly surface. In one embodiment, the height difference structure comprises a displacement fine adjustment module arranged on the substrate, wherein a mobile light source is arranged on the displacement fine adjustment module, and the displacement fine adjustment module is used for driving the mobile light source to switch between the first position and the second position; wherein the mobile light source is the first light source when in the first position and the mobile light source is the second light source when in the second position.
In one embodiment, the emitting end comprises a partitioned light source, the partitioned light source at least comprises two light emitting areas, and a height difference is arranged between at least two light emitting areas in each light emitting area; at least one light-emitting area is used as the first light source, and the rest light-emitting areas are used as the second light source.
In one embodiment, the emitting end further comprises a bracket fixed with the main board, and the light field regulating device is supported on the bracket. In one embodiment, the emitting end comprises a fixed light source, the bracket is an adjustable bracket, and the adjustable bracket is used for driving the light field regulating device to switch between a third position and a fourth position along the direction of the optical axis; the fixed light source is used as the first light source when the light field regulating device is located at the third position, and the fixed light source is used as the second light source when the light field regulating device is located at the fourth position. The light field regulating device comprises Diffuser, MEMS or DLP, and the structural light field is a speckle light field or a fringe light field.
In some embodiments, the first light source emits light and the second light source emits light to form a plurality of light spots after passing through the light field regulating device, a center distance between adjacent light spots of the floodlight illumination light field is equal to or smaller than a maximum width of the light spots, and a center distance between adjacent light spots of the structural light field is larger than the maximum width of the light spots. In one embodiment, the center distance between adjacent spots of the flood illumination light field is equal to or less than one half of the minimum width of its spot.
In some embodiments, the light field regulating device comprises a collimation unit and a diffraction unit which are arranged in the light emitting direction of the emitting end; alternatively, the light field modulation device comprises a collimating diffraction unit. Further, the optical centers of the first light source and the second light source are not coaxial with the optical center of the collimating unit; in the optical axis direction of the light field regulating device, the first light source and the second light source are symmetrically arranged about the central axis of the light field regulating device. When the light field regulating device comprises a collimation unit and a diffraction unit, the first light source is positioned at the defocusing position of the collimation unit, and the second light source is positioned at the focal plane position of the collimation unit; the diffraction unit comprises a floodlight diffraction area and a structured light diffraction area, the floodlight diffraction area on the same side as the second light source is projected after the first light source emits light through the collimation unit, and the structured light diffraction area on the same side as the first light source is projected after the second light source emits light through the collimation unit; when the light field regulating device comprises a collimation diffraction unit, the light beams emitted by the first light source and the second light source pass through the collimation diffraction unit and then are collimated and projected to the measured object along the respective optical axis directions. The collimating unit comprises a collimating lens, a micro lens array or a super surface device, the diffraction unit comprises a DOE, and the collimating diffraction unit comprises a DOE with a collimating function.
In some embodiments, when the distance between the first light source and the second light source and the light field regulating device is the same, one of the first light source and the second light source is an incoherent light source, the other is a coherent light source, and the light beams emitted by the first light source and the second light source project floodlight and structured light to the measured object through the light field regulating device; or the first light source and the second light source are both coherent light sources, the light field regulating device can be electric control liquid crystal, a phase-adjustable super surface or a designed DOE, and light beams emitted by the first light source and the second light source project floodlight and structural light to the tested object through the light field regulating device.
In some embodiments, the first light source comprises any one of VCSEL, EEL, HCSEL, PCSEL, LED; the second light source comprises any one of VCSEL, EEL, HCSEL, PCSEL; the receiving end comprises an image sensor and a receiving optical element, and the image sensor comprises an infrared imaging module and/or a visible light imaging module; the receiving optical element includes an optical lens or a super surface. In one embodiment, the receiving end further includes a filter located at a receiving side of the image sensor, where the filter is used to filter light in a non-operating band.
In a second aspect of the utility model, an electronic device is provided, comprising a 3D module as described in any one of the above.
Compared with the related technology, the 3D module and the electronic equipment have the beneficial effects that:
the first light source emits light and the second light source emits light to form a floodlight illumination light field and a structural light field respectively after passing through the light field regulating device, wherein the floodlight illumination light field and the structural light field are at least partially overlapped in space, the floodlight illumination light field and/or natural light are received by a receiving end to form a two-dimensional image after being illuminated and reflected by a detected object, the structural light field is received by the receiving end to form a three-dimensional image after being reflected by the detected object, and the processor can process according to image data to obtain corresponding reference information. According to the scheme, flood lighting and structured light lighting are respectively realized by sharing the light field regulating device by the first light source and the second light source, and the transmitting end, the receiving end and the processor are combined into one module, so that the device has the characteristics of compact structure and low energy consumption, the orientation of the flood lighting can be guaranteed to be improved, the lighting brightness is enhanced, and the special FOV can be flexibly customized, so that the application range in a consumer electronics application scene is widened.
Drawings
FIG. 1 is a schematic diagram of an overall layout of a 3D module according to an embodiment of the present utility model;
FIG. 2 is a diagram showing an example of an arrangement form of a substrate in an embodiment of the present utility model;
FIG. 3 is a schematic diagram of the overall layout of a 3D module with a position-adjustable structure according to an embodiment of the present utility model;
FIG. 4 is a schematic diagram of the overall layout of a 3D module with an adjustable bracket according to an embodiment of the present utility model;
FIG. 5 is a schematic view of a first arrangement of light emitting points of a light source when only one light source is used at the emitting end of the present utility model;
FIG. 6 is a schematic view of a second arrangement of the light emitting points of the light source when only one light source is used at the emitting end of the present utility model;
FIG. 7 is a schematic view of a third arrangement of the light emitting points of the light source when only one light source is used at the emitting end of the present utility model;
FIG. 8 is a schematic diagram of the overall layout of the 3D module without a height difference between the first light source and the second light source;
FIG. 9 is a schematic diagram of the principle of the utility model that light spots are dispersed to form "floodlight";
FIG. 10 is a graph of the effect of the light spot of the present utility model when the light source is in focus (up) and out of focus (down);
FIG. 11 is a graph showing the effect of the utility model with gaps between flood spots;
FIG. 12 is a graph of the effect of the utility model without gaps between flood spots;
FIG. 13 is a schematic view of a light path of a transmitting end of the 3D module according to the present utility model;
FIG. 14 is a schematic view of a light field of a speckle pattern of the present utility model;
FIG. 15 is an overall layout schematic of yet another 3D module of the present utility model;
FIG. 16 is a schematic diagram of a fringe structured light field of the present utility model.
In the drawings, each reference numeral denotes: 201. a transmitting end; 202. a receiving end; 203. a processor; 001. a substrate; 002. a bracket; 003. a first light source; 004. a second light source; 005. packaging auxiliary materials; 006. a collimation unit; 007. a diffraction unit; 007-a, a collimating diffraction unit; 008. an image sensor; 009. packaging a substrate; 010. a light filter; 011. receiving an optical element; 012. a receiving bracket.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary and intended to illustrate the present utility model and should not be construed as limiting the utility model, and all other embodiments, based on the embodiments of the present utility model, which may be obtained by persons of ordinary skill in the art without inventive effort, are within the scope of the present utility model.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The utility model provides electronic equipment (not shown), which comprises a 3D module, wherein the electronic equipment can be equipment which needs to acquire reference information of external environment, such as a mobile phone, a tablet personal computer, an AR/VR terminal, an unmanned aerial vehicle, a sweeping robot, a mobile robot, a depth camera and the like.
Fig. 1 is a schematic overall layout of a 3D module according to the present utility model. The 3D module comprises a main board, a transmitting end 201, a receiving end 202 and a processor 203, wherein the transmitting end 201 and the receiving end 202 are arranged on the same side of the main board, and the processor 203 is embedded in the main board or is integrated with the receiving end 202; the transmitting end 201 at least comprises a first light source 003, a second light source 004 and a light field regulating device, wherein the light field regulating device is arranged on the light emitting side of the first light source 003 and the second light source 004, and the distance between the first light source 003 and the second light source 004 and the light field regulating device in the optical axis direction of the light field regulating device is the same or different; wherein, the light emitted by the first light source 003 and the light emitted by the second light source 004 form a floodlight illumination light field and a structural light field respectively after passing through the light field regulating device, and the floodlight illumination light field and the structural light field are at least partially overlapped in space; the receiving end 202 is used for receiving the reflected light beam reflected by the tested object to generate an image; the processor 203 is configured to process the image to obtain reference information of the measured object, such as depth information, point cloud, width, height, texture, and the like of the measured object.
The light emitted by the first light source 003 and the light emitted by the second light source 004 form a floodlight illumination light field and a structural light field respectively after passing through the light field regulating device, wherein the floodlight illumination light field and the structural light field are at least partially overlapped in space, the floodlight illumination light field and/or natural light are received by the receiving end 202 to form a two-dimensional image after being illuminated and reflected by the measured object, the structural light field is received by the receiving end 202 to form a three-dimensional image after being reflected by the measured object, and the processor 203 can process according to image data to obtain corresponding reference information. It should be noted that, the first light source 003 and the second light source 004 may emit light beams to the object to be measured simultaneously or sequentially, which is not limited in the present application.
According to the scheme, flood lighting and structured light lighting are respectively realized by sharing the light field regulating device with the first light source 003 and the second light source 004, and the transmitting end 201, the receiving end 202 and the processor 203 are combined into one module, so that the module has the characteristics of compact structure and low energy consumption, the orientation of the flood lighting can be guaranteed to be improved, the lighting brightness is enhanced, the special FOV can be flexibly customized, and the application range in a consumer electronics application scene is widened.
In one embodiment, the transmitting end 201 may project both a flood illumination light field and a structural light field. When the transmitting end 201 starts a floodlighting mode, the receiving end 202 receives and outputs a floodlight two-dimensional image, and the processor 203 performs operation processing on the obtained two-dimensional image; when the transmitting end 201 starts the structural light field projection mode, the receiving end 202 receives the three-dimensional image with the structural light field characteristics, and the three-dimensional image is operated and processed by the processor 203 to output the depth image with the distance information. The emitter 201 integrating the flood lighting function and the structural light field projection function reduces the size of the module and saves the cost.
The light field can be a speckle pattern, a stripe pattern or any other pattern with characteristic information.
The transmitting end 201 and the receiving end 202 are designed integrally with the main board or independently, the integrated design is that the transmitting end 201 and the receiving end 202 are integrated with the main board in a glue dispensing or soldering mode, the independent design is that the transmitting end 201 and the receiving end 202 are connected with the main board through wires (such as gold wires) or FPC connecting wires, the processor 203 is embedded on any position of the main board, soldered on the main board through pins and electrically connected with the main board, and the processor is used for controlling the working of the transmitting end 201 and the receiving end 202 and further processing images generated by the receiving end 202. Specifically, during the operation of the 3D module, the processor 203 transmits a receiving trigger signal to the receiving end 202 to drive the receiving end 202, the receiving end 202 starts to transmit a feedback signal to the processor 203, and the processor 203 receives the feedback signal and then transmits the transmitting trigger signal to the transmitting end 201 to control the transmitting end 201 to transmit a light beam to the tested object.
The receiving end 202 is configured to receive the light beam reflected by the object to be tested and generate a corresponding image, and includes a package substrate 009, an image sensor 008, a filter 010, a receiving optical element 011, and a receiving bracket 012. The receiving optical element 011 is used for focusing the reflected light beam on the receiving end 202 of the image sensor 008, the image sensor 008 is used for generating a two-dimensional image and/or a three-dimensional image according to the received light beam, the packaging substrate 009 is used for installing the image sensor 008 and realizing the conduction and heat dissipation effects, and the optical filter 010 is used for filtering light of a non-working band; the receiving optical element 011 is an optical element having an imaging function, such as an optical lens, a micro-nano device such as a super surface, etc.; the receiving bracket 012 is for supporting the optical filter 010 and receiving the optical element 011.
It should be appreciated that the receiving end 202 has both a structured light receiving imaging function and a floodlight receiving imaging function, and the receiving end 202 may include one image sensor or more than two image sensors. When the wavelengths of the structured light and the floodlight are the same, the receiving end 202 may include only one image sensor, which has the functions of receiving and imaging the structured light and the floodlight at the same time; when the wavelengths of structured light and floodlight are different, the receiving end 202 may include two different image sensors, one for receiving structured light and imaging and the other for receiving floodlight and imaging. The aforementioned image sensor may be provided with a filter which operates at a specific wavelength, such as infrared light, and the filter may pass the operating wavelength of the image sensor; the aforementioned image sensor may be provided without a filter, and thus, the image sensor may receive a light beam of an arbitrary wavelength. The image sensor 008 may be an image sensor array of Charge Coupled Devices (CCDs), complementary Metal Oxide Semiconductors (CMOS), avalanche Diodes (AD), single Photon Avalanche Diodes (SPADs), etc., with the array size representing the resolution of the 3D module, such as 320 x 240, etc.
For example, the receiving end 202 may be an infrared imaging module and/or a visible light imaging module. Illustratively, in one embodiment, the receiving end 202 may include a structured light image sensor and a flood light image sensor, the structured light image sensor including a filter 010, an optical element 011, and an infrared image sensor; the floodlight image sensor includes a filter 010, an optical element 011, and an infrared image sensor or a visible light image sensor. The optical element 011 is used to collect light beams onto the pixels of the image sensor, the optical filter 010 is used to filter out light in a non-working band, when the receiving end 202 is an infrared camera, the optical filter 010 is an infrared optical filter 010, and when the receiving end 202 is a color camera, the optical filter 010 is a visible light optical filter 010.
The processor 203 may be a single processing chip or may include a plurality of processing chip units, for example, a processing chip unit with different functions; or integrated System-on-a-Chip (SOC) including a central processing unit, an on-Chip memory, a controller, a communication interface, etc.
In some embodiments, the processor 203 may be a separate dedicated circuit, such as a dedicated SOC chip, FPGA chip, ASIC chip, etc. including a CPU, memory, bus, etc., or may include a general purpose processing circuit, such as when the depth camera is integrated into a smart terminal, such as a cell phone, television, computer, scanner, etc., where the processing circuit may be at least a portion of the processor 203.
Further, the emitting end 201 further includes a substrate 001 fixed on the main board, the substrate 001 is provided with a height difference structure, the height difference structure has a first position and a second position with different distances from the light field adjusting device, and the first light source 003 and the second light source 004 are respectively located at the first position and the second position. The emitting end 201 further comprises a bracket 002 fixed with the substrate 001, and the light field adjusting device is supported on the bracket 002.
It should be noted that, the light field adjusting device has a collimation function and a diffraction function, the second position is located on the focal plane of the light field adjusting device, that is, the object-image conjugation relationship is satisfied, and a structural light field can be projected, while the first position is not located at the focal plane of the light field adjusting device, that is, the first light source 003 is located at the defocused state of the light field adjusting device, and a floodlight illumination light field is projected.
There are a variety of arrangements in which the first light source 003 and the second light source 004 are located at the first location and the second location, respectively, some of which are possible to implement are shown below.
1. In connection with fig. 2, the height difference structure may be a fixed structure, i.e. the first and second positions remain unchanged:
in some embodiments, the level difference structure and the substrate 001 are integrally formed, that is, the level difference structure and the substrate 001 are integrally formed, wherein the substrate 001 may be a copper substrate 001, a ceramic substrate 001, a PCB board, or a flexible-rigid board, and the like, and simultaneously has the functions of conducting electricity and radiating heat, and one side of the substrate 001 has a boss, wherein the end surface of the boss and the board surface of the substrate 001 have a level difference, which can be used as a first position and a second position, respectively.
In some embodiments, the height difference structure may be a split type, for example, the height difference structure includes a mounting surface of the side of the substrate 001 away from the motherboard and a raised piece disposed on the mounting surface, where the raised piece may be fixed by bonding, welding, screw connection, or the like, and the mounting surface and the side of the raised piece away from the substrate 001 have a height difference and may be used as a first position and a second position, respectively.
It should be understood that, when the level difference structure is a fixed structure, the first position and the second position do not overlap in the thickness direction of the substrate 001, that is, the projections of the first position and the second position in the optical axis direction of the light field adjusting device do not overlap, and in the case where the foregoing condition is satisfied, the first position and the second position may be adaptively adjusted according to the actual situation, for example, the first position is on the left side and the second position is on the right side, or the second position is on the left side and the first position is on the right side, which is not limited.
It should be noted that, when the first position and the second position are fixed, the first light source 003 is located at the first position for generating floodlight, and the first light source 003 may be a coherent light source, such as a VCSEL (vertical cavity surface emitting semiconductor laser), an EEL (edge emitting semiconductor laser), a HCSEL (horizontal cavity surface emitting semiconductor laser), a PCSEL (photonic crystal semiconductor laser), or the like, or may be a non-coherent light source, such as an LED. The second light source 004 is located at a second position for generating a structured light field using coherent light sources such as VCSELs (vertical cavity surface emitting semiconductor lasers), EELs (edge emitting semiconductor lasers), HCSELs (horizontal cavity surface emitting semiconductor lasers), PCSELs (photonic crystal semiconductor lasers), TCSELs (topological semiconductor lasers), etc. When both the first light source 003 and the second light source 004 are coherent light sources, the first light source 003 and the second light source 004 may be identical or different.
2. In connection with fig. 3 and 4, the height difference structure may also be a position-adjustable structure, i.e. the first position and the second position may be switched by a movement change of the position-adjustable structure, where it is to be noted that the first position and the second position are positions relative to the light field adjusting device:
2.1, referring to fig. 3, in some embodiments, the height difference structure includes a displacement fine adjustment module disposed on the substrate 001, and a moving light source is disposed on the displacement fine adjustment module, and the displacement fine adjustment module is used for driving the moving light source to switch between a first position and a second position; wherein the moving light source is a first light source 003 when in a first position and a second light source 004 when in a second position. It should be noted that, the moving light source is preferably a coherent light source, for example, a semiconductor light source, and the structure of the displacement fine adjustment module is not limited, so long as the moving light source mounted on the moving light source can approach or depart from the light field adjusting device, and the moving light source can be switched between the first position and the second position, for example, the displacement fine adjustment module can adopt a structure of piezoelectric ceramics, a MEMS (micro electro mechanical system) driving unit, a voice coil motor, and the like.
By means of the displacement trimming structure, only one moving light source can be used, which adopts a coherent light source, such as a VCSEL (vertical cavity surface emitting semiconductor laser), an EEL (edge emitting semiconductor laser), a HCSEL (horizontal cavity surface emitting semiconductor laser), a PCSEL (photonic crystal semiconductor laser), a TCSEL (topological semiconductor laser) and the like, and the displacement trimming structure can adjust the position of the moving light source to realize switching between the first position and the second position, thereby realizing floodlight field illumination or structured light field illumination.
Illustratively, at a first moment, the moving light source is located on an equivalent focal plane of the light field modulation device, and a structural light field is generated through the light field modulation device; at the second moment, the movable light source positioned on the substrate 001 is upwards displaced by a preset distance through the piezoelectric ceramic and is in a defocusing state, and the movable light source generates a floodlight illumination light field after passing through the light field regulating device; the structural light field is received by the receiving end 202 and then processed by the processor 203 to output a depth image with distance information, the floodlighting light field is received by the receiving end 202 to output a color image or an infrared image, and the processor 203 carries out operation processing; the embodiment can respectively acquire the depth image and the two-dimensional image at different moments, has compact structure, only needs one light source, and saves cost.
It should be noted that the height difference structure may be configured to include a plurality of displacement fine adjustment modules, each displacement fine adjustment module is provided with a mobile light source, each mobile light source may be driven by a corresponding displacement fine adjustment module to switch between a first position and a second position, at least one of the plurality of displacement fine adjustment modules is a coherent light source so as to at least form a coherent light field, and the rest of the displacement fine adjustment modules may be provided with incoherent light sources so as to implement a floodlight field.
2.2, referring to fig. 4, in some embodiments, the transmitting end 201 includes a fixed light source, the support 002 is an adjustable support 002, and the adjustable support 002 is used to drive the light field adjusting device to switch between a third position and a fourth position along the optical axis direction; the light source is fixed as a first light source 003 when the light field adjusting device is located at the third position, and the light source is fixed as a second light source 004 when the light field adjusting device is located at the fourth position. The adjustable bracket 002 can adopt a structure that the position of the piezoelectric ceramic, the MEMS (micro electro mechanical system) driving unit, the voice coil motor and the like can be changed, when the adjustable bracket 002 drives the light field regulating device to move to the third position, the fixed light source is positioned at the first position relative to the light field regulating device so as to be used as the first light source 003 to generate a floodlighting light field, and when the adjustable bracket 002 drives the light field regulating device to move to the fourth position, the fixed light source is positioned at the second position relative to the light field regulating device so as to be used as the second light source 004 to generate a structural light field.
Only one fixed light source can be used by the adjustable support 002, and the fixed light source adopts a coherent light source, such as a VCSEL (vertical cavity surface emitting semiconductor laser), an EEL (edge emitting semiconductor laser), a HCSEL (horizontal cavity surface emitting semiconductor laser), a PCSEL (photonic crystal semiconductor laser), a TCSEL (topological structure semiconductor laser), and the like, and the adjustable support 002 can adjust the relative positions of the fixed light source and the light field adjusting device to realize the switching of the fixed light source between the first position and the second position, thereby realizing floodlight field illumination or structural light field illumination.
The first moment, the light field adjusting device is located at the fourth position, the fixed light source is located on the equivalent focal plane of the light field adjusting device, the structural light field is projected, the depth image with distance information is output after being received and processed by the receiving end 202 and the processor 203, the adjustable support 002 is displaced for a distance at the second moment, the fixed light source is located at the defocusing position, the floodlight illumination light field is projected after being received by the light field adjusting device, the color image or the infrared image is output after being received by the receiving end 202, the processor 203 performs operation processing, the structure is compact, only one light source is needed, and the cost is saved.
It should be noted that, in the two schemes using only one light source, the following two schemes are used: in one embodiment, in conjunction with FIG. 5, the light source may be a random closely spaced array VCSEL. In one embodiment, and in connection with FIG. 6, the light source may be a VCSEL of a single layer zoned design, with zone A being turned on during flood illumination and zone B being turned on during structured light field projection. In one embodiment, in conjunction with FIG. 7, the light source may be a VCSEL of a two-layer zoned design, with one or both zones operating simultaneously when using structured light field projection functionality; when using a flood lighting function, one or both of the zones operate simultaneously. It should be understood that the foregoing numbers and arrangements of fig. 5-7 are merely illustrative, and that the actual numbers and coordinates of the light emitting holes may be designed according to the actual light field requirements. The light source may be PCSEL, HCSEL, EEL or the like as described above, in addition to the VCSEL.
3. The height difference structure may also be formed by the light source itself:
in some embodiments, the emitting end 201 includes a partitioned light source, where the partitioned light source includes at least two light emitting regions, and a height difference exists between at least two light emitting regions in each light emitting region; at least one light emitting region is used as a first light source 003, and the rest of light emitting regions are used as a second light source 004. In one embodiment, the segmented light source is a dual-region VCSEL, and by design during epitaxy and fabrication, the laser exit facets of the two regions are not at the same height, wherein the light emitting aperture of one region is located on the focal plane of the light field adjusting device, as the second light source 004, to generate a structured light field, and the light emitting aperture of the other region is located in an out-of-focus position, as the first light source 003, to generate a flood light field. It should be noted that, the partitions of the partitioned light sources may include three, four, five, and so on, at least one partition is located on the focal plane of the light field adjusting device as the second light source 004, and at least one partition is located at the defocus position of the light field adjusting device as the first light source 003.
It should be noted that, in the foregoing embodiments of the level difference position implementation manner, the receiving end 202 may further include an encapsulation auxiliary material 005 for fixing the light source (the first light source 003, the second light source 004, the mobile light source or the fixed light source), and the encapsulation auxiliary material 005 may be made of a material having both conductive and heat dissipation effects, such as silver paste, gold wire, soldering tin, etc.
In the foregoing various manners, when the scheme includes the first light source 003 and the second light source 004, different arrangements may be adopted.
In some embodiments, the first light source 003 and the second light source 004 may both be visible light sources, and the corresponding receiving end 202 is a visible light receiving end 202; or may be infrared light sources, and the corresponding receiving end 202 is an infrared receiving end 202; or one visible light source and the other infrared light source respectively correspond to the visible light receiving end 202 and the infrared receiving end 202, and the two light sources are not interfered with each other at the moment and can work simultaneously.
In some embodiments, the first light source 003 and the second light source 004 may be light sources having polarization characteristics, such as HCG-VCSELs (High Contrast Grating-VCSELs); when the first light source 003 and the second light source 004 have polarization characteristics, the receiving end 202 will obtain images with different information due to different reflectivities of different materials to polarized light. For example, for specular reflection problems, when using polarized light sources, the glare due to specular reflection can be reduced to some extent;
in some embodiments, the first light source 003 and the second light source 004 may also be lasers that integrate light field regulation functions, an example being: VCSEL with flip-chip structure, etching micro-nano structure on its substrate by semiconductor process, and integrating collimation and diffraction functions; another example is a VCSEL of a front-mounted structure, in which a microlens array is integrated on the surface of the light emitting aperture, and the laser light emitted from each light emitting aperture of the VCSEL is collimated.
In the above embodiments, the first light source 003 generates the flood illumination light field through the light field adjusting device, the second light source 004 generates the structural light field through the light field adjusting device, that is, the distance between the first light source 003 and the light field adjusting device is smaller than the distance (i.e., focal length) between the second light source 004 and the light field adjusting device, but in practical application, the first light source 003 generates the structural light field through the light field adjusting device, the second light source 004 generates the flood illumination light field through the light field adjusting device, that is, the distance between the second light source 004 and the light field adjusting device is larger than the distance between the first light source 003 and the light field adjusting device, which only needs to ensure that one light source is located at the focal plane position of the light field adjusting device, and the other light source is located at the defocus position of the light field adjusting device. In addition, it should be noted that, when the distance between the second light source 004 and the light field adjusting device is greater than the distance between the first light source 003 and the light field adjusting device, that is, when the distance between the second light source 004 and the light field adjusting device is greater than the focal length of the light field adjusting device, the volume of the emitting end is too large, which is unfavorable for miniaturization of the 3D module.
Fig. 8 is a schematic overall layout of another 3D module according to the present application. In some embodiments, there may be no height difference between the first light source 003 and the second light source 004, and the first light source 003 and the second light source 004 are located on the same plane, so that the axial lengths of the first light source 003 and the second light source 004 from the light field regulating device are the same. For example, in one embodiment, the first light source 003 is an incoherent light source (such as an LED), the second light source 004 is a coherent light source, the first light source 003 and the second light source 004 may both be located at a focal plane position of the light field adjusting device, the first light source 003 projects a uniform floodlighting light field after passing through the light field adjusting device with collimation and diffraction functions, the second light source 004 projects a structural light field after passing through the light field adjusting device with collimation and diffraction functions, and the receiving end 202 receives the structural light field and outputs an image to the processor 203 for operation processing.
In another embodiment, the first light source 003 and the second light source 004 may both be coherent light sources, and the two light sources are located at focal positions of a light field adjusting device, and the light field adjusting device may be an electronically controlled liquid crystal, a super-surface with adjustable phase, or a designed diffraction element (such as DOE); wherein, the electric control liquid crystal adjusts the refractive index of the surface microstructure of the electric control liquid crystal so as to adjust the first light source 003 and the second light source 004 to respectively emit floodlight and structured light; the super surface adjusts the phase of the surface microstructure of the super surface so as to adjust the first light source 003 and the second light source 004 to respectively emit floodlight and structured light; at least a portion of the structures in the diffractive element are designed to achieve structured light and at least a portion are designed to achieve floodlight such that the first and second light sources 003 and 004 passing through the diffractive element emit floodlight and structured light, respectively. The two-part structure of the diffraction element may be an independent element or an integral element, which is not limited in the present application.
It should be noted that, after the light field adjusting device emits light from the first light source 003 and the light field adjusting device emits light from the second light source 004, a plurality of light spots are formed respectively, the center distance between adjacent light spots of the flood illumination light field is equal to or smaller than the maximum width of the light spots, and the center distance between adjacent light spots of the structural light field is larger than the maximum width of the light spots. Therefore, the floodlight illumination light field can provide uniform floodlight illumination for the tested object, and the structural light field can provide accurate structural light illumination.
In some preferred embodiments, the center distance between adjacent spots of the flood illumination light field is equal to or less than one half of the minimum width of its spot. In this embodiment, the light spot is circular, and the maximum width and the minimum width of the light spot are both the diameters thereof, so that no gap exists between the light spot and the light spot of the floodlight field, and the floodlight field is more uniform and has more ideal effect.
The principle of forming 'floodlight' by light spot dispersion is as follows:
referring to fig. 9 and 10, the light emitting point 1 and the light emitting point 2 are two adjacent light emitting points on the first light source 003, and the center distance of the light emitting points projected onto the screen through the light field regulating device is H; when the first light source 003 is positioned on the equivalent focal plane of the light field regulating device, the center distance L of the light spots is larger than the size D of the light spots, and two image points can be separated by an optical system, so that a specific structural light field is projected; when the first light source 003 is located at the defocus position of the light field adjusting device, that is, the distance between the first light source 003 and the light field adjusting device is greater than or less than the equivalent focal length of the light field adjusting device, the light spot center distance L is equal to or less than the light spot size D, and the two image points cannot be separated by the optical system, so that a floodlight field is projected.
Further, when the center distance of the light spots is equal to or smaller than the light spot size D, there may be an undesirable effect of forming floodlight by the dispersion of the light spots, and there may be a gap between the light spots, as shown in fig. 11. To ensure that the emitting end 201 emits an ideal floodlight field, the center distance L of the light spots needs to be equal to or smaller than half the size D of the light spots, so that the light spots are dispersed to form floodlight, and no gap exists between the light spots, as shown in fig. 12.
The light field modulation device can have a plurality of arrangement forms:
1. in some embodiments, as shown in fig. 13, the light field adjusting device may include a collimating unit 006 and a diffraction unit 007 that are configured independently of each other, where the collimating unit 006 and the diffraction unit 007 are arranged in the light emitting direction of the emitting end 201. Wherein the collimating unit 006 may comprise a collimating lens, a micro lens array, or a super surface device, and the diffracting unit 007 may comprise a DOE.
The first light source 003 is located at an out-of-focus position of the collimating unit 006, and the second light source 004 is located at a focal plane position of the collimating unit 006; the diffraction unit 007 includes a floodlight diffraction region and a structured light diffraction region, wherein the first light source 003 emits light to the floodlight diffraction region on the same side as the second light source 004 after passing through the collimation unit 006, and the second light source 004 emits light to the structured light diffraction region on the same side as the first light source 003 after passing through the collimation unit 006. Wherein, at least partial areas between the floodlight diffraction area and the structural light diffraction area are overlapped or not overlapped at all, and microstructures on the floodlight diffraction area and the structural light diffraction area are the same or different.
Illustratively, the first light source 003 is an array vcsel_1 closely and regularly arranged, and the second light source 004 is an array vcsel_2 randomly arranged, wherein the effective light emitting areas of the two VCSELs are the same; the collimating unit 006 is a collimating lens, the diffraction unit 007 is a DOE, the image Sensor 008 is a Sensor for near infrared band response, 010 is a near infrared band-pass filter 010, and the receiving optical element 011 is an infrared imaging lens.
VCSEL_2 is positioned on the focal plane of the collimating mirror, the optical center of the VCSEL_2 is not coaxial with the optical center of the collimating unit 006, and after being collimated by the collimating unit 006, the VCSEL_2 irradiates the microstructure area (the structure light diffraction area) on the left side of the DOE, and then the light spots with different diffraction orders are projected onto the measured object through the diffraction of the DOE, as shown in FIG. 14. The VCSEL_1 is not on the focal plane of the collimating mirror, namely in an defocusing state, the optical center of the VCSEL_1 and the VCSEL_2 are symmetrical about the optical axis of the collimating unit 006, collimated by the collimating unit 006 and irradiated to the right microstructure area (floodlight diffraction area) of the DOE, and then diffracted by the DOE, so that light spots with different diffraction orders are projected onto a measured object; however, since vcsel_1 is in an out-of-focus state, the projected light spot will be dispersed, and thus the projected light field will be blurred into a uniform surface light source. The higher the dot density of VCSEL_1, the more uniform it will be to flood it forms, as shown at 11.
When the VCSEL_1 works, a uniform floodlighting light field is projected, the infrared receiving end 202 receives and outputs a two-dimensional image, and the two-dimensional image is processed and operated by the processor 203; when VCSEL_2 is operated, a speckle light field is projected, the infrared receiving end 202 receives a two-dimensional image with speckle characteristics, and the two-dimensional image is processed and calculated by the processor 203 to output a depth image with distance information.
2. In some embodiments, as shown in fig. 15, the light field adjusting device may be integrally designed, where the light field adjusting device may include a collimating diffraction unit 007-a, may be a DOE with a collimating function, may be an imaging lens based on geometrical optics, and may be a micro-nano device based on diffractive optics, such as a superlens. Illustratively, the first light source 003 and the second light source 004 respectively adopt a vcsel_1 and a vcsel_2, the light field adjusting device adopts a collimating diffraction unit 007-a, the vcsel_2 is located on a focal plane of the light field adjusting device, an optical center of the vcsel_2 is different from an optical center of the light field adjusting device, and after the light field adjusting device performs collimating diffraction, light spots with different diffraction orders are projected onto a measured object along an optical axis direction of the first light source 003 and the second light source 004. The VCSEL_1 is not on the focal plane of the light field regulating device, namely in a defocusing state, the optical center of the VCSEL_1 and the VCSEL_2 are symmetrical about the optical axis of the light field regulating device, and after the light field regulating device performs collimation and diffraction, light spots with different diffraction orders are projected onto a measured object; however, since vcsel_1 is in an out-of-focus state, the projected light spot will be dispersed, and thus the projected light field will be blurred into a uniform surface light source. The higher the dot density of VCSEL_1, the more uniform the floodlight it will form.
It should be noted that, in the foregoing description, the vcsel_1 and the vcsel_2 are arranged regularly or irregularly, in the practical application process, the vcsel_1 and the vcsel_2 may be arranged regularly or irregularly, which depends on the principle of calculating depth information by the processor 203, and when the processor 203 calculates depth information based on the structured light principle, the VCSEL arrangement on the equivalent focal plane has a requirement that the structural light field projected by the VCSEL arrangement needs to have an uncorrelation; when the processor 203 calculates depth based on the time of flight principle, then there is no specific requirement for VCSELs to be located on the equivalent focal plane, which can be arranged arbitrarily. Alternatively, the arrangement of VCSEL_1 at the defocus position may be irregular, by projecting the flood illumination field.
In some preferred embodiments, the optical centers of the first light source 003 and the second light source 004 are not coaxial with the optical center of the collimating unit 006, regardless of the arrangement of the light field modulation device; in the optical axis direction of the light field modulation device, the first light source 003 and the second light source 004 are symmetrically arranged about the central axis of the light field modulation device.
3. In some embodiments, the light field modulation device may employ, for example, diffuser, MEMS or DLP, the resulting structured light field being a striped light field as shown in fig. 16, where d is the resulting fringe period, a is the fringe width, and the fringe period and fringe width may be controlled by varying the parameters of the light field modulation device. It should be noted that the speckle light field can also be implemented by using a light field adjusting device, which is not limited herein.
In the application, the first light source 003 and the second light source 004 are integrated at the same module at the same or different distances from the light field regulating device, so that the light source positioned on the focal plane projects a specific structure light field, and the light source positioned on the defocused position is dispersed to project a floodlight illumination light field. By designing different light field regulating devices, such as a collimation function DOE, a Diffuser, an MEMS, a DLP and the like, the structural light fields with different characteristic parameters are obtained. Wherein floodlight is used for illuminating objects in the field of view of the receiving end 202, a color image or an infrared image is acquired through the receiving end 202, and the processor 203 performs operation to extract required characteristic information; the structured light field projects the coded pattern, the image with the coded information is acquired through the receiving end 202, and the processor 203 calculates according to the corresponding ranging principle to output the depth image with the distance information.
Through the scheme in the above conception, the 3D module has the following advantages:
1. the structure is compact, and the development and integration into micro equipment are facilitated;
2. the structural light field projection and the floodlight illumination are integrated into the same module, so that the cost of electrons and structural materials is saved;
3. by constructing the first light source 003 and the second light source 004 with the height difference, the light field of the first light source 003 passing through the optical element is defocused, the effect of floodlight illumination is realized, and compared with the traditional LED illumination scheme, the illumination brightness is improved, and special light fields such as rectangles, trapezoids and the like with edge energy compensation can be flexibly customized.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (20)
1. The utility model provides a 3D module, includes mainboard, transmitting terminal, receiving terminal and treater, the transmitting terminal with the receiving terminal set up in the homonymy of mainboard, the treater inlay locate the mainboard or with the integrated design of receiving terminal, its characterized in that:
the emitting end at least comprises a first light source, a second light source and a light field regulating device, wherein the light field regulating device is arranged on the light emitting sides of the first light source and the second light source, and the distances between the first light source and the second light source and the light field regulating device are the same or different; the first light source emits light and the second light source emits light through the light field regulating device to form a floodlight illumination light field and a structural light field respectively, wherein the floodlight illumination light field and the structural light field are at least partially overlapped in space;
the receiving end is used for receiving the reflected light beam reflected by the tested object to generate an image;
And the processor is used for processing the image to obtain the reference information of the tested object.
2. The 3D module of claim 1, wherein the emitting end further comprises a substrate fixed to the motherboard, the substrate is provided with a level difference structure, the level difference structure has a first position and a second position with different distances from the light field adjusting device, and the first light source and the second light source are respectively located at the first position and the second position.
3. The 3D module of claim 2, wherein the level difference structure and the substrate are integrally provided; or, the height difference structure comprises an assembly surface of the substrate far away from the main board and a lifting sheet arranged on the assembly surface.
4. The 3D module according to claim 2, wherein the level difference structure comprises a displacement fine adjustment module arranged on the substrate, the displacement fine adjustment module is provided with a moving light source, and the displacement fine adjustment module is used for driving the moving light source to switch between the first position and the second position;
wherein the mobile light source is the first light source when in the first position and the mobile light source is the second light source when in the second position.
5. The 3D module of claim 1, wherein the emitting end comprises a partitioned light source, the partitioned light source comprises at least two light emitting areas, and a height difference exists between at least two light emitting areas in each light emitting area; at least one light-emitting area is used as the first light source, and the rest light-emitting areas are used as the second light source.
6. The 3D module of claim 1, wherein the first light source emits light and the second light source emits light to form a plurality of light spots after passing through the light field adjusting device, a center distance between adjacent light spots of the flood illumination light field is equal to or smaller than a maximum width of the light spots, and a center distance between adjacent light spots of the structural light field is larger than the maximum width of the light spots.
7. The 3D module of claim 6, wherein a center distance between adjacent spots of the flood illumination field is equal to or less than one half of a minimum width of the spots.
8. The 3D module of claim 1, wherein the light field adjusting device comprises a collimating unit and a diffraction unit arranged in the light emitting direction of the emitting end; alternatively, the light field modulation device comprises a collimating diffraction unit.
9. The 3D module of claim 8, wherein the optical centers of the first light source and the second light source are not coaxial with the optical center of the collimating unit.
10. The 3D module of claim 9, wherein the first light source and the second light source are symmetrically disposed about a central axis of the light field modulation device in an optical axis direction of the light field modulation device.
11. The 3D module of claim 9, wherein when the light field modulation device comprises a collimation unit and a diffraction unit, the first light source is located at an out-of-focus position of the collimation unit, and the second light source is located at a focal plane position of the collimation unit; the diffraction unit comprises a floodlight diffraction area and a structured light diffraction area, the floodlight diffraction area on the same side as the second light source is projected after the first light source emits light through the collimation unit, and the structured light diffraction area on the same side as the first light source is projected after the second light source emits light through the collimation unit.
12. The 3D module of claim 9, wherein when the light field adjusting device comprises a collimating and diffracting unit, the light beams emitted by the first light source and the second light source are collimated and projected to the measured object along respective optical axis directions after passing through the collimating and diffracting unit.
13. The 3D module of claim 8, wherein the collimating unit comprises a collimating lens, a microlens array, or a super surface device, the diffracting unit comprises a DOE, and the collimating diffracting unit comprises a DOE with a collimating function.
14. The 3D module of claim 1, wherein the transmitting end further comprises a bracket fixed to the motherboard, the light field adjusting device being supported by the bracket.
15. The 3D module of claim 14, wherein the emitting end includes a fixed light source, the bracket is an adjustable bracket, and the adjustable bracket is used for driving the light field adjusting device to switch between a third position and a fourth position along the optical axis direction;
the fixed light source is used as the first light source when the light field regulating device is located at the third position, and the fixed light source is used as the second light source when the light field regulating device is located at the fourth position.
16. The 3D module of claim 14, wherein the light field modulation device comprises Diffuser, MEMS or DLP and the structured light field is a speckle light field or a fringe light field.
17. The 3D module of claim 1, wherein when the first light source and the second light source are the same distance from the light field adjusting device, one of the first light source and the second light source is an incoherent light source, and the other is a coherent light source, and light beams emitted by the first light source and the second light source project floodlight and structured light to the measured object through the light field adjusting device; or the first light source and the second light source are both coherent light sources, the light field regulating device can be electric control liquid crystal, a phase-adjustable super surface or a designed diffraction element, and light beams emitted by the first light source and the second light source project floodlight and structural light to the tested object through the light field regulating device.
18. The 3D module of any one of claims 1-17, wherein the first light source comprises any one of VCSEL, EEL, HCSEL, PCSEL, LED; the second light source includes any one of VCSEL, EEL, HCSEL, PCSEL.
19. The 3D module according to any one of claims 1-17, wherein the receiving end comprises an image sensor and a receiving optical element, the image sensor comprising an infrared imaging module and/or a visible light imaging module; the receiving optical element includes an optical lens or a super surface.
20. An electronic device comprising a 3D module as claimed in any one of claims 1-19.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117452747A (en) * | 2023-12-21 | 2024-01-26 | 深圳市安思疆科技有限公司 | 3D structured light system |
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| CN117452747A (en) * | 2023-12-21 | 2024-01-26 | 深圳市安思疆科技有限公司 | 3D structured light system |
| CN117452747B (en) * | 2023-12-21 | 2024-04-02 | 深圳市安思疆科技有限公司 | 3D structured light system |
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