The content of the invention
The invention mainly solves the technical problem of a kind of laser-projector and its depth camera are provided, to solve existing skillIt is the output and volume requirement for meeting laser-projector in art, and causes the irrelevance of the laser pattern of its transmitting to reduceProblem.
To solve above-mentioned technical problem, the present invention provides a kind of laser-projector, including：Substrate, at least two luminous unitsPart, controller, at least two lens and diffraction optical element；The diffraction optical element is arranged on and the substrate separation firstOn the position of distance；At least two light-emitting component is fixed on the substrate towards the diffraction optical element side；It is describedAt least two lens are arranged between the substrate and the diffraction optical element；
The light-emitting component launches laser under the control of the controller；At least two lens be used for focus on and/Or the laser that collimation is launched by least two light-emitting component, wherein at least two lens are different with least twoFocal length and/or at least two different second distances with least two light-emitting component interval；The diffraction optics unitPart for will at least two lens focuss described in and/or collimation after laser beam expanding after launch laser pattern in space.
Wherein, first threshold of the difference of the maxima and minima in described at least two different focal lengths less than settingValue.
Wherein, the difference of the maxima and minima in described at least two different second distances less than setting secondThreshold value.
Wherein, the laser-projector is further included：Be arranged on the diffraction optical element dorsad the substrate oneThreeth distance with diffraction optical element interval different with least two different focal lengths and/or at least two of sideAt least two lens.
Wherein, the controller is individually controlled at least two light-emitting component, is grouped control or overall controlSystem.
Wherein, at least two lens and at least two light-emitting component in a pair one or one-to-many corresponding passSystem.
Wherein, the light-emitting component is vertical cavity surface emitting laser.
Wherein, the laser pattern of the diffraction optical element transmitting is speckle particle pattern, in the speckle particle patternGranule at least has two kinds of different sizes.
To solve above-mentioned technical problem, the present invention also provides another kind of laser-projector, including：Substrate, at least twoOptical element, controller, at least two lens and diffraction optical element；The diffraction optical element is arranged on and the substrate separationOn the position of the first distance；At least two light-emitting component is fixed on the substrate towards the diffraction optical element side；At least two lens are arranged at the side of the diffraction optical element dorsad substrate；
The light-emitting component launches laser under the control of the controller；The diffraction optical element is used for by described in extremelyThe laser beam expanding that few two light-emitting components are launched；At least two lens are used to focus on and/or collimate by the diffraction lightLearn the laser after element is expanded and launch laser pattern in space, wherein at least two lens are different with least twoFocal length and/or at least two different second distances with least two light-emitting component interval.
To solve above-mentioned technical problem, the present invention also provides a kind of depth camera, including：Image acquisition units, processorAnd described laser-projector；
The laser figure that described image collecting unit is projected in being used for collection from the laser-projector to object spaceCase；The processor is for obtaining depth image by carrying out process to the laser pattern.
The invention has the beneficial effects as follows：Prior art is different from, a kind of laser-projector of the invention and its depth camera are logicalThe output and volume requirement that laser-projector is met using at least two light-emitting components is crossed, while by arranging at least twoLens have at least two different focal lengths and/or cause with the distance between at least two different lens and light-emitting componentThere are at least two different waist radiuses and angle of flare by the laser of at least two lens, the laser is by diffraction optics unitCan launch after the expanding of part and form the laser pattern with least two light-emitting areas, so as to improve swashing for laser-projector transmittingThe irrelevance of light pattern, further improve its depth camera obtain the laser pattern depth image speed and precision.
Specific embodiment
Refering to Fig. 1, Fig. 1 is the structural representation of one embodiment of laser-projector of the present invention.
The present embodiment laser-projector includes substrate 10, at least two light-emitting components 11 and 12, controller 13, at least twoLens 151,152 and diffraction optical element 14.
Wherein, diffraction optical element 14 is arranged on and is spaced on the position of the first distance with substrate 10；At least two luminous unitsPart 11,12 is fixed on substrate 10 towards the side of diffraction optical element 14；At least two lens 151,152 be arranged at substrate 10 withBetween diffraction optical element 14.
Wherein, at least two light-emitting components 11,12 launch laser under the control of controller 13, at least two lens 151,152 are used to focusing on and/or collimating the laser launched by least two light-emitting components 11,12, and at least two shown in figure are saturatingMirror 151,152 has at least two different focal lengths, and certain at least two lens 151,152 can also be different with least twoThe second distance with the interval of at least two light-emitting component 11,12, or while with different focal lengths and second distance；DiffractionOptical element 14 for will Jing at least two lens 151,152 focus on and/or collimate after laser beam expanding after in space launchLaser pattern.
The waist radius and angle of flare of the laser after the focusing of lens and/or collimation and focal length and the incidence of lensSpacing between the light source of laser and lens is relevant.In the present embodiment laser through with least two different focal lengths and/orCan be with a tight waist with least two after at least two different at least two lens focuss and/or collimation with light-emitting component spacingThe imaging Laser of radius and angle of flare, so that the laser pattern of the Laser emission includes at least two different size sizesLight beam, while output and volume requirement is met, can improve the irrelevance of laser pattern.
Further the irrelevance of laser pattern in Fig. 1 embodiments is illustrated.Refering to Fig. 2, Fig. 2 is Fig. 1 embodimentsThe schematic diagram of middle laser pattern, it is higher unique that the irrelevance of the laser pattern refers to that its each pattern sub-district 21,22,23 hasProperty, this uniqueness include the uniqueness of the shape of laser pattern, size, arrangement position etc..From figure 2 it can be seen that pattern is subIrrelevance of the irrelevance in area 21 and 22 less than the irrelevance or pattern sub-district 22 and 23 of pattern sub-district 21 and 23.At thisIn embodiment, pattern sub-district does not have exhaustion, and the pattern sub-district size can be the pixel sizes such as 7x7,11x11, each pattern sub-district21st, depending on specific requirement of 22,23 size according to laser-projector to the irrelevance of the laser pattern of transmitting.
The focal length of lens is mainly determined by the radius of curvature of the Refractive Index of Material of making lens, air refraction, lens surfaceIt is fixed.Alternatively, at least two can be obtained by arranging the radius of curvature difference of at least two lens 151,152 in the present embodimentDifferent focal lengths are planted, certainly, the methods such as at least two different lens materials is may also be employed and is obtained at least two different focal lengths.
Alternatively, refering to Fig. 3, can be flat using at least two lens 151,152 are arranged at least two in the present embodimentGo in the plane 153,154 of substrate 10, to obtain at least two kinds at least two different lens 151,152 and at least twoThe second distance at the interval of light-emitting component 11,12, naturally it is also possible to replace this mode using other set-up modes.
Alternatively, first threshold of the difference of the maxima and minima of at least two different focal lengths less than setting, withEnsure image quality.
Alternatively, at least two lens, 151,152 and at least two light-emitting component 11,12 in a pair one corresponding relation orThe corresponding relation of one-to-many.In general, during many in a pair corresponding relation of lens and light-emitting component, refer to single lens correspondenceMultiple light-emitting components；The multiple lens of single light-emitting component correspondence can certainly be referred to.
Alternatively, the maximum of the second distance of at least two lens, 151,152 and at least two light-emitting component 11,12 withSecond Threshold of the difference of minima less than setting.The Second Threshold can be set according to projector design demand.
Refering to Fig. 4, Fig. 2, Fig. 4 is light-emitting component distribution schematic diagram in Fig. 1 embodiments.Alternatively, diffraction optical element 14The laser pattern of transmitting be speckle particle pattern, due to the speckle particle pattern be Jing have at least two different focals and/orAt least two it is different with the second distances at the interval of light-emitting component 11,12 at least two lens, 151,152 pairs of laser focusings and/Or collimation and (concrete principle in the above-described embodiments it is stated that) that obtain, therefore, at least have two in the speckle particle patternPlant the granule 24,25 of different different size sizes.
Alternatively, refering to Fig. 5, based on Fig. 1 embodiments, at least two can be arranged between substrate 10 and diffraction optical element 14While individual lens 151,152, the side of the dorsad substrate 10 of diffraction optical element 14 further arrange at least two lens 51,52, at least two lens 51,52 shown in figure respectively have at least two different focal lengths, certain at least two lens 51,52 can also have at least two different the 3rd distances between diffraction optical element 14, or while have at least twoDifferent focal lengths and the 3rd distance.The set-up mode can further improve laser figure while laser-projector integrated level is metThe irrelevance of case.
Alternatively, light-emitting component 11,12 is vertical cavity surface emitting laser.Vertical cavity surface emitting laser is a kind of verticalSurface goes out the new laser of light.Compared with traditional edge-emitting laser, the laser instrument light emission direction is vertical with substrate, can be veryThe integrated of high density two-dimensional array is easily realized, realizes that more power is exported, and as which is compared to edge-emitting lasersPossess less volume, such that it is able to more advantageously be integrated in miniature electric components and parts；While the laser instrument and optical fiberCoupling efficiency it is high, without the beam shaping system of complex and expensive, and manufacturing process is compatible with light emitting diode, drops significantlyLow production cost.Additionally, the laser that sends of light-emitting component 11,12 can have different waist radiuses and/or angle of flare and/Or wavelength, further to improve the irrelevance of laser pattern.
Refering to Fig. 6 to Fig. 8, alternatively, can be worked (such as with 13 overall control at least two light-emitting component 11,12 of controllerShown in Fig. 6).Certainly also can be worked (such as Fig. 7 with packet control at least two light-emitting component 11,12 of at least two controller 13,70It is shown), or at least two 11,12 work (as shown in Figure 8) are individually controlled with least two controllers 13,70.This controlDepending on mode processed can be according to laser-projector design requirement itself or some functional parameters.
Refering to Fig. 9, in another embodiment, at least two are arranged in the side of the dorsad substrate 10 of diffraction optical element 14Lens 91,92 (remove at least two lens 151,152 in other ingredients and Fig. 1 embodiments of the present embodiment laser-projectorOutside other ingredients there is identical set-up mode and operation principle, narration is not repeated herein), this setupCan be more beneficial for improving the integrated level of laser-projector, at least two lens 91,92 shown in figure are different with least twoFocal length, certain at least two lens 91,92 can also have at least two it is different with least two light-emitting components 11,12 itBetween spacing, or while with different focal lengths and with the spacing between light-emitting component 11,12, further to improve laser figureThe irrelevance of case.
Alternatively, at least two can be arranged on parallel to substrate 10 using by least two lens 91,92 in the present embodimentDifferent Plane on, with obtain at least two kinds different at least two lens, 91,92 and at least two light-emitting components 11,12 itBetween spacing, naturally it is also possible to replace this mode using other set-up modes.
Alternatively, first threshold of the difference of the maxima and minima of at least two different focal lengths less than setting, withEnsure image quality.
Alternatively, at least two lens, 91,92 and at least two light-emitting component 11,12, one corresponding relation or in a pairTo many corresponding relations.
Alternatively, the maximum of the second distance of at least two lens, 91,92 and at least two light-emitting component 11,12 with mostSecond Threshold of the difference of little value less than setting.The Second Threshold can be set according to projector design demand.
Alternatively, Figure 10 is participated in, the laser pattern of the transmitting of diffraction optical element 14 is speckle particle pattern, because at least twoIndividual lens 101,102 have at least two different focal lengths and/or at least two different with least two light-emitting components 11,12Between spacing, therefore, in the speckle particle pattern at least with two kinds of different different size sizes granule 101,102.
Alternatively, light-emitting component 11,12 is vertical cavity surface emitting laser.
Alternatively, can be worked with 13 overall control at least two light-emitting component 11,12 of controller.Certainly at least two also be can useIndividual controller packet or the individually work of control at least two light-emitting component 11,12.This control mode can be according to laser-projectorDepending on design requirement itself or some functional parameters.
Prior art is different from, above-described embodiment laser-projector is sharp to meet using at least two different light-emitting componentsThe output and volume requirement of light projector, while there are at least two different focal lengths by arranging at least two lensAnd/or cause to have by the laser of at least two lens with the distance between at least two different lens and light-emitting componentAt least two different waist radiuses and angle of flare, the laser have extremely by launch to be formed after the expanding of diffraction optical elementThe laser pattern of few two kinds of light-emitting areas, so as to improve the irrelevance of the laser pattern of laser-projector transmitting, further carriesHigh its depth camera obtains the speed and precision of the depth image of the laser pattern.
Prior art is different from, above-described embodiment laser-projector adopts vertical cavity surface emitting laser as light source, canTo be easily carried out the integrated of high density two-dimensional array, realization causes the laser while laser-projector volume is not increasedThere is projector more power to export, and production cost is relatively low, it is also possible to realize ensureing have more while identical outputLittle volume.
Refering to Figure 11, Figure 11 is one example structure schematic diagram of depth camera of the present invention.
The present embodiment depth camera includes image acquisition device 111, processor 112 and laser-projector 113；
Wherein, laser-projector 113 is the laser-projector of Fig. 1 embodiments or Fig. 9 embodiments, and which is constituted and operation principleNot repeated description here.
The laser pattern that image acquisition device 111 is projected in being mainly used in gathering from laser-projector 113 to object space, canSelection of land, image acquisition device 111 are infrared camera, naturally it is also possible to substitute infrared camera using other image capture devices.
Processor 112 is for obtaining depth image by carrying out process to the laser pattern.
Alternatively, during processor 112 calculates each pixel of the laser pattern and reference pattern using image matching algorithmThe deviation value for corresponding to each pixel, the depth image of the laser pattern is further obtained according to the deviation value.
Wherein, the image matching algorithm is using digital picture correlation (DIC) algorithm.Other images can certainly be adoptedReplace DIC algorithms with algorithm.
Prior art is different from, the present embodiment depth camera is using image acquisition device collection based on different with least twoFocal length and/or at least two it is different with least two lens of the second distances at light-emitting component interval laser-projectors toThe laser pattern projected in object space, the laser pattern are that the laser Jing of at least two light-emitting components transmitting has at least twoAfter different focal lengths and/or at least two different at least two lens with light-emitting component spacing, obtain with least twoWhat the laser of different waist radiuses and angle of flare was formed Jing after the expanding of diffraction optical element, therefore the laser pattern has extremelyThe pattern of few two kinds of different areas, dependency are higher.The laser pattern carries out process to the laser pattern by processor and obtainsDepth image, it is possible to increase depth camera obtains the speed and precision of the laser pattern.
Embodiments of the present invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, it is every using thisEquivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlationsTechnical field, is included within the scope of the present invention.