技术领域technical field
本发明涉及光学及电子技术领域，更具体而言，涉及一种激光发射器、结构光投射模组、深度相机和电子设备。The present invention relates to the technical fields of optics and electronics, and more specifically, to a laser transmitter, a structured light projection module, a depth camera and electronic equipment.
背景技术Background technique
激光投射器可以投射出特定的激光图案，激光投射器中的光源可以由多个发光元件组成，通过控制多个发光元件的发光时序可以改变激光图案的形状。现有的多个发光元件通常呈二维阵列布置在光源的衬底上，此种布置方式下，从光源的中心位置处发出的激光的光程与从光源的周缘位置处发出的激光的光程是不一致的，如此，导致投射到空间中的激光图案的亮度分布不均，进一步影响深度图像的获取。The laser projector can project a specific laser pattern, and the light source in the laser projector can be composed of multiple light-emitting elements, and the shape of the laser pattern can be changed by controlling the light-emitting timing of the multiple light-emitting elements. Existing multiple light-emitting elements are usually arranged in a two-dimensional array on the substrate of the light source. In this arrangement, the optical path of the laser light emitted from the center of the light source is different from the light path of the laser light emitted from the peripheral position of the light source. In this way, the brightness distribution of the laser pattern projected into the space is uneven, which further affects the acquisition of the depth image.
发明内容Contents of the invention
本发明实施方式提供一种激光发射器、结构光投射模组、深度相机和电子设备。Embodiments of the present invention provide a laser transmitter, a structured light projection module, a depth camera, and electronic equipment.
本发明实施方式的激光发射器包括：The laser emitter of the embodiment of the present invention includes:
衬底，所述衬底形成有出光面，所述出光面为阶梯面；和a substrate, the substrate is formed with a light-emitting surface, and the light-emitting surface is a stepped surface; and
设置在所述出光面上的多个发光元件，每个所述发光元件沿所述出光面在对应位置的法向向所述衬底外发射激光。A plurality of light-emitting elements arranged on the light-emitting surface, each of the light-emitting elements emits laser light to the outside of the substrate along the normal direction of the light-emitting surface at a corresponding position.
本发明实施方式的结构光投射模组包括：The structured light projection module according to the embodiment of the present invention includes:
基板组件；和substrate assembly; and
上述任一实施方式所述的激光发射器，所述激光发射器设置在所述基板组件上。The laser emitter described in any one of the above embodiments, the laser emitter is arranged on the substrate assembly.
在某些实施方式中，所述结构光投射模组还包括：In some embodiments, the structured light projection module further includes:
镜筒，所述镜筒包括镜筒侧壁，所述镜筒侧壁设置在所述基板组件上并与所述基板组件共同形成收容腔；A lens barrel, the lens barrel includes a lens barrel side wall, the lens barrel side wall is arranged on the substrate assembly and forms a receiving cavity together with the substrate assembly;
准直元件，所述准直元件收容在所述收容腔内；和a collimating element housed in the receiving cavity; and
衍射光学元件，所述衍射光学元件收容在所述收容腔内，所述激光发射器用于向所述收容腔内发射激光，所述准直元件和所述衍射光学元件依次设置在所述激光发射器的光路上。A diffractive optical element, the diffractive optical element is accommodated in the accommodation cavity, the laser emitter is used to emit laser light into the accommodation cavity, the collimation element and the diffractive optical element are sequentially arranged on the laser emitting on the light path of the device.
本发明实施方式的深度相机包括：The depth camera of the embodiment of the present invention includes:
上述任一实施方式所述的结构光投射模组，所述结构光投射模组用于向外发射激光图案；The structured light projection module described in any one of the above embodiments, the structured light projection module is used to emit laser patterns outward;
图像采集器，所述图像采集器用于采集所述激光图案；和an image collector configured to collect the laser pattern; and
分别与所述结构光投射模组和所述图像采集器连接的处理器，所述处理器用于处理所述激光图案以获得深度图像。A processor connected to the structured light projection module and the image collector respectively, the processor is used to process the laser pattern to obtain a depth image.
本发明实施方式的电子设备包括：The electronic equipment of the embodiment of the present invention comprises:
壳体；和shell; and
上述实施方式所述的深度相机，所述深度相机设置在所述壳内并从所述壳体暴露以获取深度图像。For the depth camera described in the above embodiments, the depth camera is disposed in the housing and exposed from the housing to acquire a depth image.
本发明实施方式的激光发射器、结构光投射模组、深度相机和电子设备中，多个发光元件设置在出光面上，由于出光面为阶梯面，可以减小光程差对激光图案的亮度均匀度的影响，有利于图像采集器采集到亮度分布均匀的由用户反射的激光图案，进一步地有利于提升深度图像的获取精度。In the laser emitter, the structured light projection module, the depth camera and the electronic equipment in the embodiment of the present invention, a plurality of light-emitting elements are arranged on the light-emitting surface. Since the light-emitting surface is a stepped surface, the optical path difference can reduce the brightness of the laser pattern. The influence of the uniformity is beneficial for the image collector to collect the laser pattern reflected by the user with uniform brightness distribution, which further helps to improve the acquisition accuracy of the depth image.
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。Additional aspects and advantages of embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of the invention.
附图说明Description of drawings
本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:
图1是本发明实施方式的电子设备的结构示意图；FIG. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
图2是本发明实施方式的深度相机的结构示意图；2 is a schematic structural diagram of a depth camera according to an embodiment of the present invention;
图3是本发明实施方式的结构光投射模组的立体示意图；Fig. 3 is a schematic perspective view of a structured light projection module according to an embodiment of the present invention;
图4是本发明实施方式的结构光投射模组的平面示意图；4 is a schematic plan view of a structured light projection module according to an embodiment of the present invention;
图5是本发明实施方式的结构光投射模组的立体分解示意图；5 is a perspective exploded schematic diagram of a structured light projection module according to an embodiment of the present invention;
图6是图4所示的结构光投射模组沿VI-VI线的截面示意图；Fig. 6 is a schematic cross-sectional view of the structured light projection module shown in Fig. 4 along line VI-VI;
图7是图4所示的结构光投射模组沿VII-VII线的截面示意图；Fig. 7 is a schematic cross-sectional view of the structured light projection module shown in Fig. 4 along line VII-VII;
图8(a)和8(b)是本发明实施方式的结构光投射模组的激光发射器的结构示意图；8(a) and 8(b) are schematic structural views of the laser emitter of the structured light projection module according to the embodiment of the present invention;
图9是图7中的结构光投射模组的IX部分的放大示意图；Fig. 9 is an enlarged schematic diagram of part IX of the structured light projection module in Fig. 7;
图10是图5所示的结构光投射模组的X部分的放大示意图；Fig. 10 is an enlarged schematic diagram of part X of the structured light projection module shown in Fig. 5;
图11是本发明实施方式的结构光投射模组的保护盖的立体示意图。Fig. 11 is a schematic perspective view of the protective cover of the structured light projection module according to the embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图对本发明的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。Embodiments of the present invention will be further described below in conjunction with the accompanying drawings. The same or similar reference numerals in the drawings represent the same or similar elements or elements having the same or similar functions throughout.
另外，下面结合附图描述的本发明的实施方式是示例性的，仅用于解释本发明的实施方式，而不能理解为对本发明的限制。In addition, the embodiments of the present invention described below in conjunction with the accompanying drawings are exemplary, and are only used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
请参阅图1，本发明实施方式的电子设备1000包括壳体200和深度相机100。电子设备1000可以是手机、平板电脑、手提电脑、游戏机、头显设备、门禁系统、柜员机等，本发明实施例以电子设备1000是手机为例进行说明，可以理解，电子设备1000的具体形式可以是其他，在此不作限制。深度相机100设置在壳体200内并从壳体200暴露以获取深度图像，壳体200可以给深度相机100提供防尘、防水、防摔等的保护，壳体200上开设有与深度相机100对应的孔，以使光线从孔中穿出或穿入壳体200。Referring to FIG. 1 , an electronic device 1000 according to an embodiment of the present invention includes a casing 200 and a depth camera 100 . The electronic device 1000 can be a mobile phone, a tablet computer, a laptop computer, a game console, a head-mounted display device, an access control system, an ATM, etc. The embodiment of the present invention is described by taking the electronic device 1000 as a mobile phone as an example. It can be understood that the specific form of the electronic device 1000 It can be other, which is not limited here. The depth camera 100 is set in the casing 200 and is exposed from the casing 200 to obtain a depth image. The casing 200 can provide the depth camera 100 with protection against dust, water, and falling. Corresponding holes are provided so that light passes through or enters the housing 200 through the holes.
请参阅图2，深度相机100包括结构光投射模组10、图像采集器20和处理器30。深度相机100上可以形成有与结构光投射模组10对应的投射窗口40，和与图像采集器20对应的采集窗口50。结构光投射模组10用于通过投射窗口40向目标空间投射激光图案，图像采集器20用于通过采集窗口50采集被标的物调制后的激光图案。在一个例子中，结构光投射模组10投射的激光为红外光，图像采集器20为红外摄像头。处理器30与结构光投射模组10及图像采集器20均连接，处理器30用于处理激光图案以获得深度图像。具体地，处理器30采用图像匹配算法计算出该激光图案中各像素点与参考图案中的对应各个像素点的偏离值，再根据该偏离值进一步获得该激光图案的深度图像。其中，图像匹配算法可为数字图像相关(Digital Image Correlation，DIC)算法。当然，也可以采用其它图像匹配算法代替DIC算法。下面将对结构光投射模组10的结构作进一步介绍。Referring to FIG. 2 , the depth camera 100 includes a structured light projection module 10 , an image collector 20 and a processor 30 . A projection window 40 corresponding to the structured light projection module 10 and a collection window 50 corresponding to the image collector 20 may be formed on the depth camera 100 . The structured light projection module 10 is used to project a laser pattern to the target space through the projection window 40 , and the image collector 20 is used to collect the laser pattern modulated by the target through the collection window 50 . In one example, the laser light projected by the structured light projection module 10 is infrared light, and the image collector 20 is an infrared camera. The processor 30 is connected to both the structured light projection module 10 and the image collector 20, and the processor 30 is used to process the laser pattern to obtain a depth image. Specifically, the processor 30 uses an image matching algorithm to calculate the deviation value between each pixel point in the laser pattern and the corresponding pixel point in the reference pattern, and then further obtains the depth image of the laser pattern according to the deviation value. Wherein, the image matching algorithm may be a digital image correlation (Digital Image Correlation, DIC) algorithm. Of course, other image matching algorithms can also be used instead of the DIC algorithm. The structure of the structured light projection module 10 will be further introduced below.
请参阅图3至图5，结构光投射模组10包括基板组件11、镜筒12、激光发射器13、准直元件(diffractive optical elements,DOE)14、衍射光学元件15和保护盖16。激光发射器13、准直元件14和衍射光学元件15依次设置在激光发射器13的光路上，具体地，激光发射器13发出的光依次穿过准直元件14和衍射光学元件15。Referring to FIGS. 3 to 5 , the structured light projection module 10 includes a substrate assembly 11 , a lens barrel 12 , a laser emitter 13 , a collimation element (diffractive optical elements, DOE) 14 , a diffractive optical element 15 and a protective cover 16 . The laser emitter 13 , the collimating element 14 and the diffractive optical element 15 are sequentially arranged on the optical path of the laser emitter 13 , specifically, the light emitted by the laser emitter 13 passes through the collimating element 14 and the diffractive optical element 15 in sequence.
请参阅图5和图6，基板组件11包括基板111及承载在基板111上的电路板112。基板111用于承载镜筒12、激光发射器13和电路板112。基板111的材料可以是塑料，比如聚对苯二甲酸乙二醇酯(Polyethylene Glycol Terephthalate，PET)、聚甲基丙烯酸甲酯(Polymethyl Methacrylate，PMMA)、聚碳酸酯(Polycarbonate，PC)、聚酰亚胺(Polyimide，PI)中的至少一种。也就是说，基板111可以采用PET、PMMA、PC或PI中任意一种的单一塑料材质制成。如此，基板111质量较轻且具有足够的支撑强度。Please refer to FIG. 5 and FIG. 6 , the substrate assembly 11 includes a substrate 111 and a circuit board 112 carried on the substrate 111 . The substrate 111 is used to carry the lens barrel 12 , the laser emitter 13 and the circuit board 112 . The material of the substrate 111 can be plastic, such as polyethylene terephthalate (Polyethylene Glycol Terephthalate, PET), polymethyl methacrylate (Polymethyl Methacrylate, PMMA), polycarbonate (Polycarbonate, PC), polyamide At least one of imines (Polyimide, PI). That is to say, the substrate 111 can be made of any single plastic material of PET, PMMA, PC or PI. In this way, the substrate 111 is light in weight and has sufficient supporting strength.
电路板112可以是印刷电路板、柔性电路板、软硬结合板中的任意一种。电路板112上可以开设有过孔113，过孔113内可以用于容纳激光发射器13，电路板112一部分被镜筒12罩住，另一部分延伸出来并可以与连接器17连接，连接器17可以将结构光投射模组10连接到电子设备1000的主板上。The circuit board 112 may be any one of a printed circuit board, a flexible circuit board, and a rigid-flex board. A via hole 113 can be opened on the circuit board 112, and the laser transmitter 13 can be accommodated in the via hole 113. A part of the circuit board 112 is covered by the lens barrel 12, and the other part extends out and can be connected with the connector 17. The connector 17 The structured light projection module 10 can be connected to the main board of the electronic device 1000 .
请参阅图6和图7，镜筒12设置在基板组件11上并与基板组件11共同形成收容腔121。具体地，镜筒12可以与基板组件11的电路板112连接，镜筒12与电路板112可以通过粘胶粘接，以提高收容腔121的气密性。当然，镜筒12与基板组件11的具体连接方式可以有其他，例如通过卡合连接。收容腔121可以用于容纳准直元件14、衍射光学元件15等元器件，收容腔121同时形成结构光投射模组10的光路的一部分。在本发明实施例中，镜筒12呈中空的筒状，镜筒12包括镜筒侧壁122和限位凸起123。Please refer to FIG. 6 and FIG. 7 , the lens barrel 12 is disposed on the substrate assembly 11 and forms a receiving chamber 121 together with the substrate assembly 11 . Specifically, the lens barrel 12 may be connected to the circuit board 112 of the substrate assembly 11 , and the lens barrel 12 and the circuit board 112 may be glued to improve the airtightness of the receiving cavity 121 . Certainly, there may be other specific ways of connecting the lens barrel 12 and the substrate assembly 11 , for example, through snap-fit connection. The accommodation cavity 121 can be used to accommodate components such as the collimating element 14 and the diffractive optical element 15 , and the accommodation cavity 121 also forms a part of the optical path of the structured light projection module 10 . In the embodiment of the present invention, the lens barrel 12 has a hollow cylindrical shape, and the lens barrel 12 includes a lens barrel side wall 122 and a limiting protrusion 123 .
镜筒侧壁122包围收容腔121，镜筒侧壁122的外壁可以形成有定位和安装结构，以便于在将结构光投射模组10安装在电子设备1000内时固定结构光投射模组10的位置。镜筒12包括相背的第一面124和第二面125，其中收容腔121的一个开口开设在第二面125上，另一个开口开设在第一面124上。第二面125与电路板112结合，例如胶合，第一面124可以作为镜筒12与保护盖16等的结合面。请结合图9和图10，镜筒侧壁122的外壁开设有容胶槽126，容胶槽126可以自第一面124开设并向第二面125的方向延伸。The side wall 122 of the lens barrel surrounds the receiving cavity 121, and the outer wall of the side wall 122 of the lens barrel may be formed with a positioning and installation structure, so as to fix the structured light projection module 10 when the structured light projection module 10 is installed in the electronic device 1000. Location. The lens barrel 12 includes a first surface 124 and a second surface 125 opposite to each other, wherein one opening of the receiving cavity 121 is opened on the second surface 125 , and the other opening is opened on the first surface 124 . The second surface 125 is combined with the circuit board 112 , for example glued, and the first surface 124 can be used as a bonding surface between the lens barrel 12 and the protective cover 16 . Please refer to FIG. 9 and FIG. 10 , the outer wall of the side wall 122 of the lens barrel is provided with a glue containing groove 126 , and the glue containing groove 126 can be opened from the first surface 124 and extend toward the direction of the second surface 125 .
请参阅图6和图7，限位凸起123自镜筒侧壁122向内凸出，具体地，限位凸起123自镜筒侧壁122向收容腔121内突出。限位凸起123可以呈连续的环状，或者限位凸起123包括多个，多个限位凸起123间隔分布。限位凸起123围成过光孔1231，过光孔1231可以作为收容腔121的一部分，激光穿过过光孔1231后穿入衍射光学元件15。限位凸起123位于第一面124与第二面125之间，限位凸起123与第二面125之间的收容腔121可以用于收容准直元件14，限位凸起123与第一面124之间的收容腔121可以用于收容衍射光学元件15。同时，在组装结构光投射模组10时，当衍射光学元件15与限位凸起123相抵，可以认为衍射光学元件15安装到位，当准直元件14与限位凸起123相抵，可以认为准直元件14安装到位。限位凸起123包括限位面1232，当衍射光学元件15安装在限位凸起123上时，限位面1232与衍射光学元件15结合。Referring to FIG. 6 and FIG. 7 , the limiting protrusion 123 protrudes inward from the side wall 122 of the lens barrel, specifically, the limiting protrusion 123 protrudes from the side wall 122 of the lens barrel into the receiving cavity 121 . The limiting protrusion 123 may be in a continuous ring shape, or comprise a plurality of limiting protrusions 123, and the plurality of limiting protrusions 123 are distributed at intervals. The limiting protrusion 123 encloses a light passing hole 1231 , and the light passing hole 1231 can be used as a part of the receiving cavity 121 , and the laser light passes through the light passing hole 1231 and then penetrates into the diffractive optical element 15 . The limiting protrusion 123 is located between the first surface 124 and the second surface 125, and the receiving cavity 121 between the limiting protrusion 123 and the second surface 125 can be used to accommodate the alignment element 14, and the limiting protrusion 123 and the second surface 125 The receiving cavity 121 between one side 124 can be used for receiving the diffractive optical element 15 . At the same time, when the structured light projection module 10 is assembled, when the diffractive optical element 15 is in contact with the limiting protrusion 123, it can be considered that the diffractive optical element 15 is installed in place; when the collimating element 14 is in contact with the limiting protrusion 123, it can be considered accurate The straight element 14 fits into place. The limiting protrusion 123 includes a limiting surface 1232 , and when the diffractive optical element 15 is installed on the limiting protrusion 123 , the limiting surface 1232 is combined with the diffractive optical element 15 .
请参阅图7和图8，激光发射器13设置在基板组件11上，具体地，激光发射器13可以设置在电路板112上并与电路板112电连接，激光发射器13也可以设置在基板111上并与过孔113对应。此时，可以通过布置导线将激光发射器13与电路板112电连接。激光发射器13用于发射激光，激光可以是可见光或不可见光，例如红外光或紫外光。激光发射器13包括衬底131和多个发光元件132。7 and 8, the laser emitter 13 is arranged on the substrate assembly 11, specifically, the laser emitter 13 can be arranged on the circuit board 112 and be electrically connected with the circuit board 112, and the laser emitter 13 can also be arranged on the substrate 111 and corresponding to the via hole 113 . At this time, the laser emitter 13 may be electrically connected to the circuit board 112 by arranging wires. The laser emitter 13 is used to emit laser light, which can be visible light or invisible light, such as infrared light or ultraviolet light. The laser emitter 13 includes a substrate 131 and a plurality of light emitting elements 132 .
衬底131可以是半导体衬底，比如是晶圆，衬底131安装在基板组件11上。衬底131形成有相背的安装面1312和出光面1311。安装面1312与基板组件11结合，例如安装面1312通过胶合与基板组件11结合。出光面1311上可用于设置多个发光元件132，出光面1311为阶梯面。其中，如图8(a)所示，衬底131的中心的厚度较小，沿衬底向周缘的方向，衬底131的厚度逐渐增大。换言之，在沿衬底131的中心至衬底131的周缘方向上，出光面1311上阶梯的阶梯深度h逐渐减小，此时，激光发射器13的截面图中，若将出光面1311上每个阶梯所在的中心连接而形成一个曲线，该曲线大致呈与圆、椭圆、双曲线、抛物线等曲线中任意一段的形状相同的形状。The substrate 131 may be a semiconductor substrate, such as a wafer, and the substrate 131 is mounted on the substrate assembly 11 . The substrate 131 is formed with a mounting surface 1312 and a light emitting surface 1311 opposite to each other. The installation surface 1312 is combined with the substrate assembly 11 , for example, the installation surface 1312 is combined with the substrate assembly 11 by gluing. The light emitting surface 1311 can be used to arrange a plurality of light emitting elements 132, and the light emitting surface 1311 is a stepped surface. Wherein, as shown in FIG. 8( a ), the thickness of the center of the substrate 131 is small, and the thickness of the substrate 131 gradually increases along the direction of the substrate toward the periphery. In other words, along the direction from the center of the substrate 131 to the periphery of the substrate 131, the step depth h of the steps on the light-emitting surface 1311 gradually decreases. At this time, in the cross-sectional view of the laser emitter 13, if each The centers where the two steps are located are connected to form a curve, which is roughly the same shape as that of any section of a curve such as a circle, an ellipse, a hyperbola, or a parabola.
出光面1311的每个阶梯上设置一个发光元件132，出光面1311上的阶梯越多，发光元件132的个数越多，如此，激光发射器13发射出的光束更多，光束经衍射光学元件15衍射后形成的激光图案的不相关性越高，有利于提升获取的深度图像的精度。发光元件132可以是垂直腔面发射激光器(Vertical Cavity Surface Emitting Laser,VCSEL)等光源。发光元件132沿出光面1311在对应位置的法向向衬底131外发射激光，具体地，出光面1311的任意位置均具有其法向方向，每个发光元件132沿对应位置的法向方向向衬底131外发射激光。A light-emitting element 132 is arranged on each step of the light-emitting surface 1311. The more steps on the light-emitting surface 1311, the more the number of light-emitting elements 132. In this way, the laser emitter 13 emits more light beams, and the light beams pass through the diffractive optical element. The higher the irrelevance of the laser pattern formed after 15 diffraction, the higher the accuracy of the acquired depth image. The light emitting element 132 may be a light source such as a vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, VCSEL). The light-emitting element 132 emits laser light to the outside of the substrate 131 along the normal direction of the light-emitting surface 1311 at the corresponding position. Specifically, any position of the light-emitting surface 1311 has its normal direction, and each light-emitting element 132 emits laser light along the normal direction of the corresponding position. The substrate 131 emits laser light.
可以理解，现有的激光发射器13中发光元件132通常是呈二维阵列布置在激光发射器的衬底131上，此种布置方使得处于激光发射器13中心位置的发光元件132与处于激光发射器13周缘位置的发光元件132向外界投射的激光的光程(激光从激光发射器13发出至投射到空间中的参考平面所经过的路程，该参考平面与准直元件14的光轴垂直)是不一样的，从激光发射器13的中心位置发出的激光的光程小于从激光发射器13的周缘位置发出的激光的光程，而二者的驱动电流通常是一致的，如此，导致投射到空间中的激光图案的亮度分布不均，则图像采集器20采集的由用户反射的激光图案得亮度也分布不均，进一步影响深度图像的计算。It can be understood that the light-emitting elements 132 in the existing laser emitter 13 are usually arranged in a two-dimensional array on the substrate 131 of the laser emitter. The optical path of the laser light projected by the light-emitting element 132 at the peripheral position of the emitter 13 to the outside world (the distance that the laser light passes from the laser emitter 13 to the reference plane projected into the space, the reference plane is perpendicular to the optical axis of the collimation element 14 ) is not the same, the optical path of the laser light sent from the central position of the laser emitter 13 is shorter than the optical path of the laser light emitted from the peripheral position of the laser emitter 13, and the driving current of the two is usually consistent, so, resulting in If the brightness distribution of the laser pattern projected into the space is uneven, the brightness distribution of the laser pattern reflected by the user collected by the image collector 20 will also be uneven, which further affects the calculation of the depth image.
本发明实施方式的结构光投射模组10将激光发射器13的出光面1311设置为中心低、周缘高的阶梯状，从而减小光程差对激光图案的亮度均匀度的影响，如此，有利于图像采集器20采集到亮度分布均匀的由用户反射的激光图案，进一步地有利于提升深度图像的获取精度。In the structured light projection module 10 of the embodiment of the present invention, the light-emitting surface 1311 of the laser emitter 13 is set in a stepped shape with a low center and a high periphery, thereby reducing the influence of the optical path difference on the brightness uniformity of the laser pattern. In this way, there are It is beneficial for the image collector 20 to collect the laser pattern reflected by the user with uniform brightness distribution, which is further beneficial for improving the acquisition accuracy of the depth image.
请参阅图7，准直元件14可以是光学透镜，准直元件14用于准直激光发射器13发射的激光，准直元件14收容在收容腔121内，准直元件14可以沿第二面125指向第一面124的方向组装到收容腔121内。准直元件14包括光学部141和安装部142，安装部142用于与镜筒侧壁122结合并固定准直元件14，在本发明实施例中，光学部141包括位于准直元件14相背两侧的两个曲面。Referring to Fig. 7, the collimating element 14 can be an optical lens, and the collimating element 14 is used for collimating the laser emitted by the laser emitter 13. 125 is assembled into the receiving cavity 121 in the direction of the first surface 124 . The collimating element 14 includes an optical part 141 and a mounting part 142. The mounting part 142 is used to combine with the side wall 122 of the lens barrel and fix the collimating element 14. In the embodiment of the present invention, the optical part 141 includes a Two surfaces on either side.
请参阅图7和图9，衍射光学元件15安装在限位凸起123上，具体地，衍射光学元件15与限位面1232结合以安装在限位凸起123上。衍射光学元件15的外表面包括顶面151、底面152和侧面153。顶面151和底面152相背，侧面153连接顶面151和底面152，当衍射光学元件15安装在限位凸起123上时，底面152与限位面1232结合。本发明实施例中，底面152上形成有衍射结构，顶面151可以是光滑的平面，衍射光学元件15可以将经准直元件14准直后的激光投射出与衍射结构对应的激光图案。衍射光学元件15可以由玻璃制成，也可以说由复合塑料(如PET)制成。Please refer to FIG. 7 and FIG. 9 , the diffractive optical element 15 is installed on the limiting protrusion 123 , specifically, the diffractive optical element 15 is combined with the limiting surface 1232 to be installed on the limiting protrusion 123 . The outer surface of the diffractive optical element 15 includes a top surface 151 , a bottom surface 152 and a side surface 153 . The top surface 151 is opposite to the bottom surface 152 , and the side surface 153 connects the top surface 151 and the bottom surface 152 . When the diffractive optical element 15 is installed on the limiting protrusion 123 , the bottom surface 152 is combined with the limiting surface 1232 . In the embodiment of the present invention, a diffractive structure is formed on the bottom surface 152, the top surface 151 may be a smooth plane, and the diffractive optical element 15 may project the laser light collimated by the collimating element 14 into a laser pattern corresponding to the diffractive structure. The diffractive optical element 15 can be made of glass, or composite plastic (such as PET).
请参阅图7和图9，保护盖16与镜筒12结合，保护盖16用于限制衍射光学元件15的位置，具体地，保护盖16用于防止衍射光学元件15与镜筒12的结合失效后从镜筒12中脱出。请结合图11，保护盖16包括保护顶壁161和保护侧壁162。7 and 9, the protective cover 16 is combined with the lens barrel 12, the protective cover 16 is used to limit the position of the diffractive optical element 15, specifically, the protective cover 16 is used to prevent the combination of the diffractive optical element 15 and the lens barrel 12 from failing Then it will come out from the lens barrel 12. Please refer to FIG. 11 , the protective cover 16 includes a protective top wall 161 and a protective side wall 162 .
保护顶壁161与限位凸起123分别位于衍射光学元件15的相背的两侧，或者说，衍射光学元件15位于限位凸起123与保护顶壁161之间，如此，即使衍射光学元件15与限位凸起123的结合失效了，由于保护顶壁161的限制作用，衍射光学元件15也不会脱出。保护顶壁161开设有通光孔1611，通光孔1611的位置与衍射光学元件15对应，激光先后穿过过光孔1231、衍射光学元件15和通光孔1611后从结构光投射模组10中射出。在本发明实施例中，保护顶壁161的整体形状呈圆角方形，通光孔1611可以呈圆形、矩形、椭圆形、梯形等形状。The protective top wall 161 and the limiting protrusion 123 are respectively located on opposite sides of the diffractive optical element 15, or in other words, the diffractive optical element 15 is located between the limiting protrusion 123 and the protective top wall 161, so that even if the diffractive optical element The combination of 15 and the limiting protrusion 123 fails, and the diffractive optical element 15 will not come out due to the limiting effect of the protective top wall 161 . The protective top wall 161 is provided with a light hole 1611. The position of the light hole 1611 corresponds to the diffractive optical element 15. The laser light passes through the light hole 1231, the diffractive optical element 15 and the light hole 1611 successively, and then is projected from the structured light projection module 10. shoot out. In the embodiment of the present invention, the overall shape of the protective top wall 161 is a square with rounded corners, and the light hole 1611 can be in the shape of a circle, a rectangle, an ellipse, a trapezoid, and the like.
请参阅图9至图11，保护侧壁162自保护顶壁161的周缘延伸，保护盖16罩设在镜筒12上，保护侧壁162与镜筒侧壁122固定连接。保护侧壁162包括多个首尾依次相接的保护子侧壁1621，每个保护子侧壁1621与镜筒侧壁122均固定连接，每个保护子侧壁1621上均形成有点胶孔163。点胶孔163的位置与容胶槽126的位置对应，当保护盖16罩设在镜筒12上后，可以从点胶孔163向容胶槽126内点胶，胶水固化后，保护侧壁162与镜筒侧壁122固定连接。在一个例子中，每个保护子侧壁1621上开设有单个点胶孔163，在另一个例子中，每个保护子侧壁1621上开设有多个点胶孔163，例如两个、三个、四个等，在本发明实施例中，每个保护子侧壁1621上开设有两个点胶孔163，两个点胶孔163分别与容胶槽126的两个内侧壁1261对应，便于用户向容胶槽126的两侧同时点胶，提高点胶速度。进一步地，容胶槽126的内侧壁1261倾斜连接容胶槽126的内底壁1262与镜筒侧壁122的外壁，倾斜连接指的是内侧壁1261与内底壁1262，内侧壁1261与镜筒侧壁122的外壁均不垂直，当胶水被注入到内侧壁1261上时，在内侧壁1261的导引作用下，胶水容易向容胶槽126的中间位置流动，加快胶水填充容胶槽126的速度。Referring to FIG. 9 to FIG. 11 , the protective sidewall 162 extends from the periphery of the protective top wall 161 , the protective cover 16 covers the lens barrel 12 , and the protective sidewall 162 is fixedly connected to the lens barrel sidewall 122 . The protective sidewall 162 includes a plurality of protective subsidewalls 1621 connected end to end, each protective subsidewall 1621 is fixedly connected with the lens barrel sidewall 122, and each protective subsidewall 1621 is formed with a dispensing hole 163 . The position of the dispensing hole 163 corresponds to the position of the glue tank 126. When the protective cover 16 is placed on the lens barrel 12, glue can be dispensed from the glue hole 163 into the glue tank 126. After the glue is cured, the side wall can be protected. 162 is fixedly connected to the side wall 122 of the lens barrel. In one example, a single dispensing hole 163 is opened on each protective sub-wall 1621, and in another example, a plurality of dispensing holes 163 are opened on each protective sub-wall 1621, such as two or three , four, etc., in the embodiment of the present invention, two glue dispensing holes 163 are opened on each protective sub-side wall 1621, and the two glue dispensing holes 163 are respectively corresponding to the two inner side walls 1261 of the glue container 126, which is convenient The user dispenses glue to both sides of the glue tank 126 at the same time to increase the speed of glue dispensing. Further, the inner side wall 1261 of the glue-holding groove 126 is obliquely connected to the inner bottom wall 1262 of the glue-holding groove 126 and the outer wall of the lens barrel side wall 122, the oblique connection refers to the inner side wall 1261 and the inner bottom wall 1262, and the inner side wall 1261 is connected to the lens barrel. The outer walls of the side walls 122 of the cylinder are not vertical. When the glue is injected into the inner side wall 1261, under the guidance of the inner side wall 1261, the glue will easily flow to the middle of the glue-holding groove 126, and the filling of the glue-holding groove 126 will be accelerated. speed.
综上，本发明实施方式的电子设备1000中，多个发光元件132设置在出光面1311上，由于出光面1311为大致呈阶梯面，激光发射器13的出光面1311呈中心低、周缘高的阶梯状，可以减小光程差对激光图案的亮度均匀度的影响，如此，有利于图像采集器20采集到亮度分布均匀的由用户反射的激光图案，进一步地有利于提升深度图像的获取精度。To sum up, in the electronic device 1000 according to the embodiment of the present invention, a plurality of light-emitting elements 132 are arranged on the light-emitting surface 1311. Since the light-emitting surface 1311 is roughly stepped, the light-emitting surface 1311 of the laser emitter 13 is low in the center and high in the periphery. The stepped shape can reduce the influence of the optical path difference on the brightness uniformity of the laser pattern, so that it is beneficial for the image collector 20 to collect the laser pattern reflected by the user with a uniform brightness distribution, which is further conducive to improving the acquisition accuracy of the depth image .
另外，由于保护盖16与镜筒12结合，保护盖16的保护顶壁161与限位凸起123一起限制衍射光学元件15的位置，衍射光学元件15不会沿出光方向脱落，避免激光未经过衍射光学元件15后发射出去，保护用户，提高安全性。In addition, due to the combination of the protective cover 16 and the lens barrel 12, the protective top wall 161 of the protective cover 16 and the limiting protrusion 123 together limit the position of the diffractive optical element 15, so that the diffractive optical element 15 will not fall off along the light emitting direction, preventing the laser from not passing through The diffractive optical element 15 is emitted later, protecting users and improving safety.
在某些实施方式中，如图8(a)所示，出光面1311上的每个阶梯的阶梯宽度w均是相等的。此时，部分阶梯上设置一个发光元件132，部分阶梯上设置多个发光元件132，具体地，例如，沿衬底131的中心至衬底131的周缘的方向上，阶梯上的发光元件132的个数逐渐增大。如此，越靠近衬底131的中心的发光元件132的密度越小，可以进一步提升结构光投射模组10投射的激光图案的发光均匀度。In some embodiments, as shown in FIG. 8( a ), the step width w of each step on the light-emitting surface 1311 is equal. At this time, one light-emitting element 132 is set on some steps, and a plurality of light-emitting elements 132 are set on some steps. Specifically, for example, along the direction from the center of the substrate 131 to the periphery of the substrate 131, the The number gradually increased. In this way, the density of the light emitting elements 132 closer to the center of the substrate 131 is lower, which can further improve the light emission uniformity of the laser pattern projected by the structured light projection module 10 .
在某些实施方式中，如图8(b)所示，在沿衬底131的中心至衬底131的周缘的方向上，出光面1311上阶梯的阶梯宽度w逐渐减小。具体地，相邻两个阶梯的阶梯宽度w之间的差可以是相等的，也即是说，沿衬底131的中心至衬底131的周缘的方向上，出光面1311上阶梯的阶梯宽度w均匀减小，阶梯宽度w为等差数列，该等差数列的公差为负数。均匀减小的阶梯宽度w使得发光元件132的排列密度沿衬底131的中心至衬底131的周缘的方向均匀增加，有利于进一步提升结构光投射模组10投射的激光图案的发光均匀度。In some embodiments, as shown in FIG. 8( b ), in the direction from the center of the substrate 131 to the periphery of the substrate 131 , the step width w of the steps on the light-emitting surface 1311 decreases gradually. Specifically, the difference between the step width w of two adjacent steps may be equal, that is to say, along the direction from the center of the substrate 131 to the periphery of the substrate 131, the step width of the steps on the light-emitting surface 1311 w decreases uniformly, the step width w is an arithmetic sequence, and the tolerance of the arithmetic sequence is a negative number. The uniformly reduced step width w makes the arrangement density of the light-emitting elements 132 increase uniformly along the direction from the center of the substrate 131 to the periphery of the substrate 131 , which is beneficial to further improve the uniformity of light emission of the laser pattern projected by the structured light projection module 10 .
请参阅图8，在某些实施方式中，至少一个发光元件132被单独驱动。具体地，每个发光元件132均可以被单独驱动，每个发光元件132均可以单独发光或者不发光而不受到其他发光元件132的影响；或者多个发光元件132分为多组，每组发光元件132可以包括多个或单个发光元件132，每组发光元件132单独发光或不发光而不受到其他组发光元件132的影响。如此，通过单独控制某些发光元件132发光，另一些发光元件132不发光，可使得激光发射器13发出不同的激光图案。Referring to FIG. 8 , in some embodiments, at least one light emitting element 132 is driven independently. Specifically, each light-emitting element 132 can be driven independently, and each light-emitting element 132 can emit light or not emit light without being affected by other light-emitting elements 132; The element 132 may include multiple or a single light emitting element 132 , and each group of light emitting elements 132 emits light or does not emit light without being affected by other groups of light emitting elements 132 . In this way, by individually controlling some light-emitting elements 132 to emit light and other light-emitting elements 132 not to emit light, the laser emitter 13 can emit different laser patterns.
请参阅图8，在某些实施方式中，至少一个发光元件132用于被驱动以发射不同光强的激光。也就是说，多个发光元件132至少可以发射两种光强。具体地，可以是位于衬底131的中间位置的发光元件132发射光强较弱的激光，以减小结构光投射模组10的零级光束的强度；进一步地，沿远离衬底131的中心的方向，发光元件12的发光强度逐渐增加，如此，进一步减小光程对激光图案的亮度均匀度的影响。Referring to FIG. 8 , in some embodiments, at least one light emitting element 132 is driven to emit laser light with different light intensities. That is to say, the plurality of light emitting elements 132 can emit at least two kinds of light intensities. Specifically, the light-emitting element 132 located in the middle of the substrate 131 may emit laser light with a weaker intensity to reduce the intensity of the zero-order beam of the structured light projection module 10; further, along the In the direction of , the luminous intensity of the light-emitting element 12 increases gradually, so that the influence of the optical path on the brightness uniformity of the laser pattern is further reduced.
请参阅图9至图11，在某些实施方式中，保护盖16还包括自保护侧壁162向内凸出的弹性的第一卡勾164，镜筒12还包括自镜筒侧壁122向外凸出的第二卡勾127，保护盖16罩设在镜筒12上时，第一卡勾164与第二卡勾127咬合以限制保护盖16脱离镜筒12。Referring to FIGS. 9 to 11 , in some embodiments, the protective cover 16 also includes a first elastic hook 164 protruding inward from the protective side wall 162 , and the lens barrel 12 also includes a The protruding second hook 127 , when the protective cover 16 is placed on the lens barrel 12 , the first hook 164 engages with the second hook 127 to limit the protective cover 16 from the lens barrel 12 .
具体地，第二卡勾127可以自容胶槽126的内底壁1262向外凸出，第一卡勾164与第二卡勾127的位置对应，在将保护盖16罩设在镜筒12上的过程中，第一卡勾164与第二卡勾127相抵并发生弹性形变，当保护盖16安装到位后，第一卡勾164与第二卡勾127互相咬合，且会伴随触感反馈和咬合到位的“嗒”声。如此，保护盖16与镜筒12结合更可靠，且在用胶水将保护盖16与镜筒12粘结前，可以先将第一卡勾164与第二卡勾127互相咬合，能有效地固定保护盖16与镜筒12的相对位置，利于点胶的进行。Specifically, the second hook 127 can protrude outward from the inner bottom wall 1262 of the plastic container 126 , the first hook 164 corresponds to the position of the second hook 127 , and the protective cover 16 is placed on the lens barrel 12 In the process of putting on, the first hook 164 and the second hook 127 resist and undergo elastic deformation. When the protective cover 16 is installed in place, the first hook 164 and the second hook 127 will engage with each other, and will be accompanied by tactile feedback and Click into place. In this way, the combination of the protective cover 16 and the lens barrel 12 is more reliable, and before the protective cover 16 and the lens barrel 12 are bonded with glue, the first hook 164 and the second hook 127 can be engaged with each other, which can effectively fix the The relative position of the protective cover 16 and the lens barrel 12 is beneficial to the dispensing.
请参阅图9至图11，在某些实施方式中，每个保护子侧壁1621上均形成有第一卡勾164。对应的，多个容胶槽126内也均设置有第二卡勾127，第二卡勾127与第一卡勾164的位置对应，多个第一卡勾164与对应的第二卡勾127同时咬合，保护盖16与镜筒12的结合更可靠。具体地，第一卡勾164可以与保护子侧壁1621的中间位置对应，第二卡勾127可以与容胶槽126的中间位置对应。当每个保护子侧壁1621形成有至少两个点胶孔163时，第一卡勾164位于至少两个点胶孔163之间，更具体地，每个保护子侧壁1621上的至少两个点胶孔163相对于第一卡勾164对称分布。如此，便于胶水在第一卡勾164和第二卡勾127的两侧分别流动，且两侧的胶水量相当，粘结力较均匀。Referring to FIG. 9 to FIG. 11 , in some embodiments, each of the protective sub-walls 1621 is formed with a first hook 164 . Correspondingly, second hooks 127 are also arranged in the plurality of glue-holding grooves 126, the positions of the second hooks 127 correspond to the positions of the first hooks 164, and the positions of the plurality of first hooks 164 correspond to the corresponding second hooks 127. At the same time, the combination of the protective cover 16 and the lens barrel 12 is more reliable. Specifically, the first hook 164 may correspond to the middle position of the protective sub-side wall 1621 , and the second hook 127 may correspond to the middle position of the glue-holding groove 126 . When each protective sub-side wall 1621 is formed with at least two dispensing holes 163, the first hook 164 is located between the at least two dispensing holes 163, more specifically, at least two dispensing holes 163 on each protective sub-wall 1621 The dispensing holes 163 are distributed symmetrically with respect to the first hooks 164 . In this way, it is convenient for the glue to flow on both sides of the first hook 164 and the second hook 127 respectively, and the amount of glue on both sides is equal, and the adhesive force is relatively uniform.
请参阅图9和图11，在某些实施方式中，保护侧壁162在与第一卡勾164对应的位置开设有避让孔165。在保护盖16罩设在镜筒12的过程中，第一卡勾164与第二卡勾127相抵且第一卡勾164发生弹性形变时，避让孔165为第一卡勾164的弹性形变提供形变空间，即，第一卡勾164发生弹性形变且伸入避让孔165。具体地，第一卡勾164与第二卡勾127相抵时，第一卡勾164向外发生弹性形变，第一卡勾164伸入避让孔165以避免与保护侧壁162发生运动干涉，另外，也便于用户通过避让孔165观察第一卡勾164与第二卡勾127的配合情况，例如判断是不是所有的第一卡勾164均与对应的第二卡勾127咬合好了。Please refer to FIG. 9 and FIG. 11 , in some embodiments, the protective side wall 162 defines an escape hole 165 at a position corresponding to the first hook 164 . When the protective cover 16 is placed on the lens barrel 12, when the first hook 164 is in contact with the second hook 127 and the first hook 164 is elastically deformed, the avoidance hole 165 is provided for the elastic deformation of the first hook 164. The deformation space, that is, the first hook 164 is elastically deformed and extends into the escape hole 165 . Specifically, when the first hook 164 abuts against the second hook 127, the first hook 164 is elastically deformed outward, and the first hook 164 extends into the escape hole 165 to avoid movement interference with the protective side wall 162. , It is also convenient for the user to observe the cooperation between the first hook 164 and the second hook 127 through the escape hole 165, for example, to judge whether all the first hooks 164 are engaged with the corresponding second hooks 127.
请参阅图9和图10，在某些实施方式中，第二卡勾127形成有导引斜面1271，沿保护盖16套入镜筒12的方向，导引斜面1271远离内底壁1262，保护盖16罩设在镜筒12的过程中，第一卡勾164与导引斜面1271相抵。由于导引斜面1271的相对于内底壁1262倾斜，第一卡勾164与第二卡勾127配合的过程中，第一卡勾164受到的第二卡勾127的抵持力缓慢连续地增大，第一卡勾164的形变量也连续地变大，第一卡勾164与第二卡勾127容易卡合。Please refer to FIG. 9 and FIG. 10 , in some embodiments, the second hook 127 is formed with a guiding slope 1271 , along the direction in which the protective cover 16 is inserted into the lens barrel 12 , the guiding slope 1271 is away from the inner bottom wall 1262 to protect the When the cover 16 is installed on the lens barrel 12 , the first hook 164 abuts against the guiding slope 1271 . Due to the inclination of the guide slope 1271 relative to the inner bottom wall 1262, during the mating process of the first hook 164 and the second hook 127, the resisting force of the second hook 127 received by the first hook 164 increases slowly and continuously. As the size increases, the deformation of the first hook 164 also increases continuously, and the first hook 164 and the second hook 127 are easily engaged.
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。In the description of this specification, references to the terms "certain embodiments," "one embodiment," "some embodiments," "exemplary embodiments," "examples," "specific examples," or "some examples" To describe means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of said features. In the description of the present invention, "plurality" means at least two, such as two, three, unless otherwise specifically defined.
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations, the scope of the present invention is defined by the claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810201685.4ACN108508688B (en) | 2018-03-12 | 2018-03-12 | Laser emitters, structured light projection modules, depth cameras and electronic equipment |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810201685.4ACN108508688B (en) | 2018-03-12 | 2018-03-12 | Laser emitters, structured light projection modules, depth cameras and electronic equipment |
| Publication Number | Publication Date |
|---|---|
| CN108508688Atrue CN108508688A (en) | 2018-09-07 |
| CN108508688B CN108508688B (en) | 2021-10-19 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810201685.4AExpired - Fee RelatedCN108508688B (en) | 2018-03-12 | 2018-03-12 | Laser emitters, structured light projection modules, depth cameras and electronic equipment |
| Country | Link |
|---|---|
| CN (1) | CN108508688B (en) |
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| CN110896468A (en)* | 2018-09-13 | 2020-03-20 | 郑州雷动智能技术有限公司 | Time information output system for depth camera equipment |
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