Structured light projection device and optical equipment

Abstract

This application provides a structured light projection device and optical equipment, which may include: a laser generating module, a diffractive optical element (DOE), and a reflective module; the DOE is disposed in the optical path of the laser beam; the reflective module is disposed in the optical path of the structured light; the laser generating module is configured to generate a laser beam; the DOE is configured to generate structured light based on the laser beam; and the reflective module is configured to reflect the structured light. Implementing embodiments of the present invention can effectively adjust various parameters of structured light projection to meet optical requirements in different situations and change the optical path to reduce the size of the optical equipment.

Description

Technical Field

[0001] The present application relates to the field of optical measurement, and in particular to a structured light projection device and an optical equipment. Background Art

[0002] With the in-depth research and widespread application of structured light in the optical field, structured light projection devices or structured light projection components have become increasingly sophisticated. The structured light principle involved in this technology generally generates a light signal with certain structural characteristics (i.e., structured light) that is projected onto a target object, and then an image of the target object is acquired for subsequent measurement and other operations. Generating the required structured light is a critical step in the entire measurement process, impacting subsequent data acquisition. Currently, the components that generate structured light have a fixed basic structure and can produce light signals with fixed characteristic structures. Changing the generated light signal generally requires replacing a different structured light generating component. Moreover, the structured light generated by the replaced component is not completely matched, making it difficult to fully meet the requirements for the light source. In existing solutions, the optical path is difficult to change, and the required optical components occupy a large amount of space, resulting in a large and non-portable device. Summary of the Invention

[0003] The present application provides a structured light projection device and an optical device, which can effectively adjust various parameters such as the structured light projection direction, so as to reduce the size of the device and meet the needs of different situations.

[0004] In a first aspect, an embodiment of the present invention provides a structured light projection device, which may include:

[0005] A laser generating module, a diffractive optical element (DOE), and a reflecting module; the reflecting module is arranged on the optical path of the structured light; the laser generating module is used to generate a laser beam; the DOE is arranged on the optical path of the laser beam; the DOE is used to generate structured light according to the laser beam; and the reflecting module is used to reflect the structured light.

[0006] The structured light projection device in the embodiments of the present invention includes a laser generation module (or original light source), a diffractive optical element (DOE), and a reflector module. These modules can be flexibly combined to generate the desired structured light. After the structured light components are installed, the laser generation module first generates a laser beam (or light source), which is then projected onto the DOE positioned in the beam path. The DOE then generates structured light based on the beam. Finally, the structured light generated by the DOE is reflected and processed by the reflector module. By implementing the embodiments of the present invention, the desired structured light can be generated simply and conveniently, and the projection direction of the light source can be freely adjusted via the reflector module. Furthermore, by varying the relevant structure of the DOE, the structured light formed by the beam can be effectively modified to produce structured light with different structural characteristics. Furthermore, by flexibly combining the required optical components and changing the optical path via the reflector module, more optical signal processing can be accomplished within a limited device space.

[0007] In a possible implementation, the reflection module is a plane reflector; the structured light is projected onto the plane reflector at a first angle; and the plane reflector is configured to reflect the structured light parallel to the plane reflector.

[0008] In one possible implementation, the device also includes a driving module; the driving module is connected to the laser generating module; the driving module is used to drive the laser generating module to perform a first rotation in a preset direction so that the structured light undergoes the first rotation; the plane reflector is used to generate cross-structured light when the structured light undergoes the first rotation.

[0009] In a possible implementation manner, the rotation speed and the preset direction of the first rotation are adjusted according to the cross-structured light.

[0010] In one possible implementation, the device further includes a lens; the lens is arranged in the optical path of the structured light; the driving module is further used to control the distance between the laser generating module and the lens by driving the laser generating module to adjust the laser beam.

[0011] In a possible implementation, the driving module includes a motor.

[0012] In a possible implementation, the device further includes a display screen; and the lens is arranged in an optical path of the structured light including: an optical path between the reflection module and the display screen, or an optical path between the DOE and the reflection module.

[0013] In a possible implementation, the device further includes a collection module; the collection module is configured to collect image information formed by the structured light.

[0014] In the second aspect, an embodiment of the present invention provides a structured light projection device, which may include: a laser generating module, a diffraction optical element DOE, and one or more reflection modules; the laser generating module is used to generate a laser beam; the DOE is arranged on the optical path of the laser beam; the DOE is used to generate structured light with preset optical characteristics according to the laser beam; the one or more reflection modules are arranged on the optical path of the structured light; the one or more reflection modules are used to reflect the structured light. For example, when the volume of the device is not required to be high, the use of reflection modules can be reduced. When the volume of the optical device needs to be reduced, multiple reflection modules can be selected, and each reflection module can be a different reflection element, such as a plane mirror, a magnifying glass or a prism, etc., or a certain inhomogeneous medium, etc.

[0015] Optionally, the one or more reflection modules include a plane reflector; the structured light is projected onto the plane reflector at a first angle; the plane reflector is used to reflect the structured light at a second angle; the first angle and the second angle are adjustable light incident angles.

[0016] Optionally, the device further includes a driving module connected to the laser generating module, configured to drive the laser generating module to perform a first rotation in a preset direction, thereby causing the structured light to undergo the first rotation; and the plane reflector is configured to generate cross-structured light when the structured light undergoes the first rotation. Further optionally, the cross-structured light is one of the parameters for adjusting the rotational speed of the first rotation and the preset direction.

[0017] Optionally, the device further comprises a lens disposed in the optical path of the structured light; the driving module is further configured to drive the laser generating module to control the distance between the laser generating module and the lens, thereby adjusting the laser beam. Optionally, the driving module comprises a motor, a pneumatic cylinder, or a hydraulic cylinder.

[0018] Optionally, the device further includes a display screen; the lens is arranged on the optical path of the structured light, including: the lens is arranged on the optical path between the reflection module and the display screen, or the lens is arranged on the optical path between the DOE and the reflection module.

[0019] Optionally, the device further includes a collection module; the collection module is used to collect image information formed by the structured light. Further optionally, the device further includes a processing module; the processing module is connected to the laser generation module; the processing module is also connected to the driving module; the processing module is used to control the intensity of the laser beam generated by the laser generation module and adjust the motion state of the driving module; the motion state includes rotation and / or translation.

[0020] In a third aspect, embodiments of the present invention provide an optical device that may include a processor, an input device, an output device, a memory, a structured light projection device, and related components or devices connected to the structured light projection device. The processor, input device, output device, and memory are interconnected. The processor is configured to control the structured light projection device to project structured light. The structured light projection device may be the device described in the first or second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0022] Figure 1 is a schematic diagram of the core structure of a structured light projection device provided by an embodiment of the present invention;

[0023] Figure 2 This is a corresponding embodiment provided by the present invention. Figure 1 Schematic diagram of the core structure;

[0024] Figure 3 This is another corresponding embodiment provided by the present invention Figure 1 Schematic diagram of the core structure;

[0025] Figure 4 is a schematic diagram of the complete structure of a structured light projection device provided by an embodiment of the present invention;

[0026] Figure 5 This is a corresponding embodiment provided by the present invention. Figure 4 Schematic diagram of the complete structure;

[0027] Figure 6 This is another corresponding embodiment provided by the present invention Figure 4 Schematic diagram of the complete structure;

[0028] Figure 7 This is another corresponding embodiment provided by the present invention. Figure 4 Schematic diagram of the complete structure;

[0029] Figure 8This is another corresponding embodiment provided by the present invention. Figure 4 Schematic diagram of the complete structure;

[0030] Figure 9 This is another corresponding embodiment provided by the present invention. Figure 4 Schematic diagram of the complete structure;

[0031] Figure 10 It is a structural schematic diagram of an optical device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0033] The terms "first," "second," "third," and "fourth," etc., in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, rather than to describe a specific order. In addition, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0034] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0035] First, some terms used in the embodiments of the present invention are explained to facilitate understanding by those skilled in the art.

[0036] (1) A diffraction grating is a type of grating. It uses a regular structure to periodically modulate the amplitude or phase (or both) of the incident light. The most important application of a diffraction grating in optics is as a spectroscopic device, and it is often used in monochromators and spectrometers. In the embodiments of the present invention, a diffraction grating can also be called a diffraction optical element.

[0037] (2) Structured light is a system consisting of a projector and a camera. The projector projects specific light information onto the surface of an object and the background, which is then captured by the camera. The changes in the light signal caused by the object are used to calculate the object's position and depth, thereby restoring the entire three-dimensional space.

[0038] See Figure 1 , Figure 1 Schematic diagram of the core structure of a structured light projection device provided by an embodiment of the present invention; Figure 1 As shown, the core structure 10 of the structured light projection device in this embodiment includes a laser generating module 101, a diffractive optical element DOE 102, and a reflective module 103; the laser generating module 101 is used to generate a laser beam; the DOE 102 is arranged on the optical path of the laser beam; the DOE 102 is used to generate structured light according to the laser beam; the reflective module 103 is arranged on the optical path of the structured light; the reflective module 103 is used to reflect the structured light.

[0039] The laser generating module includes one or more laser light sources; under preset parameter settings, the laser generating module can control one or more laser light sources to emit laser light. For example, when the laser generating module contains only one laser light source, the laser generating module can control the light source to emit laser light according to a preset frequency or preset light intensity. Optionally, the laser generating module also includes a processor and a memory; the processor is used to control one or more laser light sources in the laser generating module to emit laser light according to a preset program, step, or method; the memory is used to store the program or code executed by the processor. Optionally, the laser generating module can also be another light source of the same type.

[0040] The diffractive optical element 102 is positioned in the optical path of the laser light emitted by the laser generating module; the laser light emitted by the laser generating module illuminates the diffractive optical element. The diffractive optical element can be a preselected diffractive optical element designed to produce a specific optical structure; the diffractive optical element in the device can be replaced based on specific optical requirements. The reflective module 103 is used to reflect the structured light projected onto the reflective module. Optionally, the reflective module 103 can be a device or module assembly that normally reflects light beams, such as a plane mirror.

[0041] The structured light projection device in the embodiment of the present invention includes a laser generation module (or original light source), a diffractive optical element (DOE), and a reflector module. These modules can be flexibly combined to generate the desired structured light. After the structured light components are installed, the laser generation module first generates a laser beam (or light source), which is then projected onto the DOE positioned in the beam path. The DOE then generates structured light based on the beam. Finally, the reflector module reflects the structured light generated by the DOE. By implementing the embodiment of the present invention, the desired structured light can be generated simply and conveniently, and the projection direction of the light source can be freely adjusted via the reflector module. In this embodiment of the present invention, the optical path is altered through reflection, allowing the placement of as many devices as possible within a limited device space. Furthermore, altering the relevant structure of the DOE can effectively change the structured light formed by the beam, resulting in structured light with different structural characteristics.

[0042] It should be noted that in the subsequent figures, the embodiments of the present invention are illustrated using a single laser generating module, a single diffraction optical element, and a single reflection module as examples, and do not limit the number of modules, the selection of specific device models, and the selection of quantity, etc. in this application.

[0043] An embodiment of a device according to an embodiment of the present invention has been described above. The following describes an architectural diagram of module connections corresponding to the embodiment of the device.

[0044] See Figure 2-Figure 3 , Figure 2 This is a corresponding embodiment provided by the present invention. Figure 1 The schematic diagram of the core structure; Figure 2 As shown, the architecture of the core structure may include a laser generating module 101, a diffraction optical element 102 and a reflection module 103. The laser generating module 101 is connected to the diffraction optical element 102. The laser beam generated by the laser generating module or other light sources that meet the processing requirements may be transmitted through optical fibers or other optical transmission equipment. After the diffraction optical element 102 receives the light beam emitted by the laser generating module 101, it is processed by the diffraction optical element to emit structured light that meets specific structural characteristics. The diffraction optical element 102 irradiates light onto the reflection module 103; the reflection module 103 projects the received structured light onto the target area at a specific angle. Figure 2 A lens structure (or lens-like component) and a diffraction grating or a slit that meets the conditions adjacent to the lens structure. Figure 2 The reflection module projects the structured light generated by the diffractive optical element 102 into light with specific structural features through the above two components. Figure 2As shown, the diffractive optical element 102 may include the illustrated lenses and gratings. The embodiments of the present invention do not limit the number, arrangement, or structure of the lenses and gratings. For example, between the laser generating module 101 and the outlet for the final projected structured light, multiple reflective modules and corresponding diffractive optical elements may be provided as needed. To reduce the overall size of the optical device, the optical path and reflection direction may be adjusted by configuring components such as reflective modules.

[0045] It should be noted that in Figure 2 In similar figures of this application, the laser generating module 101 is exemplarily shown as a connection between two components. In a specific production application scenario, the laser generating module can be a single integrated multifunctional component or a module assembled from multiple components. Figure 2 As shown, the laser generating module 101 may include a circuit board and a laser emitting diode. The circuit board can provide power to the laser emitting diode and adjust the parameters of the beam emitted by the diode. The present embodiment does not limit the structure of the laser generating module 101 and will not be described in detail below. The above two components will be described as a whole.

[0046] The following is a description of an example architecture of another structured light projection device.

[0047] See Figure 3 , Figure 3 This is another corresponding embodiment provided by the present invention Figure 1 The schematic diagram of the core structure; Figure 3 As shown, the architecture of the core structure includes a laser generating module 101, a diffractive optical element 102 and a reflective module 103. The laser generating module 101 is connected to the diffractive optical element 102. The laser beam or light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission equipment. After the diffractive optical element 102 receives the light beam emitted by the laser generating module 101, it is processed by the diffractive optical element to emit structured light that meets specific structural characteristics. The diffractive optical element 102 irradiates light onto the reflective module 103; the reflective module 103 projects the received structured light onto the target area at a specific angle. Figure 3 The structure shown is Figure 2 The structures shown are basically the same, and the structured light generated is adjusted by changing the positions of some components in the overall device. Figure 3 In the embodiment, a lens-like structural component is arranged between the diffractive optical element 102 and the reflective module 103 to adjust and intervene in the characteristics of the final projected light. Figure 3 The lens and grating shown constitute the diffractive optical element 102, and the lens and grating can be provided separately. In the subsequent figures, the diffractive optical element will not be described in detail.

[0048] The above describes in detail the device embodiments involved in the embodiments of the present invention. The following describes an embodiment of the device involved.

[0049] See Figure 4 , Figure 4 Schematic diagram of the complete structure of a structured light projection device provided by an embodiment of the present invention; Figure 4 As shown, the complete structure 30 of the structured light projection device may include a laser generating module 101, a diffractive optical element DOE 102, a reflecting module 103, a driving module 104, a lens 105, a display screen 106 and a collection module 107. Optional units may also include a driving module 104, a lens 105, a display screen 106 and a collection module 107. Specifically, the lens 105 and the aforementioned lens structure may be the same type of component or may be different. The reflecting module is arranged on the optical path of the structured light; the laser generating module is used to generate a laser beam; the DOE is arranged on the optical path of the laser beam; the DOE is used to generate structured light according to the laser beam; and the reflecting module is used to reflect the structured light.

[0050] In a possible implementation, the reflection module 103 is a plane reflector; the structured light is projected onto the plane reflector at a first angle; and the plane reflector is configured to reflect the structured light parallel to the plane reflector.

[0051] In one possible implementation, the complete structure 30 of the structured light projection device also includes a driving module 104; the driving module 104 is connected to the laser generating module 101; the driving module 104 is used to drive the laser generating module 101 to perform a first rotation in a preset direction so that the structured light undergoes the first rotation; the plane reflector is used to generate cross-structured light when the structured light undergoes the first rotation.

[0052] In a possible implementation manner, the rotation speed and the preset direction of the first rotation are adjusted according to the cross-structured light.

[0053] In one possible implementation, the complete structure 30 of the structured light projection device also includes a lens 105; the lens 105 is arranged on the optical path of the structured light; the driving module 104 is also used to control the distance between the laser generating module 101 and the lens 105 by driving the laser generating module to adjust the laser beam.

[0054] In one possible implementation, the driving module 104 includes a motor. The driving module 104 may also be a driving component other than a motor. In another possible implementation, the complete structure 30 of the structured light projection device also includes a display screen 106 . The lens 105 is disposed in the structured light optical path, including the optical path between the reflection module 103 and the display screen 106 , or the optical path between the DOE 102 and the reflection module 103 .

[0055] In a possible implementation, the complete structure 30 of the structured light projection device further includes a collection module 107 ; the collection module 107 is configured to collect image information formed by the structured light.

[0056] The structured light projection device in the embodiment of the present invention includes a laser generation module (or original light source), a diffractive optical element (DOE), and a reflection module. These modular components can be flexibly combined to generate the required structured light as needed. After the structured light components are installed, the laser generation module first generates a laser beam (or light source), which is projected onto the DOE positioned in the beam path. The DOE then generates structured light based on the beam. Finally, the structured light generated by the DOE can be reflected and processed by the reflection module. By implementing the embodiment of the present invention, the required structured light can be generated simply and conveniently, and the projection direction of the light source can be freely adjusted via the reflection module. Furthermore, by changing the relevant structure of the DOE, the structured light formed by the beam can be effectively changed to obtain structured light with different structural characteristics.

[0057] It should be noted that the functions of the functional units of the complete structure 30 of the structured light projection device in the embodiment of the present invention can be found in the above Figure 1 The relevant descriptions in the corresponding device embodiments will not be repeated here.

[0058] Another device embodiment related to the embodiment of the present invention has been described above. The following describes an architectural diagram of four module connections corresponding to the device embodiment.

[0059] See Figure 5 , Figure 5 This is a corresponding embodiment provided by the present invention. Figure 4 The schematic diagram of the complete structure; Figure 5As shown, the architecture of the complete structure may include a laser generating module 101, a diffraction optical element 102 and a reflection module 103. Among them, the laser generating module 101 is connected to the diffraction optical element 102, and the laser beam or light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission equipment. After the diffraction optical element 102 receives the light beam emitted by the laser generating module 101, it is processed by the diffraction optical element to emit structured light that meets specific structural characteristics. The diffraction optical element 102 irradiates light onto the reflection module 103; the reflection module 103 projects the received structured light to the target area at a specific angle. It is understandable that the materials of different reflection modules and the positions where the reflection modules are set can affect the reflected light. The structural components in the figure may also include lenses and gratings. It is understandable that only the corresponding Figure 4 The key components involved in the structured light projection part are shown, and other non-core components are not fully shown.

[0060] See Figure 6 , Figure 6 This is another corresponding embodiment provided by the present invention Figure 4 The schematic diagram of the complete structure; Figure 6 As shown, the architecture of the complete structure includes a laser generating module 101, a diffraction optical element 102, and a reflection module 103. Among them, the laser generating module 101 is connected to the diffraction optical element 102, and the laser beam or light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission equipment. After the diffraction optical element 102 receives the light beam emitted by the laser generating module 101, it is processed by the diffraction optical element to emit structured light that meets specific structural characteristics. The diffraction optical element 102 irradiates light onto the reflection module 103; the reflection module 103 projects the received structured light to the target area at a specific angle. Figure 6 In the embodiment, the laser generating module 101 or the diffractive optical element 102 is rotated in a certain direction, and a cross structured light can be formed through reflection from the reflection module. Specifically, in the case of rotating the laser generating module in a certain direction, one or more of the parameters such as the rotation angle, rotation speed or rotation frequency can be adjusted. It is understood that only the corresponding Figure 4 The key components of the structured light projection part are shown in the figure, and other non-core components are not fully shown. The structural components in the figure can also include lenses and gratings.

[0061] See Figure 7 , Figure 7 This is another corresponding embodiment provided by the present invention. Figure 4 The schematic diagram of the complete structure; Figure 7As shown, the complete structure includes a laser generating module 101, a diffractive optical element 102, a reflective module 103 and a lens 105. The laser generating module 101 is connected to the diffractive optical element 102, and the laser beam or light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission equipment. After the diffractive optical element 102 receives the light beam emitted by the laser generating module 101, it is processed by the diffractive optical element to emit structured light that meets specific structural characteristics. The diffractive optical element 102 irradiates the light onto the reflective module 103 (wherein the reflective module is Figure 7 (not shown); the reflection module 103 projects the received structured light to the target area at a specific angle. The structural components in the figure may also include a grating. The lens 105 is set between the grating structure included in the diffractive optical element 102 and the laser generating module 101. The distance between the diffractive optical element 102 and the lens 105 can be Figure 7 The distance R will affect the quality of the light beam. It is understandable that the embodiment of the present invention only lists the corresponding Figure 4 The key components involved in the structured light projection part are shown, and other non-core components are not fully shown.

[0062] See Figure 8 , Figure 8 This is another corresponding embodiment provided by the present invention. Figure 4 The schematic diagram of the complete structure; Figure 8 As shown, the core structure includes a laser generating module 101, a diffractive optical element 102, and a reflective module 103. The laser generating module 101 is connected to the diffractive optical element 102, and the laser beam or light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission equipment. After the diffractive optical element 102 receives the light beam emitted by the laser generating module 101, it is processed by the diffractive optical element to emit structured light that meets specific structural characteristics. The diffractive optical element 102 irradiates the light onto the reflective module 103 (wherein the reflective module is Figure 8 (not shown); the reflective module 103 projects the received structured light to the target area at a specific angle. It is understandable that the materials of different reflective modules and the positions of the reflective modules can affect the reflected light. The structural components in the figure can also include gratings. The lens 105 is set between the grating structure included in the diffractive optical element 102 and the laser generating module 101. The distance between the diffractive optical element 102 and the lens 105 can be Figure 7 The distance R will affect the quality of the beam. Figure 7 and Figure 8It can be seen from the comparison that the distance between different diffractive optical elements and the lens will cause different projected light to meet the requirements of structured light projection in different scenes or under different circumstances. It is understandable that the embodiment of the present invention only lists the corresponding Figure 4 The key components involved in the structured light projection part are shown, and other non-core components are not fully shown.

[0063] The above describes several structured light architectures provided by the embodiments of the present invention. The following describes another type of reflective module and light path.

[0064] like Figure 9 As shown, Figure 9 This is another corresponding embodiment provided by the present invention Figure 4 The schematic diagram of the complete structure; Figure 9 As shown, the architecture lists a laser generating module 101 and a reflecting module 103. The laser generating module emits a laser that reaches the reflecting module 103. In the embodiment of the present invention, the reflecting module is a prism; the prism is used to project the laser emitted by the laser generating module in an antiparallel direction, that is, the direction of the reflected laser is opposite to the direction of the incident laser. Optionally, the diffraction optical element 102 can be set at any position on the laser light path emitted by the laser generating module 101. The position of this component is not specifically shown in the embodiment of the present invention. It is understandable that only the corresponding Figure 4 The key components involved in the structured light projection part are shown, and other non-core components are not fully shown.

[0065] See Figure 10 , Figure 10 is a schematic diagram of the structure of an optical device provided by an embodiment of the present invention. The aforementioned device may be included in Figure 10 The device 90 may include at least one memory 901, at least one input device 902, at least one processing device 903, at least one output device 904, and at least one structured light projection device 905. Furthermore, the device may include common components such as an antenna and a power supply, which are not described in detail here. The processor 903 is used to control the structured light projection device to project structured light.

[0066] The memory 901 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, an optical disc storage (which may include a compact disc, a laser disc, an optical disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a bus. The memory may also be integrated with the processor.

[0067] The input device 902 can receive signals from other devices or networks, or can receive instructions from the user or input instructions from a human-computer interaction device. Optionally, the input device can be a keyboard, mouse, touch screen, microphone, camera, etc.

[0068] The processor 903 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program.

[0069] The output device 904 is used to output the processing result of the processor. Optionally, the output device can be a display screen, a sound device (such as a speaker), or a part of the mechanical structure of the control device to perform a certain action or gesture.

[0070] Figure 9 When the device shown is the core structure 10 of the structured light projection device or the complete structure 30 of the structured light projection device, the structured light projection device 905 may include a laser generating module, a diffraction optical element DOE, and a reflection module; the laser generating module is used to generate a laser beam; the DOE is arranged on the optical path of the laser beam; the DOE is used to generate structured light according to the laser beam; the reflection module is arranged on the optical path of the structured light; and the reflection module is used to reflect the structured light.

[0071] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0073] In the several embodiments provided by the present invention, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The units of the above-mentioned device embodiments may or may not be physically separated, and some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0074] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units. If the aforementioned integrated units are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium.

[0075] Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and can include several instructions to enable a computer device (which can be a personal computer, server or network device, etc., specifically a processor in the computer device) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. Among them, the aforementioned storage medium can include: a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. Various media that can store program code. As described above, the above embodiments are only used to illustrate the technical solution of the present invention, not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that it is still possible to modify the technical solutions described in the above embodiments, or to replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate from the essence of the corresponding technical solution from the spirit and scope of the technical solution of each embodiment of the present invention.

Claims

1. A structured light projection device, characterized in that: include: Laser generating module, driving module, diffractive optical element DOE, and one or more reflection modules; The laser generating module is connected to the DOE for generating a laser beam; the DOE is arranged on the optical path of the laser beam; The DOE is used to generate structured light with preset optical characteristics according to the laser beam; the one or more reflection modules are arranged on the optical path of the structured light; The driving module is connected to the laser generating module and is used to drive the laser generating module and the DOE to perform a first rotation in a preset direction, so that the structured light performs the first rotation; The one or more reflection modules are used to reflect the structured light generated by the first rotation when the laser generating module is rotated in the preset direction to form cross-structured light; the cross-structured light is one of the parameters for adjusting the rotation speed of the first rotation and the preset direction.

2. The structured light projection device according to claim 1, wherein: The one or more reflection modules include a plane reflector; the structured light is projected onto the plane reflector at a first angle; the plane reflector is used to reflect the structured light at a second angle; the first angle and the second angle are adjustable light incident angles.

3. The structured light projection device according to claim 2, wherein: The plane reflector is configured to generate the cross-structured light when the structured light undergoes the first rotation.

4. The structured light projection device according to claim 1, wherein: The laser generating module includes one or more laser light sources; the laser generating module is used to control the one or more laser light sources to emit the laser beam under preset parameter settings.

5. The structured light projection device according to claim 1, wherein: The device further includes a lens; the lens is arranged on the optical path of the structured light; The driving module is further used to control the distance between the laser generating module and the lens by driving the laser generating module, so as to adjust the laser beam.

6. The structured light projection device according to claim 1, wherein: The driving module includes a motor, a cylinder or a hydraulic cylinder.

7. The structured light projection device according to claim 5, wherein: The device further includes a display screen; the lens is arranged on the optical path of the structured light, including: the lens is arranged on the optical path between the reflection module and the display screen, or the lens is arranged on the optical path between the DOE and the reflection module.

8. The structured light projection device according to claim 1, wherein: The device further includes a collection module; the collection module is used to collect image information formed by the structured light.

9. The structured light projection device according to any one of claims 1 to 8, characterized in that: The device further comprises a processing module; the processing module is connected to the laser generating module; the processing module is also connected to the driving module; The processing module is used to control the intensity of the laser beam generated by the laser generating module and adjust the motion state of the driving module; the motion state includes rotation and / or translation.

10. An optical device, characterized in that: It comprises the structured light projection device according to any one of claims 1 to 9 and related components or devices connected to the structured light projection device.

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