Design method, lens assembly, robot, electronic device and storage medium

Abstract

The present application provides a design method, lens assembly, robot, electronic device, and storage medium. The design method is applied to a lens, which is used to project light emitted by a light source. The design method includes: determining the precision dimensions of the lens processing and the size of the lens's aperture, dividing the aperture into regions based on the precision dimensions to obtain a number of processing regions; determining the wavelength of the light projected through the lens and the optical focal length of the lens, and obtaining a phase diagram of the processed lens surface based on the wavelength of the light source and the optical focal length of the lens and the processing regions, wherein the phase diagram is used to indicate the processing of the lens surface. The technical solution of the present application can provide an effective design solution, and the surface microstructure processing of the lens can be completed according to the design solution.

Description

Technical Field

[0001] The present application relates to the technical field of scene modeling, and in particular to a design method, a lens assembly, a robot, an electronic device, and a storage medium. Background Art

[0002] 3D imaging technology not only captures a two-dimensional image of an object but also captures its depth information, thereby constructing a three-dimensional model and completing the image. As a result, 3D imaging technology is increasingly being used in consumer electronics, for example in facial recognition payments.

[0003] To achieve 3D modeling, a speckled pattern must be projected into space, and the light reflected back from the target object must be received. The 3D model is then constructed by calculating the duration of the reflected light. To achieve this, the surface of the lens that projects the light must be microstructured to produce the speckled pattern. However, effective methods for designing the microstructured shapes are currently lacking.

[0004] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present application and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the Invention

[0005] One purpose of the present application is to provide a design method, lens assembly, robot, electronic device and storage medium, which can provide an effective design solution and complete the surface microstructure processing of the lens according to the design solution.

[0006] According to one aspect of the present application, a design method is provided. The design method is applied to a lens, wherein the lens is used to project light emitted by a light source. The design method includes:

[0007] Determining the precision size of the lens processing and the size of the lens's clear aperture, and dividing the clear aperture into regions according to the precision size to obtain a plurality of processing regions;

[0008] The wavelength of light projected through the lens and the optical focal length of the lens are determined, and based on the wavelength of the light source and the optical focal length of the lens and the processing area, a phase map of the processed lens surface is obtained, wherein the phase map is used to indicate the processing of the lens surface.

[0009] In one aspect, the step of dividing the clear aperture into regions according to the precision size includes:

[0010] Dividing the size of the clear aperture into M*N areas, i.e., areas of M rows and N columns, where M and N are positive integers greater than zero;

[0011] The processing area is r ij , that is, the position of the i-th row and j-th column, where 0≤i≤M, 0≤j≤N.

[0012] In one aspect, the wavelength of the light source is λ, the optical focal length of the lens is f, Representing the phase diagram of the lens, it satisfies:

[0013]

[0014] In one aspect, x i Represents the row coordinate, y j represents the column coordinate, x0 represents the row starting point, y0 represents the column starting point, then the processing area r ij satisfy:

[0015] r ij 2 =(x i -x0) 2 +y j -y0) 2 .

[0016] In one aspect, the precision dimension is α, and the divergence angle of the light source in the horizontal x direction is θ x , the divergence angle of the light source in the vertical y direction is θ y ;

[0017] but:

[0018] M=[2×f×tan(θ x / 2)] / α, N=[2×f×tan(θ y / 2)] / α.

[0019] In one aspect, the light spot emitted by the light source is a circular light spot, and M is equal to N.

[0020] In one aspect, after the step of obtaining the phase map of the processed lens surface, the method further comprises:

[0021] Perform Gaussian filtering on the phase image.

[0022] In addition, in order to solve the above problems, the present application also provides a lens assembly, which includes a light source and a lens. The lens is arranged in the light emitting direction of the light source. The lens has a light incident surface facing the light source and a light emitting surface facing away from the light source. The light incident surface has a phase structure, and the phase structure is processed using the design method described above.

[0023] In one aspect, the lens includes a diffraction element and a collimator, the diffraction element and the collimator are in contact, the diffraction element is arranged on a side of the collimator facing away from the light source, the light source is located at the focal plane position of the collimator, and the surface of the collimator facing the light source is the light incident surface.

[0024] In one aspect, the lens includes an array mirror, the light source is located at a defocused position of the array mirror, the surface of the array mirror facing the light source is the light incident surface, the lens assembly outputs m*n light spots, the light incident surface is provided with m*n phase structures, one phase structure corresponds to one light spot, and m and n are positive integers greater than zero.

[0025] In addition, in order to solve the above problems, the present application also provides a robot, which includes a shell and a depth camera, wherein the depth camera is arranged in the shell, and the depth camera includes a light receiver and a lens assembly as described above, wherein the lens assembly is used to emit light to the outside world, and the light receiver is used to receive light reflected back from the outside world.

[0026] In addition, in order to solve the above problems, the present application also provides an electronic device, including:

[0027] a memory storing computer-readable instructions;

[0028] The processor reads the computer-readable instructions stored in the memory to execute any one of the design methods described above.

[0029] In addition, in order to solve the above problems, the present application also provides a storage medium on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes any one of the design methods described above.

[0030] In the technical solution of this application, the parameters of the designed lens are predetermined. These parameters include the precision dimensions of the lens processing, the size of the lens's aperture, the wavelength of the light projected through the lens, and the lens's optical focal length. The aperture is then divided into regions based on the precision dimensions to obtain a number of processing areas. Based on the wavelength of the light source and the lens's optical focal length, a phase diagram of the processed lens surface is calculated and obtained in combination with the processing areas. The phase diagram represents the uneven structural shape of the lens surface, and the lens surface is processed based on the phase diagram to complete the microstructural processing of the lens surface. The surface microstructure processed according to this technical solution can effectively achieve the output of a scattered speckle pattern.

[0031] It should be understood that the foregoing general description and the following detailed description are merely illustrative and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other objects, features and advantages of the present application will become more apparent by describing in detail example embodiments thereof with reference to the attached drawings.

[0033] Figure 1 It is a flow chart of an embodiment of the design method in this application.

[0034] Figure 2 It is a phase distribution change diagram in the design method of this application.

[0035] Figure 3 This is a phase distribution diagram in the design method of this application.

[0036] Figure 4 It is a flow chart of another embodiment of the design method in this application.

[0037] Figure 5 It is a schematic diagram of the distribution of multiple phase diagrams in the design method of this application.

[0038] Figure 6 It is a structural diagram of an embodiment of the lens assembly in this application.

[0039] Figure 7 It is a structural schematic diagram of another embodiment of the lens assembly in the present application.

[0040] Figure 8 It is a schematic diagram of the connection structure of the electronic device in this application.

[0041] The following are the descriptions of the reference numerals:

[0042] 10. Lens; 20. Electronic equipment; 30. External equipment;

[0043] 101. Light incident surface; 102. Light exit surface; 103. Microstructure; 110. Light source; 120. Diffraction element; 130. Collimator; 140. Array mirror; 150. Mirror tube; 160. Base;

[0044] 210, processing unit; 220, storage unit; 230, bus; 240, display unit; 250, input / output interface; 260, network adapter;

[0045] 2201, random access memory unit; 2202, cache memory unit; 2203, read-only memory unit; 2204, utility tool; 2205, program module. DETAILED DESCRIPTION

[0046] Although the present application can be easily embodied in different forms of embodiments, only some of the specific embodiments are shown in the drawings and will be described in detail in this specification. It should be understood that this description should be regarded as an exemplary illustration of the principles of the application and is not intended to limit the application to what is described herein.

[0047] Thus, a feature indicated in this specification will be used to illustrate one of the features of one embodiment of the present application, rather than implying that each embodiment of the present application must have the described feature. In addition, it should be noted that this specification describes many features. Although certain features can be combined together to illustrate possible system designs, these features can also be used in other, not explicitly described, combinations. Thus, unless otherwise stated, the described combinations are not intended to be limiting.

[0048] In the embodiments shown in the accompanying drawings, directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of various components of the present application are not absolute but relative. These descriptions are applicable when these components are in the positions shown in the accompanying drawings. If the descriptions of the positions of these components are changed, the directional indications will also change accordingly.

[0049] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that the description of this application will be more comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The accompanying drawings are merely schematic illustrations of the present application and are not necessarily drawn to scale. Identical reference numerals in the figures indicate identical or similar parts, and thus repeated descriptions thereof will be omitted.

[0050] See Figure 1 As shown, the present application provides a design method, which is applied to a lens 10. The lens 10 is used to project light emitted by a light source 110. The lens 10 has a light entrance surface 101 facing the light source 110 and a light exit surface 102 facing away from the light source 110. The design of the lens 10 generally refers to the design of the light entrance surface 101 of the lens 10, but it can also refer to the design of the light exit surface 102 of the lens 10. The light source 110 is generally invisible light, such as infrared light, so that it does not affect the user's visual observation when constructing a model of the target object.

[0051] For example, light source 110 is a vertical-cavity surface-emitting laser (VCSEL). A VCSEL is a semiconductor whose laser light is emitted perpendicular to its top surface. VCSELs can be tested for quality and troubleshooted at any stage of the manufacturing process. Because VCSEL laser light is emitted perpendicular to the reaction zone, as opposed to edge-emitting lasers, which emit parallel to the reaction zone, tens of thousands of VCSELs can be processed simultaneously on a single three-inch gallium arsenide chip. Furthermore, while VCSEL manufacturing requires more labor and delicate materials, the production results are controllable and more predictable. VCSELs are typically composed of numerous sub-light sources 110 arranged in a two-dimensional pattern. Compared to traditional light sources 110, VCSELs offer advantages such as smaller size, smaller divergence angle, and more concentrated energy. Lens 10 also includes a base 160, to which light source 110 is mounted, which can be mounted using silver adhesive bonding.

[0052] Design methods include:

[0053] Step S10 determines the precision dimensions of the lens 10 to be machined, as well as the size of the clear aperture of the lens 10. The clear aperture is then divided into regions based on the precision dimensions to obtain a number of machining areas. The precision dimensions of the lens 10 to be machined refer to the minimum size that can be processed, such as 100 nm, or 1000 nm, or between 100 nm and 1000 nm. The precision dimensions are generally determined by the design specifications and the accuracy of the equipment. The clear aperture can also be understood as an aperture. In this embodiment, the clear aperture can be fixed or variable in size. The larger the clear aperture, the more light passes through, and vice versa.

[0054] The design of lens 10 has target parameters. These include the precision dimensions of lens 10, the aperture size of lens 10, the wavelength of light projected by lens 10, and the optical focal length of lens 10. When designing lens 10, these target parameters can be pre-stored in memory and retrieved during design calculations for processing and application.

[0055] In step S20, the wavelength of the light projected through the lens 10 and the optical focal length of the lens 10 are determined. Based on the wavelength of the light source 110 and the optical focal length of the lens 10 and the processing area, a phase map of the processed surface of the lens 10 is obtained, wherein the phase map is used to indicate the processing of the surface of the lens 10.

[0056] The wavelength of the light projected by the lens 10 is the wavelength of the light emitted by the light source 110, that is, the wavelength of the light emitted by the VCSEL. The wavelength of the light projected by the lens 10 is 850nm or 940nm, or is between 850nm and 940nm.

[0057] The processing area can generally be within the size range of the clear aperture, and can be just equal to the clear aperture or smaller than the clear aperture. Of course, in order to make the processing area more effectively cover the clear aperture, the processing area can also be larger than the corresponding size of the clear aperture.

[0058] The calculated phase map can be understood as a concave-convex design, and the surface of the lens 10 is processed according to this concave-convex design, thereby forming a concave-convex microstructure 103 on the surface of the lens 10. Light passes through these microstructures 103 to achieve a scattered speckle pattern output.

[0059] In the technical solution of this embodiment, the parameters of the designed lens 10 are predetermined. These parameters include the precision dimensions of the lens 10, the size of the lens 10's aperture, the wavelength of the light projected through the lens 10, and the optical focal length of the lens 10. The aperture is then divided into regions based on the precision dimensions to obtain a number of processing areas. Based on the wavelength of the light source 110 and the optical focal length of the lens 10, a phase map of the processed lens 10 surface is calculated and obtained. The phase map represents the uneven structural shape of the lens 10 surface. Based on this phase map, the lens 10 surface is processed to form a microstructure 103 on the lens 10 surface. The surface microstructure 103 processed according to this technical solution can effectively achieve the output of a scattered speckle pattern.

[0060] In order to obtain the phase diagram, the steps of dividing the clear aperture into regions according to the precision size include:

[0061] The size of the clear aperture is divided into M*N areas, that is, areas of M rows and N columns, where M and N are positive integers greater than zero; and the size areas corresponding to the clear aperture are divided into an M*N matrix.

[0062] The processing area is r ij , that is, the position of the i-th row and the j-th column, where 0≤i≤M, 0≤j≤N. The corresponding area selected on the M*N matrix area is the processing area r ij , processing area r ij The size of the area represents the processing accuracy size. Dividing it into an M*N matrix completes the preliminary processing of the data, which is convenient for mathematical calculations.

[0063] Furthermore, the wavelength of the light source 110 is λ, the optical focal length of the lens 10 is f, Representing the phase diagram of lens 10, it satisfies:

[0064]

[0065] According to the above formula, the phase distribution of the lens 10 surface to be processed can be calculated. Figure 2 As shown, the horizontal axis represents the processing area size, and the vertical axis represents the phase distribution. It can be seen that as the processing area size changes, the phase distribution also changes, that is, the surface unevenness of lens 10 also changes. The horizontal axis represents the processing area divided into 500 units, and the vertical axis is a proportional relationship.

[0066] In order to better and more accurately complete the processing area ij Calculation of x i Represents the row coordinate, y j Represents the column coordinate, x0 represents the starting point of the row, y0 represents the starting point of the column, then the processing area r ij satisfy:

[0067] r ij 2 =(x i -x0) 2 +y j -y0) 2 .

[0068] For example, if the points x0 and y0 are located at the first point in the upper left corner of the M*N matrix area, then the first point in the upper left corner is the starting point, and the processing area r is calculated from left to right and from top to bottom. ij .

[0069] Of course, the starting point can also be the first point in the upper right corner, in which case the calculation order is from right to left, from top to bottom. Alternatively, if the starting point is the first point in the lower left corner, the calculation order is from left to right, from bottom to top. Alternatively, if the starting point is the first point in the lower right corner, the calculation order is from right to left, from bottom to top.

[0070] Furthermore, in order to better confirm the size of the processing area, the precision size is α, and the divergence angle of the light source 110 in the horizontal x direction is θ x , the divergence angle of the light source 110 in the vertical y direction is θ y ;

[0071] Then: M=[2×f×tan(θ x / 2)] / α, N=[2×f×tan(θ y / 2)] / α.

[0072] If the divergence angles in the horizontal and vertical directions are different, the clear aperture is a rectangle, with the length of the rectangle corresponding to the horizontal direction and the width of the rectangle corresponding to the vertical direction. Alternatively, the size of the clear aperture can be understood as an ellipse, with a major axis and a minor axis, with the major axis corresponding to the horizontal direction and the minor axis corresponding to the vertical direction.

[0073] From the above formula, we can know that the size of the processing area is determined by the divergence angle θ in the horizontal x direction. x , and the divergence angle θ in the vertical y direction y Decide.

[0074] In addition, if the light spot emitted by the light source 110 is a circular light spot, then M is equal to N. The divergence angle θ in the horizontal x direction x , and the divergence angle θ in the vertical y direction y If it is a square, the divergence angle θ in the horizontal x direction x , and the divergence angle θ in the vertical y direction y Also equal.

[0075] Assuming that the precision dimension α is 1 μm, the optical focal length f is 1.6 mm, the divergence angle θ is 18°, M and N are equal to 500, and the wavelength λ of the light emitted by the light source 110 is 940 nm, the design is as follows: Figure 2 The phase diagram shown. Figure 3 As shown, the black position represents a raised position, the white position represents a sunken position, and there are a plurality of transition positions between the black position and the white position.

[0076] in addition, Figure 3 Several square grid cells can be seen in the figure, each grid cell represents a processing area r ij The phase diagram is composed of grid cells arranged in rows and columns.

[0077] See Figure 4 As shown, in order to obtain a more accurate phase map, after the step of obtaining the phase map of the surface of the processed lens 10, the following steps are included:

[0078] Step S30: Gaussian filtering is performed on the phase map. After the phase calculation for each grid cell is completed, a small number of invalid points may be present. These invalid points can be filtered out using a filtering method, specifically Gaussian filtering. After filtering is completed, a phase map can be derived, and microstructure 103 processing can be performed on the surface of lens 10 based on this phase map.

[0079] See Figure 4 and Figure 5As shown, the present application also provides a lens assembly, which includes a light source 110 and a lens 10. The lens 10 is arranged in the light emitting direction of the light source 110. The lens 10 has a light incident surface 101 facing the light source 110 and a light emitting surface 102 facing away from the light source 110. The light incident surface 101 has a phase structure, and the phase structure is processed using the design method as described above.

[0080] In the traditional module structure, the collimator 130 and the diffractive optical elements 120 (DOE) are discrete components, which makes the entire module occupy a large space and the assembly cost high. In addition, in the robot application scenario, the module with a traditional structure is difficult to meet the requirements of small size and wide angle. For this reason, in this embodiment, the lens 10 includes a diffraction element 120 and a collimator 130. The diffraction element 120 and the collimator 130 are abutted. The abutment method can be direct contact or fixed together by optical adhesive. In addition, the lens 10 includes a lens barrel 150, and the diffraction element 120 and the collimator 130 are both arranged in the lens barrel 150. The diffraction element 120 is arranged on the side of the collimator 130 facing away from the light source 110. The light source 110 is located at the focal plane position of the collimator 130. The surface of the collimator 130 facing the light source 110 is the light incident surface 101.

[0081] Specifically, the diffraction element 120 and the collimator 130 are connected to form an integrated structure and installed in a lens barrel 150; or the two are integrally formed by embossing, etching, or laser direct writing on the same substrate. This allows the alignment error between the diffraction element 120 and the collimator 130 to be reduced to the micron level, far less than the assembly error between components in traditional methods (millimeter level). This approach achieves performance that is superior to that of traditional optics. The light source 110 is placed at the focal plane of the collimator 130. The scattered light spots emitted by the VCSEL light source 110 are collimated when passing through the collimator 130 and then incident on the diffraction element 120 as parallel light. The diffraction element 120 diffracts the collimated light to form a preset pattern. For example, if the VCSEL has 100 sub-light sources 110 and the diffraction element 120 replicates the scattered light spots 100 times based on the preset number, 10,000 scattered spots will be formed in space.

[0082] It should be noted that, in the above embodiment, the lens 10 includes the diffraction element 120 and the collimating lens 130 , which corresponds to a single phase diagram.

[0083] However, in the above embodiment, the collimating lens 130 is usually composed of multiple pieces of glass and plastic lenses to achieve collimation of the light beam, but this method also has multiple disadvantages. First, the lens group is prone to deviation during the assembly process. Second, the lens 10 has a large structural size, which is not conducive to product miniaturization. Third, the cost is high and the assembly is time-consuming.

[0084] Based on this, see Figure 6 and Figure 7 As shown, the lens 10 includes an array lens 140, a light source 110 located at a defocused position of the array lens 140, and a light incident surface 101 on the surface of the array lens 140 facing the light source 110. The lens assembly outputs m*n light spots, and the light incident surface 101 is provided with m*n phase structures, with each phase structure corresponding to one light spot, where m and n are positive integers greater than zero. A single array lens 140 can replace the collimator lens 130, which is composed of multiple lenses, reducing deviations in the assembly process, facilitating product miniaturization, and further reducing costs.

[0085] According to the principle of Huygens spherical waves, at this time, the array mirror 140 only achieves the collimation of the sub-waves in the spherical wave, and one phase diagram corresponds to one light spot. In principle, it can be known that this method can realize the control of each phase diagram, thereby achieving precise control of each output light spot. For example, if the module wants to output m*n light spots, it only needs to integrate m*n phases on the array mirror 140; to realize the operation of a certain light spot, it is only necessary to operate the corresponding parameters in the array mirror 140, such as focal length, phase height, etc., without affecting the performance of other light spots, thus realizing fine control of the light spot.

[0086] The present application also provides a robot comprising a housing and a depth camera, the depth camera being disposed within the housing and comprising a light receiver and a lens assembly, the lens assembly being configured to emit light to the outside world, and the light receiver being configured to receive light reflected from the outside world. The robot calculates the distance to a target object by calculating the time difference between the emitted and received light, thereby constructing a model.

[0087] The lens assembly includes a light source 110 and a lens 10. The lens 10 is arranged in the light emitting direction of the light source 110. The lens 10 has a light incident surface 101 facing the light source 110 and a light exit surface 102 facing away from the light source 110. The light incident surface 101 has a phase structure, and the phase structure is processed using the design method described above. In this embodiment, the lens 10 includes a diffraction element 120 and a collimator 130. The diffraction element 120 and the collimator 130 are abutted. The abutment method can be direct contact or fixed together by optical adhesive. In addition, the lens 10 includes a lens barrel 150. The diffraction element 120 and the collimator 130 are both arranged in the lens barrel 150. The diffraction element 120 is arranged on the side of the collimator 130 facing away from the light source 110. The light source 110 is located at the focal plane position of the collimator 130. The surface of the collimator 130 facing the light source 110 is the light incident surface 101.

[0088] Specifically, the diffraction element 120 and the collimator 130 are connected to form an integrated structure and installed in a lens barrel 150; or the two are integrally formed by embossing, etching, or laser direct writing on the same substrate. This allows the alignment error between the diffraction element 120 and the collimator 130 to be reduced to the micron level, far less than the assembly error between components in traditional methods (millimeter level). This approach achieves performance that is superior to that of traditional optics. The light source 110 is placed at the focal plane of the collimator 130. The scattered light spots emitted by the VCSEL light source 110 are collimated when passing through the collimator 130 and then incident on the diffraction element 120 as parallel light. The diffraction element 120 diffracts the collimated light to form a preset pattern. For example, if the VCSEL has 100 sub-light sources 110 and the diffraction element 120 replicates the scattered light spots 100 times based on the preset number, 10,000 scattered spots will be formed in space.

[0089] The present application also provides an electronic device 20, comprising: a memory storing computer-readable instructions; and a processor reading the computer-readable instructions stored in the memory to execute any one of the above design methods.

[0090] Reference below Figure 8 The electronic device 20 according to an embodiment of the present disclosure will be described. Figure 8 The electronic device 20 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present disclosure.

[0091] like Figure 8 As shown, the electronic device 20 is implemented as a general-purpose computing device. Components of the electronic device 20 may include, but are not limited to, the at least one processing unit 210, the at least one storage unit, and a bus 230 connecting various system components (including the storage unit 220 and the processing unit 210).

[0092] The storage unit 220 stores program code that can be executed by the processing unit 210, causing the processing unit 210 to perform the steps according to various exemplary embodiments of the present invention described in the description of the exemplary method above. For example, the processing unit 210 can perform the steps shown in the figure.

[0093] The storage unit 220 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit 2201 (RAM) and / or a cache memory unit 2202 , and may further include a read-only memory unit 2203 (ROM).

[0094] The storage unit may also include a program / utility 2204 having a set (at least one) of program modules 2205, such program modules 2205 including but not limited to: an operating system, one or more application programs, other program modules 2205, and program data, each of which or some combination may include an implementation of a network environment.

[0095] The bus 230 may represent one or more of several types of bus 230 structures, including a memory unit bus 230 or memory unit controller, a peripheral bus 230, an accelerated graphics port, a processing unit 210, or a local bus 230 using any of a variety of bus 230 structures.

[0096] The electronic device 20 can also communicate with one or more external devices 30 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 20, and / or any device that enables the electronic device 20 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). This communication can occur via an input / output (I / O) interface. The I / O interface 250 is connected to the display unit 240. Furthermore, the electronic device 20 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 260. As shown, the network adapter 260 communicates with other modules of the electronic device 20 via the bus 230. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 20, including but not limited to: microcode, device drivers, redundant processing unit 210, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0097] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0098] In an exemplary embodiment of the present disclosure, a storage medium is further provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the method described in the above method embodiment.

[0099] According to one embodiment of the present disclosure, a program product for implementing the method in the above method embodiment is also provided. The program product may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0100] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0101] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0102] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0103] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as JAVA, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0104] It should be noted that although several modules or units of the device for action execution are mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0105] Furthermore, although the steps of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in this particular order, or that all steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0106] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0107] Although the present application has been described with reference to several exemplary embodiments, it should be understood that the terms used are illustrative and exemplary rather than restrictive. Since the present application can be embodied in various forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all changes and modifications that fall within the scope of the claims or their equivalents are intended to be covered by the appended claims.

Claims

1. A design method, characterized in that: The design method is applied to a lens, which is used to project light emitted by a light source, and the design method includes: Determining the precision size of the lens processing and the size of the lens's clear aperture, and dividing the clear aperture into regions according to the precision size to obtain a plurality of processing regions; Determining the wavelength of light projected through the lens and the optical focal length of the lens, and obtaining a phase diagram of the lens surface based on the wavelength of the light source and the optical focal length of the lens in combination with the processing area, wherein the phase diagram is used to indicate the processing of the lens surface; wherein the step of dividing the clear aperture into regions according to the precision size includes: Dividing the size of the clear aperture into M*N areas, i.e., areas of M rows and N columns, where M and N are positive integers greater than zero; The processing area is r ij , i.e. the position of the i-th row and the j-th column, where 0≤i≤M, 0≤j≤N; wherein the wavelength of the light source is λ, the optical focal length of the lens is f, Representing the phase diagram of the lens, it satisfies: Among them, x i Represents the row coordinate, y j represents the column coordinate, x0 represents the row starting point, y0 represents the column starting point, then the processing area r ij satisfy: r ij 2 =(x i -x0) 2 +(y j -y0) 2 。 2. The design method according to claim 1, characterized in that: The precision dimension is α, and the divergence angle of the light source in the horizontal x direction is θ x , the divergence angle of the light source in the vertical y direction is θ y ; but: M=[2×f×tan(θ x / 2)] / α, N=[2×f×tan(θ y / 2)] / a.

3. The design method according to claim 2, characterized in that: The light spot emitted by the light source is a circular light spot, and M is equal to N.

4. The design method according to any one of claims 1 to 3, characterized in that: After the step of obtaining the phase map of the processed lens surface, the method further comprises: Perform Gaussian filtering on the phase image.

5. A lens assembly, characterized in that: The lens assembly includes a light source and a lens, the lens is arranged in the light emitting direction of the light source, the lens has a light incident surface facing the light source and a light emitting surface facing away from the light source, the light incident surface has a phase structure, and the phase structure is processed using the design method described in any one of claims 1 to 4.

6. The lens assembly according to claim 5, wherein: The lens includes a diffraction element and a collimator, the diffraction element and the collimator are in contact with each other, the diffraction element is arranged on a side of the collimator facing away from the light source, the light source is located at the focal plane position of the collimator, and the surface of the collimator facing the light source is the light incident surface.

7. The lens assembly according to claim 5, wherein: The lens includes an array mirror, the light source is located at a defocused position of the array mirror, the surface of the array mirror facing the light source is the light incident surface, the lens assembly outputs m*n light spots, the light incident surface is provided with m*n phase structures, one phase structure corresponds to one light spot, and m and n are positive integers greater than zero.

8. A robot, characterized in that: The robot includes a shell and a depth camera, wherein the depth camera is arranged in the shell, and the depth camera includes a light receiver and a lens assembly as described in any one of claims 5 to 7, wherein the lens assembly is used to emit light to the outside world, and the light receiver is used to receive light reflected back from the outside world.

9. An electronic device, characterized in that: include: a memory storing computer-readable instructions; The processor reads the computer-readable instructions stored in the memory to execute the design method according to any one of claims 1 to 4.

10. A storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the design method according to any one of claims 1 to 4.

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