Method, apparatus, electronic device and medium for determining parameters of a laser projection module

Abstract

The present application provides a method, an apparatus, an electronic device and a storage medium for determining parameters of a laser projection module. The method includes constructing a first relational expression, which is a relational expression between the parameters in the first parameter group of the laser projection module and the parameters in the second parameter group. The first parameter group includes the minimum application distance, the maximum application distance and the target field of view angle of the laser projection module, and the second parameter group includes the focal length, the aperture coefficient, the light source aperture and the focusing distance; determining the values of the parameters in the first parameter group according to the performance requirements of the laser projection module; obtaining the target parameter to be determined from the second parameter group; determining the values of the other parameters in the second parameter group except the target parameter to be determined, and calculating the value of the target parameter to be determined according to the first relational expression and the values of the parameters in the first parameter group. Applying the first relational expression to the design of the laser projection module can improve the design efficiency of the laser projection module.

Description

Technical Field

[0001] The present application relates to the field of 3D imaging technology, and particularly to a method, an apparatus, an electronic device, and a storage medium for determining parameters of a laser projection module. Background Art

[0002] In recent years, 3D structured light has been increasingly widely used in the field of consumer electronics, such as in fields like robot obstacle avoidance, face payment, and scene modeling. The 3D structured light technology can not only image a target object but also obtain the depth information of the target object, and it is currently the most widely used 3D imaging device.

[0003] The core component in a 3D structured light camera is the laser projection module, which is used to project a characteristic texture pattern into space to achieve the measurement of the three-dimensional information of an object. For different application scenarios, for the calculation or acquisition of structured light depth information, the requirements for speckle patterns such as the number of speckles, the clarity of speckles, the field of view angle size, and randomness are all different. However, due to the numerous application scenarios of the laser projection module, in order to design a laser projection module that meets the requirements of the application scenario, it usually takes a lot of time and effort, resulting in low design efficiency of the laser projection module. Summary of the Invention

[0004] The main purpose of the embodiments of the present application is to propose a method, an apparatus, an electronic device, and a storage medium for determining parameters of a laser projection module. It aims to be able to determine the values of the various parameters of the laser projection module under the condition of meeting the sensing accuracy of 3D structured light according to the relational expression between the various parameters of the constructed laser projection module, and can improve the design efficiency of the laser projection module.

[0005] To achieve the above object, a first aspect of the embodiments of the present application proposes a method for determining parameters of a laser projection module, the method including:

[0006] Construct a first relational expression, where the first relational expression is an expression of the relationship between the parameters in the first parameter group and the parameters in the second parameter group of the laser projection module. The first parameter group includes the minimum application distance, the maximum application distance, and the target field of view angle of the laser projection module, and the second parameter group includes the focal length, the aperture coefficient, the light source aperture, and the focusing distance;

[0007] According to the performance requirements of the laser projection module, determine the values of the parameters in the first parameter group;

[0008] Obtain the target parameter to be determined from the second parameter group;

[0009] Determine the values of other parameters in the second parameter group except the target parameter to be determined, and calculate the value of the target parameter to be determined according to the first relational expression and the values of the parameters in the first parameter group.

[0010] In some embodiments, constructing the first relational expression includes:

[0011] Construct a first relational expression and a second relational expression. The first relational expression is a relational expression of the minimum application distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, light source aperture, and actual image distance. The second relational expression is a relational expression of the maximum application distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, light source aperture, and actual image distance.

[0012] Combine and solve the first relational expression and the second relational expression to obtain a third relational expression. The third relational expression is a relational expression of the focusing distance of the laser projection module with respect to the minimum application distance, maximum application distance, focal length, focusing distance, aperture coefficient, and light source aperture.

[0013] Obtain the target field of view angle, and construct the first relational expression according to the third relational expression.

[0014] In some embodiments, the constructed first relational expression is:

[0015]

[0016] In the formula, p 1 is the minimum application distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, and v is the actual image distance.

[0017] The constructed second relational expression is:

[0018]

[0019] In the formula, p 2 is the maximum application distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, and v is the actual image distance.

[0020] The solved third relational expression is:

[0021]

[0022] In the formula, u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, p 2 is the maximum application distance, p 1 is the minimum application distance;

[0023] The first relational expression obtained by construction is:

[0024]

[0025] In the formula, u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, p 2 is the maximum application distance, p 1 is the minimum application distance, and θ is the target field of view angle.

[0026] In some embodiments, the construction of the first relational expression and the second relational expression includes:

[0027] Constructing a fourth relational expression and a fifth relational expression, where the fourth relational expression is a relational expression of the minimum imaging distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, and light source aperture, and the fifth relational expression is a relational expression of the maximum imaging distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, and light source aperture;

[0028] According to the fourth relational expression and the actual image distance, the first relational expression is obtained by construction;

[0029] According to the fifth relational expression and the actual image distance, the second relational expression is obtained by construction.

[0030] In some embodiments, the fourth relational expression obtained by construction is:

[0031]

[0032] In the formula, u 1 is the minimum imaging distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, and σ is the light source aperture;

[0033] The fifth relational expression obtained by construction is:

[0034]

[0035] In the formula, u 2 is the maximum imaging distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, and σ is the light source aperture.

[0036] In some embodiments, the construction of the fourth relational expression and the fifth relational expression includes:

[0037] Setting the minimum imaging distance and the maximum imaging distance of the laser projection module;

[0038] According to the lens imaging principle, determining the first image distance corresponding to the minimum imaging distance and the second image distance corresponding to the maximum imaging distance;

[0039] Obtain the focusing distance and the actual image distance of the laser projection module;

[0040] According to the lens imaging formula and the principle of similar triangles, construct a sixth relational expression and a seventh relational expression. The sixth relational expression is the relational expression between the first image distance, focal length, focusing distance, aperture coefficient, and light source aperture of the laser projection module, and the seventh relational expression is the relational expression between the second image distance and the focal length, focusing distance, aperture coefficient, and light source aperture of the laser projection module;

[0041] According to the sixth relational expression and the lens imaging formula, construct the fourth relational expression;

[0042] According to the seventh relational expression and the lens imaging formula, construct the fifth relational expression.

[0043] In some embodiments, the constructed sixth relational expression is:

[0044]

[0045] In the formula, v 1 is the first image distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, and σ is the light source aperture;

[0046] The constructed seventh relational expression is:

[0047]

[0048] In the formula, v 2 is the second image distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, and σ is the light source aperture.

[0049] To achieve the above object, a second aspect of the embodiments of the present application proposes a device for determining parameters of a laser projection module, and the device includes:

[0050] A construction module, configured to construct a first relational expression, where the first relational expression is a relational expression between each parameter in the first parameter group and each parameter in the second parameter group of the laser projection module. The first parameter group includes the minimum application distance, maximum application distance, and target field of view angle of the laser projection module, and the second parameter group includes the focal length, aperture coefficient, light source aperture, and focusing distance;

[0051] A determination module, configured to determine the values of each parameter in the first parameter group according to the performance requirements of the laser projection module;

[0052] An acquisition module, configured to acquire a target parameter to be determined from the second parameter group;

[0053] A calculation module, configured to determine the values of the other parameters in the second parameter group except the target parameter to be determined, and calculate the value of the target parameter to be determined according to the first relational expression and the values of the parameters in the first parameter group.

[0054] To achieve the above object, a third aspect of the embodiments of the present application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the method described in the first aspect above is implemented.

[0055] To achieve the above object, a fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect above is implemented.

[0056] A method, device, electronic device, and storage medium for determining parameters of a laser projection module provided by the present application. The method constructs a first relational expression, which is a relational expression between the parameters in the first parameter group and the parameters in the second parameter group of the laser projection module. The first parameter group includes the minimum application distance, the maximum application distance, and the target field of view angle of the laser projection module, and the second parameter group includes the focal length, the aperture coefficient, the light source aperture, and the focusing distance. Then, according to the performance requirements of the laser projection module, the values of the parameters in the first parameter group are determined; the target parameter to be determined is obtained from the second parameter group; the values of the other parameters in the second parameter group except the target parameter to be determined are determined, and the value of the target parameter to be determined is calculated according to the first relational expression and the values of the parameters in the first parameter group. The constructed first relational expression can be applied to the design of the laser projection module, so that the values of the parameters of the laser projection module can be determined on the premise of ensuring the sensing accuracy of 3D structured light, and the design efficiency of the laser projection module can be improved. Description of the Drawings

[0057] Figure 1 is a flowchart of the method for determining the parameters of the laser projection module provided in the embodiments of the present application;

[0058] Figure 2 is a flowchart of the steps for constructing the fourth relational expression and the fifth relational expression provided in the embodiments of the present application;

[0059] Figure 3 is a schematic diagram of the lens imaging principle provided in the embodiments of the present application;

[0060] Figure 4 is a flowchart of the steps for constructing the first relational expression and the second relational expression provided in the embodiments of the present application;

[0061] Figure 5 It is a flowchart of steps for constructing a first relational expression provided by an embodiment of the present application;

[0062] Figure 6 It is a schematic diagram of the projection distance at the field of view angle provided by an embodiment of the present application;

[0063] Figure 7 It is a schematic structural diagram of a device for determining parameters of a laser projection module provided by an embodiment of the present application;

[0064] Figure 8 It is a schematic hardware structure diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0065] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] It should be noted that although functional module division is performed in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the order in the flowchart. Terms such as "first" and "second" in the specification, claims and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0068] The 3D structured light camera is the most widely used 3D imaging device at present, which can be applied in fields such as robot obstacle avoidance, face payment, and scene modeling. The core component in the 3D structured light camera is the laser projection module, which includes a light source, a collimating mirror, and a diffractive optical element (DOE for short). Among them, the light source is a VCSEL (Vertical-Cavity Surface-Emitting Laser), which is installed on a ceramic substrate through semiconductor packaging technology and is a two-dimensional light source arranged in a two-dimensional pattern composed of many sub-light sources. Compared with traditional light sources, it has the advantages of small volume, small divergence angle, and concentrated energy. The collimating mirror is used to receive the light beam emitted by the VCSEL array light source and collimate the light beam with a certain divergence angle. The diffractive optical element is used to receive the collimated light beam and project the light beam into the target space through the way of light diffraction. This light beam is formed by replicating the VCSEL array light source. For example, if the VCSEL has 100 sub-light sources and the replication number of the diffractive optical element is 100, then 10,000 speckle points will be formed in the space.

[0069] For different application scenarios, such as in the robot obstacle avoidance scenario, there are usually two requirements for the laser projection module. First, the application distance range is wide. Since the obstacle may be located nearby or far away, it is necessary to ensure not only the clarity of the speckles at close range but also the clarity of the speckles at far range. Second, the field of view angle is large. Robot vision is similar to human eye vision. Only a visual system with a large field of view angle can effectively avoid obstacles, which means that the laser projection module also needs a large field of view angle design and it is necessary to ensure that the speckle points within the large field of view angle are clear. It can be seen that to achieve high-precision 3D sensing of an object, the clarity of the speckle points projected by the laser projection module is extremely important. Therefore, in the process of designing a laser projection module, ensuring the clarity of the speckles within the application distance and the entire field of view is the key to the design. However, due to the numerous application scenarios of the laser projection module and the relatively large number of parameters involved in the design, it usually takes a lot of time and effort to design a laser projection module that meets the requirements of the application scenario.

[0070] Based on this, the embodiment of this application proposes a method for determining the parameters of a laser projection module. The aim is to be able to provide a reference for the design of the laser projection module by according to the relational expressions between the various parameters of the constructed laser projection module, so as to improve the design efficiency of the laser projection module.

[0071] Refer to Figure 1 , Figure 1 is the flowchart of the method for determining the parameters of the laser projection module provided in the embodiment of this application, Figure 1The method in [description] may include but is not limited to steps S101 to S104.

[0072] Step S101: Construct a first relational expression, which is a relational expression between the parameters in the first parameter group and the parameters in the second parameter group of the laser projection module. The first parameter group includes the minimum application distance, the maximum application distance, and the target field of view angle of the laser projection module, and the second parameter group includes the focal length, the aperture coefficient, the light source aperture, and the focusing distance.

[0073] Step S102: Determine the values of the parameters in the first parameter group according to the performance requirements of the laser projection module.

[0074] Step S103: Obtain the target parameter to be determined from the second parameter group.

[0075] Step S104: Determine the values of the other parameters in the second parameter group except the target parameter to be determined, and calculate the value of the target parameter to be determined according to the first relational expression and the values of the parameters in the first parameter group.

[0076] In the embodiments of the present application, it is necessary to first obtain the relationship between the various parameters involved in the design process of the laser projection module before further determining the values of the various parameters according to the relationship between the various parameters. Therefore, it is necessary to first construct a first relational expression, which is a relational expression between the parameters in the first parameter group and the parameters in the second parameter group of the laser projection module. The first parameter group includes the minimum application distance, the maximum application distance, and the target field of view angle of the laser projection module, and the second parameter group includes the focal length, the aperture coefficient, the light source aperture, and the focusing distance. Then, based on the performance requirements of the laser projection module specified by the requester, determine the minimum application distance, the maximum application distance, and the target field of view angle of the laser projection module. Then, according to the constructed first relational expression, determine the values of the various parameters in the second parameter group.

[0077] Refer to Figure 2 , Figure 2 is the flowchart of the steps for constructing the fourth relational expression and the fifth relational expression provided by the embodiments of the present application, including but not limited to steps S201 to S206.

[0078] Step S201: Set the minimum imaging distance and the maximum imaging distance of the laser projection module.

[0079] Step S202: Determine the first image distance corresponding to the minimum imaging distance and the second image distance corresponding to the maximum imaging distance according to the lens imaging principle.

[0080] Step S203: Obtain the focusing distance and the actual image distance of the laser projection module.

[0081] Step S204: According to the lens imaging formula and the principle of similar triangles, construct the sixth relational expression and the seventh relational expression. The sixth relational expression is the relational expression of the first image distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, and light source aperture. The seventh relational expression is the relational expression of the second image distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, and light source aperture.

[0082] Step S205: According to the sixth relational expression and the lens imaging formula, construct the fourth relational expression. The fourth relational expression is the relational expression of the minimum imaging distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, and light source aperture.

[0083] Step S206: According to the seventh relational expression and the lens imaging formula, construct the fifth relational expression. The fifth relational expression is the relational expression of the maximum imaging distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, and light source aperture.

[0084] Refer to Figure 3 In the embodiment of the present application, set the minimum imaging distance of the laser projection module as u 1 That is, the distance from the minimum imaging position to the collimating lens of the laser projection module is u 1 Set the maximum imaging distance of the laser projection module as u 2 That is, the distance u from the maximum imaging position to the collimating lens of the laser projection module 2 . According to the lens imaging principle, determine the minimum imaging distance u 1 The corresponding first image distance is v 1 Determine the maximum imaging distance u 2 The corresponding second image distance is v 2 . Obtain the focusing distance of the laser projection module as u and the actual image distance as v. According to the lens imaging formula, equations 1, 2, and 3 can be obtained. Equations 1, 2, and 3 are as follows:

[0085]

[0086] In equation 1, f is the focal length, u is the focusing distance, and v is the actual image distance.

[0087]

[0088] In equation 2, f is the focal length, u 1 is the minimum imaging distance, and v 1 is the first image distance.

[0089]

[0090] In equation 3, f is the focal length, u 2 is the maximum imaging distance, and v 2is the first image distance.

[0091] Then, according to the principle of similar triangles, referring to Figure 3 , Equation 4 and Equation 5 can be obtained. Equation 4 and Equation 5 are as follows:

[0092]

[0093] In Equation 4, f is the focal length, v 1 is the first image distance, v is the actual image distance, F is the aperture coefficient, and σ is the light source aperture.

[0094]

[0095] In Equation 5, f is the focal length, v 2 is the second image distance, v is the actual image distance, F is the aperture coefficient, and σ is the light source aperture.

[0096] According to Equation 1, Equation 2, and Equation 4, the sixth relational expression can be calculated and denoted as Equation 6. The sixth relational expression is the relational expression of the first image distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, and light source aperture. The sixth relational expression is:

[0097]

[0098] In Equation 6, v 1 is the first image distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, and σ is the light source aperture.

[0099] According to Equation 1, Equation 3, and Equation 5, the seventh relational expression can be calculated and denoted as Equation 7. The seventh relational expression is the relational expression between the second image distance of the laser projection module and the focal length, focusing distance, aperture coefficient, and light source aperture. The seventh relational expression is:

[0100]

[0101] In Equation 7, v 2 is the second image distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, and σ is the light source aperture.

[0102] According to the sixth relational expression and the lens imaging formula, that is, according to Equation 6 and Equation 2, the fourth relational expression can be constructed and denoted as Equation 8. The fourth relational expression is the relational expression of the minimum imaging distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, and light source aperture. The fourth relational expression is:

[0103]

[0104] In Equation 8, u 1is the minimum imaging distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, and σ is the light source aperture.

[0105] According to the seventh relational expression and the lens imaging formula, that is, according to Equation 7 and Equation 3, the fifth relational expression can be constructed and denoted as Equation 9. The fifth relational expression is the relational expression of the maximum imaging distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, and light source aperture. The fifth relational expression is:

[0106]

[0107] In Equation 9, u 2 is the maximum imaging distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, and σ is the light source aperture.

[0108] In the embodiments of the present application, after constructing the fourth relational expression and the fifth relational expression, the first relational expression can be further constructed according to the fourth relational expression and the actual image distance. The second relational expression can be constructed according to the fifth relational expression and the actual image distance.

[0109] Refer to Figure 4 , Figure 4 is the flowchart of the steps for constructing the first relational expression and the second relational expression provided by the embodiments of the present application, including but not limited to steps S401 to S402.

[0110] Step S401: Construct the first relational expression according to the fourth relational expression and the actual image distance. The first relational expression is the relational expression of the minimum application distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, light source aperture, and actual image distance;

[0111] Step S402: Construct the second relational expression according to the fifth relational expression and the actual image distance. The second relational expression is the relational expression of the maximum application distance of the laser projection module with respect to the focal length, focusing distance, aperture coefficient, light source aperture, and actual image distance.

[0112] In the embodiments of the present application, the fourth relational expression has been constructed through step S205, and the fifth relational expression has been constructed through step S206. Then, the first relational expression can be further constructed according to the fourth relational expression and the actual image distance, denoted as Equation 10. The first relational expression is:

[0113]

[0114] In Equation 10, p 1is the minimum application distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, and v is the actual image distance. According to the fifth relational expression and the actual image distance, the second relational expression is constructed and denoted as Equation 11. The second relational expression is:

[0115]

[0116] In Equation 11, p 2 is the maximum application distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, and v is the actual image distance.

[0117] In the embodiments of the present application, the first relational expression and the second relational expression are constructed. Further, according to the first relational expression and the second relational expression, the first relational formula can be obtained.

[0118] Refer to Figure 5 , Figure 5 is the flowchart of the steps for constructing the first relational formula provided by the embodiments of the present application, including but not limited to steps S501 to S502.

[0119] Step S501: Combine and solve the first relational expression and the second relational expression to obtain the third relational expression. The third relational expression is the relational expression between the focusing distance of the laser projection module and the minimum application distance, the maximum application distance, the focal length, the focusing distance, the aperture coefficient, and the light source aperture;

[0120] Step S502: Obtain the target field of view angle, and according to the third relational expression, construct the first relational formula. The first relational formula is the relational expression between the minimum application distance, the maximum application distance, the target field of view angle, the focal length, the aperture coefficient, the light source aperture, and the focusing distance of the laser projection module.

[0121] In the embodiments of the present application, since the first relational expression has been constructed through step S401; and the second relational expression has been constructed through step S402. Therefore, the first relational expression and the second relational expression can be further combined and solved to obtain the third relational expression, denoted as Equation 12. The third relational expression is the relational expression between the focusing distance of the laser projection module and the minimum application distance, the maximum application distance, the focal length, the focusing distance, the aperture coefficient, and the light source aperture. Specifically, let u - f = x. Combining Equation 10 and Equation 11, a quadratic equation of one variable can be obtained as:

[0122] [2f 2 Fσ + (p 2 - p 1 )F 2 σ 2 x 2 + 2f 3 Fσx - (p2 -p 1 )f 4 = 0;

[0123] Then, solve the quadratic equation of one variable to obtain the positive solution as:

[0124]

[0125] Then, according to u - f = x, the third relational expression can be obtained, denoted as Equation 12, specifically:

[0126]

[0127] In Equation 12, u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, p 2 is the maximum application distance, p 1 is the minimum application distance.

[0128] In the embodiments of the present application, considering that only a vision system with a large field of view angle can effectively avoid obstacles, this means that the laser projection module also requires a large field of view angle design. Referring to Figure 6 , if the projection distance of the laser projection module is P and the half angle of the field of view angle in the diagonal direction of the laser projection module is θ, then for the laser projection module with a projection distance of P, the minimum projection distance p min = p, such as Figure 6 the distance OA shown; p max = p / cosθ, such as Figure 6 the distance OB shown. Therefore, when the minimum application distance is P 1 , its corresponding actual minimum projection distance p min = p 1 . When the maximum application distance is P 2 , its corresponding actual maximum projection distance is p max = p 2 / cosθ. Therefore, after introducing the target field of view angle, the third relational expression can be transformed into the first relational expression, denoted as Equation 13. The first relational expression is the relational expression between the minimum application distance, the maximum application distance, the target field of view angle, the focal length, the aperture coefficient, the light source aperture, and the focusing distance of the laser projection module. The first relational expression is:

[0129]

[0130] In Equation 13, u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, p 2 is the maximum application distance, p 1 is the minimum application distance, and θ is the target field of view angle.

[0131] In the embodiments of the present application, after the first relational expression is constructed, since the first relational expression represents the relationship among the minimum application distance, the maximum application distance, the target field of view angle, the focal length, the aperture coefficient, the light source aperture, and the focusing distance of the laser projection module, therefore, in the design process of the laser projection module, the first relational expression can be used as a reference to improve the design efficiency.

[0132] Specifically, in the embodiments of the present application, for the convenience of description, the parameters of the laser projection module are grouped into a first parameter group and a second reference group. Among them, the first parameter group includes the minimum application distance, the maximum application distance, and the target field of view angle of the laser projection module, and the second parameter group includes the focal length, the aperture coefficient, the light source aperture, and the focusing distance.

[0133] Since the minimum application distance, the maximum application distance, and the target field of view angle are determined by the performance requirements of the laser projection module and are generally directly specified by the demand side according to its own needs. For example, it is specified that the minimum application distance of the required laser projection module is p 1 , the maximum application distance is p 2 , and the target field of view angle is θ. That is to say, the values of the parameters in the first parameter group are known first when designing the laser projection module, that is, the minimum application distance, the maximum application distance, and the target field of view angle of the laser projection module to be designed are already known. And the parameters in the second parameter group can be combined by the designer as long as the finally designed laser projection module can meet the performance of the minimum application distance, the maximum application distance, and the target field of view angle.

[0134] Specifically, the parameters in the second parameter group can be determined according to the existing materials. For example, if there is only one light source available in the existing materials, that is, the light source aperture is determined. At this time, the aperture coefficient, the focusing distance, and the focal length can be combined according to the principle of economic applicability, so that the parameters of the finally designed laser projection module can meet the first relational expression.

[0135] Exemplarily, according to the minimum application distance, maximum application distance, and target field of view angle specified by the demand side, first determine the values of, for example, the focal length, aperture coefficient, and light source aperture in the second parameter group. Then, the value of the focusing distance parameter can be calculated according to the first relational expression, so as to guide how to design the focusing distance of the device to the calculated value when other parameters are determined during the design process of the laser projection module. Similarly, the values of the focal length, aperture coefficient, and focusing distance in the second parameter can be determined first, and then the value of the light source aperture parameter can be calculated according to the first relational expression, so as to find a suitable light source model according to the light source aperture during the design process of the laser projection module. That is to say, any three parameters in the second parameter group can be determined first, and then based on the determined parameter values and the first relational expression, the value of the remaining parameter in the second parameter group can be calculated. At the same time, when the performance of some components is limited, on the premise of continuing to use the component, the parameters of other components can be adjusted or replaced, so that the designed laser projection module can also meet the specified requirements of the demand side.

[0136] Please refer to Figure 7 , the embodiment of the present application further provides a device 70 for determining the parameters of a laser projection module, which can implement the method for determining the parameters of the laser projection module. The device includes:

[0137] A construction module 701, configured to construct a first relational expression, where the first relational expression is a relational expression between the parameters in the first parameter group of the laser projection module and the parameters in the second parameter group. The first parameter group includes the minimum application distance, maximum application distance, and target field of view angle of the laser projection module, and the second parameter group includes the focal length, aperture coefficient, light source aperture, and focusing distance;

[0138] A determination module 702, configured to determine the values of the parameters in the first parameter group according to the performance requirements of the laser projection module;

[0139] An acquisition module 703, configured to acquire the target parameter to be determined from the second parameter group;

[0140] A calculation module 704, configured to determine the values of the other parameters in the second parameter group except the target parameter to be determined, and calculate the value of the target parameter to be determined according to the first relational expression and the values of the parameters in the first parameter group.

[0141] The specific implementation manner of the device for determining the parameters of the laser projection module is basically the same as the specific embodiment of the method for determining the parameters of the laser projection module, and will not be described in detail here.

[0142] An embodiment of the present application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the method for determining the parameters of the laser projection module described above is implemented. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0143] Please refer to Figure 8 , Figure 8 which schematically shows the hardware structure of the electronic device in another embodiment. The electronic device includes:

[0144] A processor 801, which can be implemented in ways such as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present application;

[0145] A memory 802, which can be implemented in forms such as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 802 can store an operating system and other application programs. When implementing the technical solutions provided by the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 802 and are called by the processor 801 to execute the method for determining the parameters of the laser projection module in the embodiments of the present application;

[0146] An input / output interface 803, which is used to implement information input and output;

[0147] A communication interface 804, which is used to implement communication and interaction between this device and other devices. It can achieve communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.);

[0148] A bus 805, which transmits information between various components of the device (such as the processor 801, the memory 802, the input / output interface 803, and the communication interface 804);

[0149] Among them, the processor 801, the memory 802, the input / output interface 803, and the communication interface 804 achieve communication connections with each other inside the device through the bus 805.

[0150] An embodiment of the present application also provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the method for determining the parameters of the laser projection module described above is implemented.

[0151] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include memories remotely disposed relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0152] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art will know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0153] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figures, or combine certain steps, or different steps.

[0154] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0155] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and appropriate combinations thereof.

[0156] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above figures are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0157] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (item) of the following" or its similar expression refers to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0158] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above-mentioned division of units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0159] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0160] In addition, each functional unit in each embodiment of this application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0161] When an integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of this application. The foregoing storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0162] The preferred embodiments of the embodiments of this application have been described above with reference to the accompanying drawings, which does not limit the scope of rights of the embodiments of this application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of this application shall be within the scope of rights of the embodiments of this application.

Claims

1. A method for determining parameters of a laser projection module, characterized in that, the method includes: Construct a first relational expression, which is an expression of the relationship between the parameters in the first parameter group and the parameters in the second parameter group of the laser projection module. The first parameter group includes the minimum application distance, the maximum application distance, and the target field of view angle of the laser projection module, and the second parameter group includes the focal length, the aperture coefficient, the light source aperture, and the focusing distance. The first relational expression is where u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, p 2 is the maximum application distance, p 1 is the minimum application distance, and θ is the target field of view angle; Determine the values of the parameters in the first parameter group according to the performance requirements of the laser projection module; Obtain the target parameter to be determined from the second parameter group; Determine the values of the other parameters in the second parameter group except the target parameter to be determined, and calculate the value of the target parameter to be determined according to the first relational expression and the values of the parameters in the first parameter group.

2. The method according to claim 1, characterized in that, the construction of the first relational expression includes: Construct a first relational expression and a second relational expression. The first relational expression is a relational expression of the minimum application distance of the laser projection module with respect to the focal length, the focusing distance, the aperture coefficient, the light source aperture, and the actual image distance. The second relational expression is a relational expression of the maximum application distance of the laser projection module with respect to the focal length, the focusing distance, the aperture coefficient, the light source aperture, and the actual image distance; Combine and solve the first relational expression and the second relational expression to obtain a third relational expression. The third relational expression is a relational expression of the focusing distance of the laser projection module with respect to the minimum application distance, the maximum application distance, the focal length, the focusing distance, the aperture coefficient, and the light source aperture; Obtain the target field angle, and construct the first relational expression according to the third relational expression.

3. The method according to claim 2, characterized in that: The constructed first relational expression is: Where p 1 is the minimum application distance, u is the focusing distance, f is the focal length, F is the aperture number, σ is the light source aperture, and v is the actual image distance; The constructed second relational expression is: where p 2 is the maximum application distance, u is the focusing distance, f is the focal length, F is the aperture number, σ is the light source aperture, and v is the actual image distance; The solved third relational expression is: Wherein, u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, p 2 is the maximum application distance, p 1 is the minimum application distance.

4. The method according to claim 2, characterized in that, the construction of the first relational expression and the second relational expression includes: Construct a fourth relational expression and a fifth relational expression. The fourth relational expression is a relational expression of the minimum imaging distance of the laser projection module with respect to the focal length, the focusing distance, the aperture coefficient, and the light source aperture. The fifth relational expression is a relational expression of the maximum imaging distance of the laser projection module with respect to the focal length, the focusing distance, the aperture coefficient, and the light source aperture; Construct the first relational expression according to the fourth relational expression and the actual image distance; Construct the second relational expression according to the fifth relational expression and the actual image distance.

5. The method according to claim 4, characterized in that: The constructed fourth relational expression is: where u 1 is the minimum imaging distance, u is the focusing distance, f is the focal length, F is the aperture coefficient, and σ is the light source aperture; The constructed fifth relational expression is: where u 2 is the maximum imaging distance, u is the focusing distance, f is the focal length, F is the aperture number, and σ is the light source aperture.

6. The method according to claim 4, characterized in that, the construction of the fourth relational expression and the fifth relational expression includes: Set the minimum imaging distance and the maximum imaging distance of the laser projection module; According to the lens imaging principle, determine the first image distance corresponding to the minimum imaging distance and the second image distance corresponding to the maximum imaging distance; Obtain the focusing distance and the actual image distance of the laser projection module; According to the lens imaging formula and the principle of similar triangles, a sixth relational expression and a seventh relational expression are constructed. The sixth relational expression is a relational expression of the first image distance of the laser projection module with respect to the focal length, the focusing distance, the aperture coefficient, and the light source aperture. The seventh relational expression is a relational expression of the second image distance of the laser projection module with respect to the focal length, the focusing distance, the aperture coefficient, and the light source aperture; According to the sixth relational expression and the lens imaging formula, the fourth relational expression is constructed; According to the seventh relational expression and the lens imaging formula, the fifth relational expression is constructed.

7. The method according to claim 6, characterized in that: The constructed sixth relational expression is: where v 1 is the first image distance, u is the focusing distance, f is the focal length, F is the aperture number, and σ is the light source aperture; The constructed seventh relational expression is: where v 2 is the second image distance, u is the focusing distance, f is the focal length, F is the aperture number, and σ is the light source aperture.

8. An apparatus for determining parameters of a laser projection module, characterized in that the apparatus includes: A building module for building a first relational expression, which is a relational expression between the parameters in the first parameter group and the parameters in the second parameter group of the laser projection module. The first parameter group includes the minimum application distance, the maximum application distance, and the target field of view angle of the laser projection module. The second parameter group includes the focal length, the aperture coefficient, the light source aperture, and the focusing distance. The first relational expression is where u is the focusing distance, f is the focal length, F is the aperture coefficient, σ is the light source aperture, p 2 is the maximum application distance, p 1 is the minimum application distance, and θ is the target field of view angle; a determination module, configured to determine the values of the parameters in the first parameter group according to the performance requirements of the laser projection module; an acquisition module, configured to acquire the target parameter to be determined from the second parameter group; a calculation module, configured to determine the values of the other parameters in the second parameter group except the target parameter to be determined, and calculate the value of the target parameter to be determined according to the first relational expression and the values of the parameters in the first parameter group.

9. An electronic device, characterized in that the electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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