Projectors for diffuse lighting and structured light

Abstract

A projector and lighting module (110) configured for scene illumination and pattern projection is proposed. The projector and lighting module (110) includes an array (117) of at least one plurality of individual emitters (116) and at least one optical system (114). Each individual emitter (117) is configured to generate at least one illumination beam. The optical system (114) includes at least one array of a plurality of transmission devices (118). The array of transmission devices (118) includes at least one transmission device (118) for each individual emitter (117). The array of transmission devices (118) includes at least two sets of transmission devices (118). The transmission devices (118) in the two sets differ in at least one characteristic. The transmission devices (118) in one set are configured to generate at least one illumination pattern in response to an illumination beam incident on the transmission device (118). The transmission devices (118) in the other set are configured to generate a diverging beam in response to an illumination beam incident on the transmission device (118).

Description

Technical Field

[0001] This invention relates to projectors and lighting modules, detectors, methods for illuminating at least one object, and several uses. The devices, methods, and uses according to the invention can be specifically employed in, for example, the following fields: daily life, gaming, transportation technology, production technology, security technology, photography such as digital or video photography for artistic purposes, documentation or technical purposes, medical technology, home care, smart living, or science. Furthermore, the invention can be specifically used for scanning one or more objects and / or for scanning scenes, such as for generating depth profiles of objects or scenes, for example in the fields of architecture, metrology, archaeology, art, medicine, engineering, or manufacturing. However, other applications are also possible. Background Technology

[0002] Numerous 3D sensing systems and methods are known from existing technologies. 3D sensing systems are used in a variety of applications, such as for unlocking mobile phones, tablets, or smart devices by authenticating users through image processing; for fraud detection via 3D sensing (also known as FaceUnlock); for mobile 3D sensing, such as for gaming, augmented reality, or virtual reality applications; or for utilizing 3D sensing in smart cameras, smart sensors, smartwatches, or tablets. Typically, a 3D sensing system comprises three components: an illumination module that ensures appropriate brightness for the image; a projector module configured to project a grid or pattern of light spots, which can be used to retrieve 3D information using any of several techniques (e.g., structured light, time-of-flight, beam profile analysis, etc.); and a camera module, such as an image sensor module.

[0003] For example, a projector module may include a vertical-cavity surface-emitting laser (VCSEL) array and collimating optics, such as microlens arrays and additional lenses, as described in US 8,908,277 B2, or it may include a laser source such as an edge-emitting diode laser, collimating optics, and a DOE (diffractive optical element), as described in US 8,749,796 B2. For applications that do not require a bright light source, an individually addressable or matrix-addressable array of micro-LEDs may be used instead of a VCSEL array. An illumination module may be, for example, a flash source based on LEDs (light-emitting diodes) or a VCSEL array, as described in US 8,743,923 B2. Individually addressable or matrix-addressable arrays of micro-LEDs may also be used instead of a VCSEL array herein. A camera module may include an image sensor with lenses and readout and image processing electronics.

[0004] Furthermore, VCSEL arrays that can be controlled row-wise are known, such as those from... VCSEL array. For example, from Microlens arrays integrated into lasers and on them are known. Furthermore, it is understood that it is possible to fabricate free-form optical arrays, as has been done by the Institute of Medical and Metrological Laser Technology at Ulm University.

[0005] For 3D sensing, specifically for mobile devices, there are generally three key requirements: small form factor of the module, low material billing, and high reliability. This necessitates increasing compactness or miniaturization, increasing versatility, and minimizing the power consumption of the modules used in 3D sensing systems while simultaneously improving their performance.

[0006] The problem solved by this invention

[0007] Therefore, the object of the present invention is to provide devices and methods that address the aforementioned technical challenges of known devices and methods. Specifically, the object of the present invention is to provide devices and methods that allow for enhanced compactness and / or miniaturization, enhanced versatility, and minimized power consumption of devices used in 3D sensing systems, while improving their performance. Summary of the Invention

[0008] This problem is solved by the features of the independent patent claims. Advantageous developments of the invention, which can be implemented individually or in combination, are presented in the dependent claims and / or in the following description and specific embodiments.

[0009] In a first aspect of the invention, a projector and a lighting module are disclosed.

[0010] As used herein, the term "module" can refer to a unit or component that can be independently created, modified, replaced, or exchanged between different systems. As used herein, the term "projector and lighting module" can refer to an optical device configured to provide at least one lighting pattern and / or diffuse lighting for illuminating at least one object.

[0011] As used herein, the term "object" can refer to any object, particularly a surface or area, configured to at least partially reflect at least one light beam incident on the object. The light beam can originate from a projector and illumination module illuminating the object, wherein the light beam is reflected or scattered by the object.

[0012] The projector and lighting module are configured for scene lighting and pattern projection. As used herein, the term "pattern" can refer to any known or predetermined arrangement, including multiple features of arbitrary shapes, such as symbols. A pattern may include multiple features. A pattern may include an arrangement of periodic or non-periodic features. The features of a pattern may differ from each other, where overlapping areas are possible. As used herein, the term "scene lighting" can refer to diffuse and / or uniform lighting of an area or zone.

[0013] Projectors and illumination modules may have an optical axis. As used herein, the term "optical axis" generally refers to the axis of mirror symmetry or rotational symmetry of the projector and illumination module. The optical axis can be a line of symmetry of the optical setup of the projector and illumination module, particularly the optical system. As an example, an optical system may include at least one beam path, wherein the elements of the optical system within the beam path are positioned in a rotationally symmetrical manner about the optical axis. However, one or more optical elements located within the beam path may also be off-center or tilted about the optical axis. In such cases, however, the optical axis can be defined sequentially, such as by connecting the centers of the optical elements in the beam path to each other, for example, by connecting the centers of the lenses to each other. The optical axis can generally represent the beam path.

[0014] The projector and illumination module can form a coordinate system where the ordinate *l* is the coordinate along the optical axis, and *d* is the spatial offset from the optical axis. The coordinate system can be a polar coordinate system, where the optical axis forms the z-axis, and the distance from the z-axis and the polar angle can be used as additional coordinates. Directions parallel or antiparallel to the z-axis can be considered longitudinal directions, and coordinates along the z-axis can be considered ordinate *z*. Any direction perpendicular to the z-axis can be considered transverse directions, and polar coordinates and / or polar angles can be considered transverse coordinates.

[0015] The projector and illumination module includes an array of at least one plurality of individual emitters and at least one optical system. Each individual emitter is configured to generate at least one illumination beam. The optical system includes at least one array of multiple transmission devices. The array of transmission devices includes at least one transmission device for each individual emitter. The array of transmission devices includes at least two sets of transmission devices. The transmission devices in the two sets differ in at least one characteristic. The transmission devices in one set are configured to generate at least one illumination pattern in response to an illumination beam incident on the transmission device. The transmission devices in the other set are configured to generate a diverging beam in response to an illumination beam incident on the transmission device.

[0016] As used herein, the term "emitter" can refer to at least one light source configured to generate at least one beam. As used herein, the term "ray" generally refers to the line of the wavefront of light at a point perpendicular to the direction of energy flow. As used herein, the term "beam" generally refers to a collection of rays. In the following text, the terms "ray" and "beam" will be used synonymously. As further used herein, the term "beam" generally refers to the amount of light, specifically the amount of light traveling substantially in the same direction, including the possibility of beams having an extension angle or widening angle. As used herein, the term "individual" emitter can refer to the fact that an emitter is configured to generate beams that are independent of each other.

[0017] Each emitter in an individual emitter may include at least a vertical-cavity surface-emitting laser (VCSEL) or at least one micro-light-emitting diode (LED). As used herein, the term "vertical-cavity surface-emitting laser" can refer to a semiconductor laser diode configured to emit a laser beam perpendicular to a top surface. Examples of VCSELs can be found, for example, at https: / / en.wikipedia.org / wiki / Vertical-cavity_surface-emitting_laser. VCSELs are generally known to those skilled in the art, such as according to WO 2017 / 222618A. As used herein, the term "micro-light-emitting diode" can refer to a microscopically small semiconductor light-emitting diode.

[0018] As used herein, the term "array of multiple individual transmitters" can refer to a two-dimensional or one-dimensional array of individual transmitters. An array may include multiple individual transmitters arranged in a matrix. As further used herein, the term "matrix" generally refers to an arrangement of multiple elements in a predetermined geometric order. Specifically, a matrix may be or may include a rectangular matrix having one or more rows and one or more columns. The rows and columns may specifically be arranged in a rectangular manner. However, it should be noted that other arrangements are possible, such as non-rectangular arrangements. As an example, a circular arrangement is also possible, wherein the elements are arranged in concentric circles or ellipses about a center point. For example, a matrix may be a single row of transmitters. Other arrangements are possible.

[0019] VCSELs can be arranged on a common substrate or different substrates. Arrays can include up to 2500 VCSELs. For example, an array can include 38x25 VCSELs, such as a high-power array with 3.5W. For example, an array can include 10x27 VCSELs with 2.5W. For example, an array can include 96 VCSELs with 0.9W. The size of the array, such as 2500 elements, can be up to 2mm x 2mm.

[0020] Individual transmitters can be configured to emit light beams with wavelengths ranging from 800 to 1000 nm, preferably at 940 nm. For example, a VCSEL can be configured to emit light beams with wavelengths ranging from 800 to 1000 nm. For example, a VCSEL can be configured to emit light beams at 808 nm, 850 nm, 940 nm, or 980 nm. Preferably, the VCSEL emits light at 940 nm because terrestrial solar radiation has a local minimum irradiance at that wavelength, as described, for example, in CIE 085-1989 "Solar spectral irradiance".

[0021] As used herein, the term "optical system" generally refers to at least one optical device comprising at least two components. An optical system may include at least one array of transport devices. An array of transport devices may include multiple transport devices arranged in a matrix. Specifically, the matrix of transport devices may be or may include a rectangular matrix having one or more rows and one or more columns. The rows and columns may specifically be arranged in a rectangular manner. However, it should be noted that other arrangements are feasible, such as non-rectangular arrangements. As an example, a circular arrangement is also feasible, wherein the transport devices are arranged in concentric circles or ellipses about a center point. For example, the matrix may be a single row of transport devices. Other arrangements are feasible.

[0022] The term "transmission device" (also referred to as "transmission system") can generally refer to one or more optical elements configured to modify the beam, such as by modifying one or more of the beam parameters, the width of the beam, or the direction of the beam. Each transmission device may include at least one element selected from the group consisting of: at least one microlens, such as at least one multifocal microlens or at least one individually addressed or matrix-addressed tunable or controllable multifocal microlens array; at least one transmission window; at least one diffuser; and at least one diffractive optical element. Embodiments may also use diffractive optical elements as supplements to or replacements for microlenses to replicate the beam and increase its quantity. Using multifocal microlenses instead of ordinary microlens arrays for projecting structured light patterns can allow for enhanced accuracy in depth information estimation and can also widen and extend the range of depths that can be detected and estimated. It is also possible to use tunable or controllable multifocal microlens arrays with individual addressing or matrix addressing, as Algorri, JF et al., “Tunable liquid crystal multifocal micro-lens array”, Scientific Reports, 7(1), p. 17318.

[0023] The transmission device array includes at least one transmission device for each individual transmitter. Specifically, each transmission device in the array is arranged such that a light beam generated by the individual transmitter propagates from the individual transmitter to the associated transmission device and is incident on the associated transmission device.

[0024] An array of transmission devices includes at least two sets of transmission devices, wherein the two sets of transmission devices differ in at least one characteristic. The two sets of transmission devices may differ in one or more aspects, including their refractive power, their relative position to a corresponding transmitter, their distance from the transmitter, their symmetry, or the tilt of their axis of symmetry relative to the optical axis of the transmitter. The sets of transmission devices are arranged in at least one pattern, wherein the pattern is a line pattern or a checkerboard pattern. An individual transmitter associated with a first set of transmission devices may be referred to as a transmitter of the first set, and an individual transmitter associated with a second set of transmission devices may be referred to as a transmitter of the second set. An array of transmission devices may include more than two sets of transmission devices, particularly multiple sets of transmission devices, such as three, four, five, six, or more sets.

[0025] The transmission devices in one group (also referred to as the first group) are configured to generate at least one illumination pattern in response to an illumination beam incident on the transmission devices. Light generated by individual emitters of the first group can be collected by an optical system in such a way that light emitted from each individual emitter can be projected separately as a beam for each emitter. Each beam can be collimated, converged, or diverged relative to two lateral axes. When the light from the individual emitters of the first group strikes the transmission devices of the first group, each of the transmission devices can form an illumination pattern, which includes, for example, spots, lines, stripes, or curves. The projected illumination pattern can be used to retrieve 3D information about an object.

[0026] As used herein, the term "illumination pattern" refers to a pattern used to illuminate an object. Specifically, an illumination pattern refers to a single beam of light and its pattern generated by one of the individual emitters, while the collection or whole of all illumination patterns generated by an array of individual emitters can be represented as a collective illumination pattern. An illumination pattern may include at least one pattern selected from the group consisting of: at least one point pattern, particularly a pseudo-random point pattern; a random point pattern or a quasi-random pattern; at least one Sobol pattern; at least one quasi-periodic pattern; at least one pattern including at least one predictable feature; at least one regular pattern; at least one triangular pattern; at least one hexagonal pattern; at least one rectangular pattern; at least one pattern including a convex consistent patch; at least one line pattern including at least one line; at least one line pattern including at least two lines, such as parallel or intersecting lines. For example, a projector and illumination module may be configured to generate and / or project point clouds or non-point features. For example, a projector and illumination module may be configured to generate point clouds or non-point features such that the illumination pattern may include multiple point features or non-point features. The illumination pattern may include regular and / or constant and / or periodic patterns, such as triangular patterns, rectangular patterns, hexagonal patterns, or patterns including further convex panels. The illumination pattern may include as many features as possible in each region, such that a hexagonal pattern may be preferred. The distance between two features of a corresponding illumination pattern and / or the area of ​​at least one illumination feature may depend on the blurred circle in the image determined by at least one detector.

[0027] The transmission devices in another group (referred to as the second group) are configured to generate divergent beams in response to an illumination beam incident on the transmission devices. Compared to the first group, the light from the individual emitters in the second group can be collected by the optical system in a different manner: the optical system can generate and / or produce significantly divergent individual beams, one for each emitter. As used herein, the term "divergent beam" can refer to the fact that the beam diameter or radius increases with distance from the transmission device. In particular, diffuse illumination is generated and / or produced by generating and / or producing multiple divergent beams. The optical system can be configured to propagate these beams as light sources and overlap them in object space. Thus, scene lighting and pattern projection can be achieved through a single module comprising a VCSEL or micro-LED array and an optical system with an array of transmission devices having at least two different characteristics as described above or in more detail below. In this way, it is possible to achieve, for example, focused or diffuse illumination sample quality from one set of emitters and sharp or focused structured light patterns from another set of emitters at a given object distance.

[0028] Optical systems may include systems with a focal length f OpticsAt least one common optics. As used herein, the term "common optics" can refer to at least one optics configured to influence a beam that has passed through an array of transmission devices. As used herein, the term "focal length" can refer to the distance on which an incident collimated ray incident on the optics can be "focused," and can also be expressed as "focus." Thus, focal length constitutes a measure of the optics' ability to converge an incident beam. Therefore, the common optics may include one or more imaging elements that can have the effect of a converging lens. Specifically, the common optics may include one or more lenses. The common optics can be configured to generate a beam with a desired beam diameter.

[0029] For example, the first and second groups of transmission devices can differ in their refractive capabilities, allowing them to be assigned different focal lengths. The transmission device in one group has a first focal length f. ML_G1 And another set of transmission equipment has a focal length f ML_G2 Combined with common optical components, the transmission device in one group of the group has a first refractive power 1 / f. eff_G1 =1 / f ML_G1 +1 / f Optics Furthermore, combined with common optical components, another set of transmission devices possesses a second refractive power 1 / f. eff_G2 =1 / f ML_G2 +1 / f Optics By adjusting the effective focal length f for each of the two groups separately. eff_G1 and f eff_G2 One or more of the collimation, convergence, or divergence characteristics are controllable.

[0030] Individual transmitters can emit the same or different wavelengths. For example, individual transmitters associated with the same group of transmission devices can have the same specific emission wavelength. When using different wavelengths, the wavelengths can be used for different applications. For example, the first wavelength can be used for distance determination, and the second wavelength can be used to determine at least one material property of the illuminated object. The brightness and illumination pattern of the diverging beam can be individually controllable. Specifically, the emission power of individual transmitters associated with the same group of transmission devices can be individually controllable and adjustable. Switching between uniform illumination and structured light pattern projection is possible by switching the current for the first and second groups of individual transmitters. For example, the emission power of an array of individual transmitters is controllable and adjustable for each individual transmitter. This makes it possible to reduce or turn off sharp structured light patterns within sensitive areas of an object, such as the eye. Furthermore, it is possible to overlay uniform illumination or structured light patterns with any pattern or image, such as a QR code, warning text message, or any type of label. For example, the emission power can be controlled by individually setting and adjusting the current or by utilizing liquid crystal elements between each individual transmitter and its transmission device.

[0031] The individual emission power of each micro-emitter can be controllable and adjustable, allowing bright and dark spots to be projected onto an object. For example, a static combination of a static microlens array and a static tuning diagram can be used to control and adjust the emission intensity of each micro-emitter. The static microlens array may comprise a mixture of microlenses with randomly, pseudo-randomly, or systematically varying (e.g., systematically repeated) sizes and shapes. The static tuning diagram can control and adjust the emission power of the individual emitters in a random, pseudo-random, or systematic manner.

[0032] Given known projectors and lighting devices, the projector and lighting module according to the present invention has several advantages. The number of modules can be reduced. It is possible to use only one module for scene lighting and pattern projection. Combined adaptive and / or intelligent lighting and projection functions can be provided. The projector and lighting module according to the present invention makes it possible to provide the required uniform illumination and structured light using only a single micro-module, and as will be shown in more detail below, only one image sensor module is used to acquire 2D images when using uniform illumination, and to acquire 3D information when using structured light. Therefore, the projector and lighting module according to the present invention can allow for reductions in product complexity, required form factor, material bills, assembly costs, and failure rates in manufacturing and operation. In addition to utilizing intelligent and / or adaptive functions, high reliability can be achieved through optimized design of the included modules and components to achieve better performance and eliminate sources of errors and miscalibrations.

[0033] In another aspect of the invention, a detector is disclosed. The detector includes at least one projector and illumination module according to the invention, such as one or more of the embodiments disclosed above or one or more of the embodiments disclosed in more detail below. The detector also includes at least one camera module, which includes at least one image sensor and at least one readout and image processing device.

[0034] As used herein, the term "camera module" can refer to at least one optical element configured to record at least one image. A camera module may include at least one bandpass filter having a transmission wavelength range suitable for the emission wavelength range of an individual transmitter. The camera module can be separated from the array of individual transmitters via a baseline. The camera module, particularly an image sensor, can be configured to image at least one 2D image of at least one object illuminated by a diverging light beam.

[0035] As used herein, the term "image sensor" generally refers to a photosensitive device for detecting light beams, such as for detecting illumination and / or light spots generated by at least one light beam. An image sensor may have a photosensitive region. As further used herein, "photosensitive region" generally refers to an area of ​​an optical sensor externally illuminated by at least one light beam that can generate at least one sensor signal. The photosensitive region may specifically be located on the surface of the corresponding optical sensor. However, other embodiments are also possible.

[0036] An image sensor may include at least one sensor element. As used herein, the term "sensor element" generally refers to a device or combination of devices configured to sense at least one parameter. In this case, the parameter may specifically be an optical parameter, and the sensor element may specifically be an optical sensor element. The sensor element may be formed as a single device or a combination of several devices. The sensor element may include at least one matrix of optical sensors. As further used herein, the term "matrix" generally refers to an arrangement of multiple elements in a predetermined geometric order. The matrix may specifically be or may include a rectangular matrix having one or more rows and one or more columns. The rows and columns may specifically be arranged in a rectangular manner. However, it should be noted that other arrangements are possible, such as non-rectangular arrangements. As an example, a circular arrangement is also possible, wherein the elements are arranged in concentric circles or ellipses about a center point. For example, the matrix may be a single row of pixels. Other arrangements are possible. The optical sensors of the matrix may specifically be equal in size, sensitivity, and one or more other optical, electromechanical, and other optical characteristics. The photosensitive areas of all the optical sensors of the matrix may specifically be located in a common plane, which preferably faces the object, such that a light beam propagating from the object to the detector can generate a spot on the common plane.

[0037] A matrix can have m rows and n columns, where m and n are independent positive integers. Preferably, more than one column and more than one row are given, i.e., n>1, m>1. Thus, as an example, n can be 2 to 16 or higher, and m can be 2 to 16 or higher. Preferably, the ratio of the number of rows to the number of columns is close to 1. As an example, n and m can be chosen such that 0.3≤m / n≤3, such as by choosing m / n = 1:1, 4:3, 16:9, or similar. For example, the array can be a square array with an equal number of rows and columns, such as by choosing m=2, n=2 or m=3, n=3, etc.

[0038] Specifically, the matrix can be a rectangular matrix having at least one row, preferably multiple rows, and multiple columns. As an example, the rows and columns can be substantially perpendicularly oriented, where the definition given above can be referenced regarding the term "substantially perpendicular." Therefore, as an example, tolerances of less than 20°, specifically less than 10°, or even less than 5° are acceptable. To provide a wide range of views, the matrix can specifically have at least 10 rows, preferably at least 50 rows, more preferably at least 100 rows. Similarly, the matrix can have at least 10 columns, preferably at least 50 columns, more preferably at least 100 columns. The matrix can include at least 50 optical sensors, preferably at least 100 optical sensors, more preferably at least 500 optical sensors. The matrix can include multiple pixels in the millions of pixels range. However, other embodiments are also possible. Therefore, in a configuration where axial rotational symmetry is desired, a circular or concentric arrangement of the optical sensors (also referred to as pixels) in the matrix is ​​preferred.

[0039] The optical sensor may specifically be or may include a photodetector, preferably an inorganic photodetector, more preferably an inorganic semiconductor photodetector, and most preferably a silicon photodetector. Specifically, the optical sensor may be sensitive in the infrared spectral range. All optical sensors in the matrix, or at least the group of optical sensors in the matrix, may specifically be identical. The identical group of optical sensors in the matrix may specifically be provided for different spectral ranges, or all optical sensors may be identical in spectral sensitivity. Further, the optical sensors may be identical in size and / or with respect to their electronic or optoelectronic properties.

[0040] Specifically, the optical sensor can be or can include an inorganic photodiode sensitive in the infrared spectral range (preferably in the range of 780 nm to 3.0 micrometers). Specifically, the optical sensor can be sensitive in a portion of the near-infrared region in which the silicon photodiode is specifically suited for the range of 700 nm to 1000 nm. Infrared optical sensors that can be used as optical sensors are commercially available infrared optical sensors, such as the Hertzstueck branded by TrinamiX GmbH of D-67056 Ludwigshafen am Rhein, Germany. TM Commercially available infrared optical sensors are available. Therefore, as an example, the optical sensor may include at least one intrinsic photovoltaic type optical sensor, more preferably, at least one semiconductor photodiode selected from the group consisting of: Ge photodiodes, InGaAs photodiodes, extended InGaAs photodiodes, InAs photodiodes, InSb photodiodes, and HgCdTe photodiodes. Additionally or alternatively, the optical sensor may include at least one non-intrinsic photovoltaic type optical sensor, more preferably, at least one semiconductor photodiode selected from the group consisting of: Ge:Au photodiodes, Ge:Hg photodiodes, Ge:Cu photodiodes, Ge:Zn photodiodes, Si:Ga photodiodes, and Si:As photodiodes. Additionally or alternatively, the optical sensor may include at least one calorimeter, preferably selected from the group consisting of V0 calorimeters and amorphous Si calorimeters.

[0041] The matrix may include individual optical sensors. Therefore, the matrix may include inorganic photodiodes. However, alternatively, one or more of commercially available matrices, such as CCD detectors (such as CCD detector chips), and / or CMOS detectors (such as CMOS detector chips), may be used.

[0042] Preferably, the sensor element can be oriented substantially perpendicular to the optical axis of the detector. Furthermore, regarding the term "substantially perpendicular," reference can be made to the definitions and tolerances given above. The optical axis can be a straight optical axis, or it can be curved, or even split, for example by using one or more deflecting elements and / or by using one or more beam splitters, wherein, in the case of using one or more beam splitters, a substantially perpendicular orientation can indicate the local optical axis in a corresponding branch or beam path of the optical setup.

[0043] The detector can be configured to determine depth information, particularly the depth information of an object, using one or more of structured light, triangulation, time-of-flight (ToF), and beam profile analysis of a projected illumination pattern. Regarding beam profile analysis, references are made to WO 2018 / 091649 A1, WO 2018 / 091638 A1, and WO 2018 / 091640 A1, the contents of which are incorporated herein by reference.

[0044] For example, to use beam profile analysis, a projector can be configured to generate at least two patterns for illuminating an object. As used herein, the term "beam profile" refers to the spatial distribution of the intensity of the beam, particularly in at least one plane perpendicular to the propagation of the beam. A beam profile can be a lateral intensity profile of the beam. A beam profile can be a cross-section of the beam. A beam profile can be selected from the group consisting of trapezoidal beam profiles, triangular beam profiles, conical beam profiles, and linear combinations of Gaussian beam profiles. However, other embodiments are possible.

[0045] The detector may include at least one evaluation device. As used further herein, the term "evaluation device" generally refers to any device configured to determine beam profile analysis, preferably by using at least one data processing device and more preferably by using at least one processor and / or at least one application-specific integrated circuit (ASIC). Thus, by way of example, at least one evaluation device may include at least one data processing device storing software code containing a large number of computer commands. The evaluation device may provide one or more hardware elements for performing one or more of the specified operations, and / or may provide one or more processors running thereon to perform one or more of the specified operations. Beam profile analysis, including determining depth information of an object, particularly at least one longitudinal coordinate, is performed by at least one evaluation device. Thus, by way of example, one or more of the relationships between combined signals and longitudinal coordinates may be implemented in software and / or hardware, such as by implementing one or more lookup tables. Thus, by way of example, the evaluation device may include one or more programmable devices, such as one or more computers, application-specific integrated circuits (ASICs), digital signal processors (DSPs), or field-programmable gate arrays (FPGAs), configured to perform the evaluations mentioned above to determine at least one longitudinal coordinate of an object. However, additionally or alternatively, the evaluation device may also be embodied entirely or partially in hardware.

[0046] The evaluation device can be configured to select at least one feature from a 2D image. The evaluation device can be configured to select a feature that is optimal for evaluating the beam profile, depending on the distance. The evaluation device can be configured to select a feature with a spot size optimal for evaluating the beam profile. The evaluation device can be configured to use one feature or set of spots for near distances and another feature or set of spots for far distances. This expands the applicable distance range and improves the accuracy of distance measurements. It also improves robustness against ambient light.

[0047] The evaluation device can be configured to determine at least one longitudinal coordinate z of a selected feature of a 2D image using a so-called photon ratio ranging technique. The evaluation device can be configured to determine at least one longitudinal coordinate z of the selected feature by evaluating a combined signal Q of sensor signals from a camera module. As used herein, the term "combined signal Q" refers to a signal generated by combining the sensor signals, particularly by one or more of the following: excluding the sensor signals, excluding a multiple of the sensor signals, or excluding a linear combination of the sensor signals. The evaluation device can be configured to derive the combined signal Q by one or more of the following: excluding the sensor signals, excluding a multiple of the sensor signals, or excluding a linear combination of the sensor signals. The evaluation device can be configured to determine the longitudinal coordinate using at least one predetermined relationship between the combined signal Q and the longitudinal coordinate z.

[0048] For example, the evaluation device can be configured to derive the combined signal Q by:

[0049]

[0050] Where x and y are the lateral coordinates, A1 and A2 are different regions of at least one beam profile of the reflected beam at the position of the camera module, and E(x,y,z) o ) indicates the distance z between objects o The beam profile is given at [location]. Regions A1 and A2 may differ. In particular, A1 and A2 are not congruent. Therefore, one or more of the shapes or contents of A1 and A2 may differ. Typically, the beam profile depends on the brightness L(z). o ) and beam shape S(x,y;z) o ), E(x,y;z) o = L·S. Therefore, by deriving the combined signal, the longitudinal coordinate can be determined independently of the brightness. Furthermore, using the combined signal allows the distance z to be determined independently of the object size. o Therefore, the combined signal allows the distance z to be determined independently of the object's material properties and / or reflection and / or scattering properties and independently of changes in the light source. oSuch as through manufacturing precision, heat, water, dirt, damage to the lens, etc.

[0051] Each of the sensor signals may include at least one piece of information about at least one region of the beam profile of the light beam. As used herein, the term "region of the beam profile" generally refers to any region of the beam profile at the sensor location used to determine the combined signal Q. The photosensitive region may be arranged such that the first sensor signal includes information about a first region of the beam profile, and the second sensor signal includes information about a second region of the beam profile. The first region and the second region of the beam profile may be one or both of adjacent or overlapping regions. The first region and the second region of the beam profile may not be congruent in area.

[0052] The evaluation device can be configured to determine and / or select a first region and a second region of the beam profile. The first region of the beam profile may include substantially edge information of the beam profile, and the second region of the beam profile may include substantially center information of the beam profile. The beam profile may have a center, i.e., the maximum value of the beam profile and / or the center point of the flat top of the beam profile and / or the geometric center of the spot, and a descending edge extending from the center. The second region may include an inner region of the cross-section, and the first region may include an outer region of the cross-section. As used herein, the term "substantially center information" generally refers to a lower proportion of edge information (i.e., a lower proportion of intensity distribution corresponding to the edge) compared to the proportion of center information (i.e., the proportion of intensity distribution corresponding to the center). Preferably, the proportion of edge information in the center information is less than 10%, more preferably less than 5%, and most preferably, the center information does not include any edge content. As used herein, the term "substantially edge information" generally refers to a lower proportion of center information compared to the proportion of edge information. Edge information may include information about the entire beam profile, particularly information from the center region and the edge region. The proportion of center information in the edge information is less than 10%, preferably less than 5%, and more preferably, the edge information does not include any center information. If at least one region of the beam profile is close to or surrounds the center and includes substantially central information, that region can be determined and / or selected as a second region of the beam profile. If at least one region of the beam profile includes at least some portions of the descending edge of the cross-section, that region can be determined and / or selected as a first region of the beam profile. For example, the entire area of ​​the cross-section can be determined as the first region. The first region of the beam profile can be region A2, and the second region of the beam profile can be region A1.

[0053] Other options for the first region A1 and the second region A2 are also possible. For example, the first region may include a substantially outer region of the beam profile, and the second region may include a substantially inner region of the beam profile. For example, in the case of a two-dimensional beam profile, the beam profile may be divided into a left portion and a right portion, wherein the first region may include a region of the substantially left portion of the beam profile, and the second region may include a region of the substantially right portion of the beam profile.

[0054] Edge information may include information relating to the number of photons in a first region of the beam profile, while center information may include information relating to the number of photons in a second region of the beam profile. An evaluation device may be configured to determine the area integral of the beam profile. The evaluation device may be configured to determine the edge information by integrating and / or summing the first region. The evaluation device may be configured to determine the center information by integrating and / or summing the second region. For example, the beam profile may be a trapezoidal beam profile, and the evaluation device may be configured to determine the integral of the trapezoid. Furthermore, when a trapezoidal beam profile can be assumed, the determination of the edge and center signals can be replaced by an equivalent evaluation of the characteristics of the trapezoidal beam profile (such as determining the slope and position of the edges and the height of the central flat top and deriving the edge and center signals through geometric considerations).

[0055] Additionally or alternatively, the evaluation device can be configured to determine one or both of center information or edge information based on at least one slice or cut of the light spot. This can be achieved, for example, by replacing the area integral of the combined signal Q with a line integral along the slice or cut. To improve accuracy, several slices or cuts of the light spot can be used and averaged. In the case of an elliptical light spot profile, averaging several slices or cuts improves the distance information.

[0056] The evaluation device can be configured to derive the combined signal Q by one or more of the following: excluding edge and center information, excluding multiples of edge and center information, and excluding linear combinations of edge and center information. Therefore, essentially, the photon ratio can be used as the physical basis of the method.

[0057] As used further herein, the term "readout and image processing device" generally refers to a device configured to read out sensor signals generated by an image sensor and image processing, preferably by using at least one data processing device and more preferably by using at least one projector and / or at least one application-specific integrated circuit (ASIC). Thus, by way of example, at least one readout and image processing device may include at least one data processing device having software code comprising a large number of computer commands. The readout and image processing device may provide one or more hardware elements for performing one or more specified operations, and / or provide one or more processors for running software thereon to perform one or more specified operations. The readout and image processing device may include one or more programmable devices, such as one or more computers, application-specific integrated circuits (ASICs), digital signal processors (DSPs), or field-programmable gate arrays (FPGAs), configured to perform the readout and processing mentioned above, such as to determine depth information of an object. However, additionally or alternatively, the readout and image processing device may also be embodied entirely or partially in hardware.

[0058] For details, options, and definitions, refer to the projector and illumination module as discussed above. Therefore, specifically, as outlined above, the detector includes one or more projectors and illumination modules according to the invention, such as those given above or in more detail below.

[0059] In a further aspect, the present invention discloses a method for illuminating at least one object using at least one projector and lighting module according to the invention, such as according to one or more embodiments involving projectors and lighting modules as disclosed above or in more detail below. Additionally, at least one other type of projector and lighting module according to the invention may be used. The method includes method steps, wherein these method steps may be performed in a given order or may be performed in a different order. Furthermore, one or more other method steps not listed may be present. Furthermore, one, more than one, or even all of the method steps may be performed repeatedly.

[0060] The projector and illumination module includes at least one array of multiple individual emitters and at least one optical system. Each individual emitter generates at least one illumination beam. The optical system includes at least one array of multiple transmission devices. The transmission device array includes at least one transmission device for each individual reflector. The transmission device array includes at least two sets of transmission devices. The two sets of transmission devices differ in at least one characteristic. The transmission devices in one set generate at least one illumination pattern in response to an illumination beam incident on the transmission device. The transmission devices in the other set generate a diverging beam in response to an illumination beam incident on the transmission device.

[0061] The method may include at least one imaging step, wherein the object is imaged by at least one camera module, the camera module including at least one image sensor and at least one readout and image processing device. Imaging may include imaging at least one 2D image of at least one object illuminated by a diverging light beam.

[0062] The method may also include using a projected illumination pattern to determine depth information via one or more of structured light, triangulation, time-of-flight (ToF), and beam profile analysis.

[0063] For details, options, and definitions, refer to the projector and illumination module and the detector as discussed above. Therefore, specifically, as outlined above, the method includes using a projector and illumination module according to the invention, such as one or more of the embodiments given above or given in more detail below.

[0064] For further use of the detectors and devices of the present invention, reference is made to WO 2018 / 091649 A1, WO 2018 / 091638A1 and WO 2018 / 091640A1, the contents of which are incorporated herein by reference.

[0065] In a further aspect of the invention, uses of the projector and lighting module according to the invention are proposed, such as according to one or more of the embodiments given above or given in more detail below, selected for the purpose of use from the group comprising: flashlights for machine vision; computer vision; navigation; mobile phones; digital cameras; machine vision devices; tablet computers; smart cameras; cameras for navigation; vehicle cameras; traffic control, such as toll cameras or photography; headlights for service robots, drones and vehicles; depth measurement; marking projection for one or more of the following: measuring devices, 3D measuring devices, machine vision devices, inspection tools, assembly tools, robots, smart cameras, smartphones or tablet computers, guidance during measurement, quality inspection, assembly or installation, interactive games.

[0066] The projector and lighting module according to the invention can be used in several applications where spatially and / or temporally controlled lighting sources are advantageous. Specifically, the projector and lighting module according to the invention can be used in machine vision flashlights, service robots, computer vision, navigation sensors, transportation and traffic control cameras, toll cameras, or photography.

[0067] For example, in applications such as machine vision flashlights, computer vision, navigation, mobile phones, vehicle cameras, traffic control or toll collection cameras, or photography using devices such as mobile phones, digital cameras, machine vision equipment, tablets, smart cameras, cameras for navigation, vehicle or traffic control, or any other camera equipment, the following problems can be solved by the projector and lighting module according to the invention: avoiding obstruction of someone's view; avoiding red-eye effect in photography. Red-eye effect is a common effect in photography where the pupils of a person or some animals appear red in an image when a flash is used in low ambient light. Furthermore, the following problems can be solved by the projector and lighting module according to the present invention: avoiding overexposed image portions caused by excessively bright lighting or reflections from shiny or reflective surfaces; reducing the power consumption of the flash device since flash devices have high power consumption and suitable batteries with high charging capacity are expensive; avoiding interference with other devices; preventing other cameras, lidar (light detection and ranging) sensors, or other photosensitive devices from being blocked or interfered with by the flash; preventing photosensitive materials from being exposed to strong light; respecting human privacy and applying laws and obligations to observe confidential or secret information; and avoiding disturbance or interference to image processing and computer vision algorithms by uncontrolled or undesirable lighting.

[0068] For example, the projector and illumination module according to the invention can be used as follows: A first image is acquired using low-intensity illumination, and a person's eyes or overexposed areas are detected by an algorithm (e.g., feature-based detection or convolutional neural network). Flash illumination is then reduced to angles corresponding to the image portion containing the detected eyes or overexposed areas. The image portion can be selected to be larger to ensure that a moving person is not obstructed. A second image with adjusted desired flash illumination is then acquired.

[0069] For example, the projector and illumination module according to the invention can be used as follows: Record a first image and / or a depth image. Analyze which regions of interest should be fully illuminated or at what intensity level. If the regions of interest are known, the acquisition of the first image can be omitted. Possible regions of interest for specific lighting can be one or more of the following: not illuminating the sky or illuminating the sky with a lower light intensity; illuminating distant objects not as identified in the depth image, or illuminating them with a lower light intensity; not illuminating image areas at an image / pixel brightness higher than a given threshold level, or illuminating them with a lower intensity; illuminating only objects or people of interest, or illuminating them with a higher or lower intensity compared to the rest of the scene; not illuminating cameras, sensors, or photosensitive devices, materials, or illuminating them with a lower intensity compared to the rest of the scene; illuminating license plates separately, but not illuminating drivers, lanes, or traffic participants, or illuminating them with a lower intensity compared to the rest of the scene; not illuminating people, objects, or areas with privacy or confidentiality issues. Calculate the desired flash intensity level for different image regions. Acquire a second image with the desired flash illumination. Only the flash lamp can be used for lighting purposes, and no structured light pattern is projected. By adhering to the laws of optical imaging, each individual emitter can correspond to a specific image region. Reducing the emitter's power can be achieved by one or more of the following: reducing the current used for these emitters; placing a liquid crystal element array, linear optical polarizer foil, or coating before or after the microlens array. This allows for a reduction or decrease in the emitter's power. By designing and optimizing the optics, these individual emitters can illuminate different solid angles, thereby controlling the brightness of specific image regions. By equipping the camera with a bandpass filter, ambient light or unwanted illumination can be suppressed; this filter's wavelength range is suitable for the VCSEL or microLED emitter's wavelength. The light emitted from a VCSEL or microLED array is not white but monochromatic. For many applications, such as machine learning / vision, navigation, or computer vision, a white flash is not required. Monochromatic flashes, such as near-infrared, red, or green light, work fine here. For example, for mobile phone applications, such as unlocking a mobile phone's user ID, a color image is not needed. A white flash can be generated by using a light converter unit (e.g., a laser-activated remote phosphor (LARP) system). Such a converter unit can convert, for example, blue laser light into white light, as used in laser-based car headlights.

[0070] The following benefits can be achieved: The flash will not cause blindness or distraction. People do not need to close their eyes during image acquisition due to the flash. Illumination can be locally increased for dark image areas. By reducing localized illumination in these areas, overexposed portions of the image caused by overly bright lighting or reflections from shiny or reflective surfaces can be avoided. Artifacts or problems in image processing caused by unwanted lighting are avoided. Power consumption of the flash device can be reduced. Equipment interference is avoided. Photosensitive materials are not exposed to excessive light. Privacy or legal requirements may apply.

[0071] The projector and lighting module according to the invention can be used as headlights for vehicles, service robots, or drones. In this application area, problems may arise such as the need to avoid obstructing traffic participants with headlights or insufficient illumination of distant parts of obstacles or roads. For example, the projector and lighting module according to the invention can be used to reduce emitted illumination with a solid angle corresponding to a specific region of interest, such as where traffic participants are detected by a camera-based advanced driver assistance system or a camera-based autonomous driving system. Optionally, emitted illumination can be increased with a solid angle corresponding to a specific region of interest (e.g., traffic signs, obstacles, and / or distant parts of the road). These regions are selected via a camera-based driver assistance system or autonomous driving system, or via vehicle-to-vehicle communication, or via vehicle-to-infrastructure communication (C2I, vehicle-to-X communication). For service robot applications, emitted illumination with a solid angle corresponding to eyes and bright objects in the scene is reduced, while illumination is increased for dark objects such as hair or non-skin areas that are sensitive to emitted light. For drones and similar unmanned remote-controlled or autonomous vehicles, light sources of various wavelength ranges can be used. The region of interest of the scene requiring increased or decreased illumination power depends on the application of interest. The projector and lighting module according to the invention can be used in combination with a converter unit (e.g., a laser-activated remote phosphor (LARP) system) to produce white headlights for vehicles. A forward-looking camera can be used in advanced driver assistance systems or autonomous driving systems to determine the stereo emission angle corresponding to the region of interest. For service robot applications, monochromatic near-infrared light may be sufficient and more comfortable to use without disturbing the user. Currently, low beam headlights are used to prevent road users from being obstructed by headlights. This invention proposes to provide adaptive and / or intelligent lighting. The lighting is particularly better for longer distances or for selected regions of interest.

[0072] The projector and illumination module according to the invention can be used for depth measurement, such as depth of diffusion, time of flight, structured light-based, and triangulation-based depth or distance measurements. In the field of distance measurement, different types of depth or distance measurement techniques are known, which use approximately equal-sized spot patterns corresponding to equal beam divergence, and often suffer from one or more of the following limitations or problems: Specifically, the so-called correspondence problem: the problem of individual spots in an image identifying the spot pattern, for example due to corresponding triangulation shifts in the imaging spots. Specifically, there is a limited range of distances in high-intensity ambient light: the intensity of the projected spot light relative to the ambient light decreases with distance. This effect increases dramatically when the divergence of the projected beam is increased. Therefore, under high-intensity ambient light conditions, it is no longer reliable to detect spots at greater distances. On the other hand, converging, collimated, or diverging beams appear very small in images of distant targets. This makes them difficult to detect. Furthermore, if the imaging spots become too small, analyzing them becomes difficult. In such cases, distance measurement techniques (such as depth of diffusion) produce large measurement errors. Furthermore, if the imaging scene is complex and contains highly reflective and translucent or transparent objects, some detected spots may be too bright while others are too faint. For example, the projector and illumination module according to the invention can be used to generate and project laser spot patterns containing spots of various sizes. A microlens array containing a mixture of microlenses of various focal lengths can be used to achieve this. It is also possible to create such spot patterns with a mixture of various spot sizes using tunable or controllable multifocal microlens arrays with individual addressing or matrix addressing. In addition to spot size, spots with various shapes, ellipticities and / or angular orientations of ellipticity or symmetry axes are also possible. Smaller spots are easier to detect on objects illuminated with high intensity, while larger spots are better for estimating greater distances. Furthermore, it may be possible to enhance the dynamic range of the distance measurement system by individually controlling and adjusting the emission intensity for each spot to be able to handle bright and dark spots and make them detectable simultaneously. A static combination of a static microlens array and a static tuning pattern can also be used to control and adjust the emission intensity of each micro-emitter. A static microlens array may comprise a mixture of microlenses having randomly, pseudo-randomly, or systematically varied (e.g., systematically repeated) sizes and shapes. A static tuning diagram can control and adjust the emission intensity of the microemitter in a random, pseudo-random, or systematic manner. Using the projector and illumination module according to the invention offers the advantage that the spot size of the spot group can be adapted to be optimal for different distances: for example, using one set of spots for close distances and another or a different set of spots for long distances. This expands the applicable distance range and improves the accuracy of distance measurements. Simultaneously, robustness against ambient light is also improved. Different / various spot sizes, shapes, spot ellipticities, or spot ellipticity axes can be used to more easily solve corresponding problems.This allows for increased density of the speckle pattern, and thus increased lateral resolution. It also allows for extending the distance range toward closer distances.

[0073] The projector and illumination module according to the invention can be used for marking projection of one or more of the following: measuring equipment, 3D measuring equipment, machine vision equipment, inspection tools, assembly tools, robots, smart cameras, smartphones or tablets, guidance during measurement, quality inspection, assembly or installation, interactive games. For these applications, it is often useful to project markings or structures and / or patterns (such as dots, marks, arrows, lines, markers, boxes, labels, text, numbers, QR codes, or symbols) onto an object or surrounding area to: indicate points (e.g., laser pointer-like) or indicate areas of interest; indicate the field of view / measurement range of the device; indicate points, distances, or dimensions measured by pointing to / marking relevant locations on the object or displaying measurement results; indicate identified objects by projecting boxes or rectangles around them; highlight them by increasing illumination or by marking them, for example, with arrows; indicate objects to be picked up or their order or objects to be known; indicate where, how, or in what order to place or position objects; mark objects or points of interest; align lines or other guidance that helps during assembly, installation, mounting, or fixing of objects or for drilling; and indicate quality inspection results on components. Indicating non-compliant (bad) results. Indicating scratches or deformation, indicating the direction, manner, or target to which a robot, vehicle, or machine or its components should move, or projecting warnings, warning signs, text, labels, or QR codes onto or beside an object. For example, the projector and lighting module according to the invention can be used as follows: different sets of emitters can be used in multiple groups. The projected light from the first set of emitters can form a pattern on an object consisting of spots, lines, or stripes. This pattern can be used to retrieve 3D information about the object or scene. The light from the second set of emitters can be used to illuminate the object or scene. The illumination can be uniform or non-uniform. Non-uniform illumination can be achieved and can be used, for example, to indicate and / or highlight objects or areas of interest by increasing or selectively illuminating. The light from additional sets of individual emitters can be used to project markings or structures: dots, symbols, arrows, lines, marks, boxes, labels, text, numbers, QR codes, or symbols. The light from different sets of emitters can be switched or superimposed. It can also be completely turned off. The state of prior art solutions uses an external projector to provide some of the aforementioned projection structures. Using the projector and illumination module according to the invention offers the following advantages: if the 3D measurement coordinates are retrieved from the projection grid or pattern of the light spot, the origin is the same for both the 3D measurement coordinates and the projection coordinates. This reduces computational complexity, computation time, and power consumption. Since there is no external projector, there is no need to perform projector alignment calibration relative to the 3D sensor and camera unit. This can reduce manufacturing time and / or cost. Furthermore, the risk of projector calibration becoming detuned over time is avoided, and the accuracy of the projection is improved. The number of modules is reduced: no external marking projection module or external illumination module is required.Moreover, it may be possible to reduce product complexity, required form factor, material bills, assembly costs, and failure rates in manufacturing and operation.

[0074] This invention allows for individual control of each laser in an array. Furthermore, it makes it possible to generate highly complex microarrays using lenses.

[0075] As used herein, the terms “have,” “include,” or “contain,” or any grammatical variations thereof, are used in a non-exclusive manner. Thus, these terms can refer to a situation where an entity described herein has no other features besides those introduced by these terms, or to a situation where one or more other features exist. For example, the statements “A has B,” “A includes B,” and “A contains B” can refer to a situation where A has no other elements besides B (i.e., A consists solely and exclusively of B), or to a situation where entity A has one or more other elements besides B (e.g., element C, elements C and D, or even other elements).

[0076] Furthermore, it should be noted that the terms "at least one," "one or more," or similar expressions indicating that a feature or element may exist once or more often are generally used only once when the corresponding feature or element is introduced. In this document, in most cases, the expressions "at least one" or "one or more" are not repeated when referring to the corresponding feature or element, but the fact that the corresponding feature or element may exist once or more often is acknowledged.

[0077] Furthermore, as used below, the terms “preferredly,” “more preferably,” “particularly,” “more particularly,” “specifically,” “more specifically,” or similar terms may be used in combination with optional features without limiting other possibilities. Therefore, features introduced by these terms are optional features and are not intended to limit the scope of the claims in any way. As those skilled in the art will recognize, the invention can be practiced using alternative features. Similarly, features introduced by phrases such as “in embodiments of the invention” are intended to be optional features, without limiting alternative embodiments of the invention, without limiting the scope of the invention, and without limiting the possibility of combining features introduced in this manner with other optional or non-optional features of the invention.

[0078] In general, the following embodiments are considered preferred in the context of this invention:

[0079] Example 1: A projector and lighting module configured for scene lighting and pattern projection, wherein the projector and lighting module includes at least one array of a plurality of individual emitters and at least one optical system, wherein each of the individual emitters is configured to generate at least one illumination beam, wherein the optical system includes at least one array of a plurality of transmission devices, wherein the transmission device array includes at least one transmission device for each of the individual emitters, wherein the transmission device array includes at least two sets of transmission devices, wherein the transmission devices in the two sets are different in at least one characteristic, wherein the transmission devices in one set of the sets are configured to generate at least one illumination pattern in response to an illumination beam incident on the transmission device, and wherein the transmission devices in the other set are configured to generate a diverging beam in response to an illumination beam incident on the transmission device.

[0080] Example 2: The projector and lighting module according to the previous example, wherein each of the individual transmitters includes at least a vertical cavity surface emitting laser (VCSEL) or at least one micro light-emitting diode (LED).

[0081] Example 3: The projector and lighting module according to any of the foregoing embodiments, wherein the individual transmitter is configured to emit a light beam with a wavelength range from 800 to 1000 nm, preferably a light beam at 940 nm.

[0082] Example 4: The projector and lighting module according to any of the foregoing examples, wherein the individual transmitters have the same or different emission wavelengths.

[0083] Example 5: The projector and lighting module according to the previous example, wherein individual transmitters associated with the same group of transmission devices have the same specific emission wavelength.

[0084] Example 6: A projector and lighting module according to any of the foregoing embodiments, wherein the brightness of the diverging beam and the lighting pattern are individually controllable, and wherein the transmission power of the individual transmitter associated with the same set of transmission devices is individually controllable and adjustable.

[0085] Example 7: The projector and lighting module according to any of the foregoing embodiments, wherein the transmission power of the individual transmitters of the array is controllable and adjustable for each individual transmitter.

[0086] Example 8: The projector and lighting module according to any of the foregoing embodiments, wherein the transmission device group is arranged in at least one pattern, wherein the pattern is a line pattern or a checkerboard pattern.

[0087] Example 9: The projector and illumination module according to any of the foregoing embodiments, wherein each of the transmission devices includes at least one element selected from the group consisting of: at least one microlens, such as at least one multifocal microlens or at least one individually addressed or matrix-addressed tunable or controllable multifocal microlens array; at least one transmission window; at least one diffuser; at least one diffractive optical element.

[0088] Example 10: A projector and lighting module according to any of the foregoing embodiments, wherein the two sets of transmitting devices differ in one or more aspects of their refractive power, their relative position to the corresponding transmitter, their distance from the transmitter, their symmetry, or the tilt of their axis of symmetry relative to the optical axis of the transmitter.

[0089] Example 11: A projector and illumination module according to any of the foregoing embodiments, wherein the optical system includes a focal length f Optics At least one common optical element, wherein the common optical element comprises one or more lenses, wherein the common optical element is configured to generate a beam having a desired beam diameter.

[0090] Example 12: According to the projector and lighting module of the previous embodiment, wherein the transmission device of one group of the group has a first focal length f ML_G1 And the other set of the transmission devices has a focal length f ML_G2 In combination with the common optical device, the transmission device in one group of the group has a first refractive power 1 / f eff_G1 =1 / f ML_G1 +1 / f Optics Furthermore, in combination with the common optical device, another set of the transmission devices has a second refractive power 1 / f. eff_G2 =1 / f ML_G2 +1 / f Optics Among them, by adjusting the effective focal length f for the two groups respectively eff_G1 and f eff_G2 One or more of the collimation, convergence, or divergence characteristics are controllable.

[0091] Example 13: A detector, comprising:

[0092] - At least one projector and lighting module according to any of the foregoing embodiments;

[0093] - At least one camera module, which includes at least one image sensor and at least one readout and image processing device.

[0094] Example 14: The detector according to the previous embodiment, wherein the camera module is configured to image at least one 2D image of at least one object illuminated by the diverging light beam.

[0095] Example 15: A detector according to any of the foregoing embodiments, wherein the detector is configured to determine depth information using the illumination pattern of the projected light through one or more of structured light, triangulation, time-of-flight (ToF), and beam profile analysis.

[0096] Example 16: A detector according to any of the foregoing embodiments involving a detector, wherein the camera module includes at least one bandpass filter having a transmission wavelength range suitable for the emission wavelength range of the individual transmitter.

[0097] Example 17: A detector according to any of the foregoing embodiments involving a detector, wherein the camera module is separated from the array of individual transmitters by a baseline.

[0098] Example 18: A method for illuminating at least one object using at least one projector and illumination module according to any of the foregoing embodiments involving a projector and illumination module, wherein the projector and illumination module includes at least one array of a plurality of individual emitters and at least one optical system, wherein each of the individual emitters generates at least one illumination beam, wherein the optical system includes at least one array of a plurality of transmission devices, wherein the array of transmission devices includes at least one transmission device for each of the individual reflectors, wherein the array of transmission devices includes at least two sets of transmission devices, wherein the two sets of transmission devices differ in at least one characteristic, wherein the transmission devices in one set of the sets generate at least one illumination pattern in response to an illumination beam incident on the transmission device, and wherein the transmission devices in the other set generate a diverging beam in response to an illumination beam incident on the transmission device.

[0099] Example 19: The method according to the previous embodiment, wherein the method includes at least one imaging step, wherein the object is imaged by at least one camera module, the camera module including at least one image sensor and at least one readout and image processing device, wherein the imaging includes imaging at least one 2D image of at least one object illuminated by the diverging light beam.

[0100] Example 20: The method according to any one of the first two examples, wherein the method further includes using the illumination pattern of the projected light to determine depth information by one or more of structured light, triangulation, time-of-flight (ToF), and beam profile analysis.

[0101] Example 21: According to the use of the projector and lighting module in any of the foregoing embodiments involving the projector and lighting module, for the purpose of use, the following are selected from the group consisting of: flashlights for machine vision; computer vision; navigation; mobile phones; digital cameras; machine vision devices; tablet computers; smart cameras; cameras for navigation; vehicle cameras; traffic control, such as toll cameras or photography; headlights for service robots, drones, and vehicles; depth measurement; marking projection for one or more of the following: measuring devices, 3D measuring devices, machine vision devices, inspection tools, assembly tools, robots, smart cameras, smartphones or tablet computers, guidance during measurement, quality inspection, assembly or installation, interactive games. Attached Figure Description

[0102] Other optional details and features of the invention will become apparent from the following description of preferred exemplary embodiments in conjunction with the dependent claims. In such cases, a particular feature may be implemented separately or in combination with other features. The invention is not limited to exemplary embodiments. Exemplary embodiments are schematically illustrated in the accompanying drawings. The same reference numerals in the various drawings refer to the same elements or elements having the same function, or elements that correspond to each other in terms of their function.

[0103] Specifically, in the diagram:

[0104] Figure 1 An embodiment of the projector and lighting module according to the present invention is shown; and

[0105] Figure 2 An embodiment of the detector according to the present invention is shown. Detailed Implementation

[0106] Figure 1 A first embodiment of the present invention, comprising a projector and lighting module 110 configured for scene lighting and pattern projection, is shown in a highly schematic manner. The projector and lighting module 110 can be configured to provide at least one lighting pattern and / or diffuse lighting for illuminating at least one object. The projector and lighting module 110 is configured for scene lighting and pattern projection. The lighting pattern may include multiple features of arbitrary shape, such as symbols. The lighting pattern includes multiple features. The lighting pattern may include an arrangement of periodic or non-periodic features. The features of the pattern may differ from each other, where overlapping areas are possible. The scene lighting may be diffuse and / or uniform lighting of areas or regions.

[0107] The projector and illumination module 110 may have an optical axis 112. The optical axis 112 may be a mirror axis or a rotational axis of symmetry of the projector and illumination module 110. The optical axis 112 may be a line of symmetry of the optical setup of the projector and illumination module 112, particularly the optical system 114.

[0108] The projector and illumination module 110 can form a coordinate system, where the ordinate *l* is the coordinate along the optical axis 112, and *d* is the spatial offset from the optical axis. The coordinate system can be a polar coordinate system, where the optical axis forms the z-axis, and it can use the distance from the z-axis and the polar angle as additional coordinates. Directions parallel or antiparallel to the z-axis can be considered longitudinal directions, and coordinates along the z-axis can be considered ordinate *z*. Any direction perpendicular to the z-axis can be considered a transverse direction, and polar coordinates and / or polar angles can be considered transverse coordinates.

[0109] The projector and illumination module 110 includes at least one array 116 of a plurality of individual emitters 117. Each individual emitter is configured to generate at least one illumination beam. The individual emitters 117 can be configured to generate beams that are independent of each other. Each individual emitter 117 includes at least a vertical-cavity surface-emitting laser (VCSEL) or at least one micro-light-emitting diode (LED).

[0110] The array 116 of multiple individual transmitters may comprise a two-dimensional or one-dimensional array of individual transmitters 117. The array 116 may comprise multiple individual transmitters 117 arranged in a matrix. Specifically, the matrix may be or may comprise a rectangular matrix having one or more rows and one or more columns. The rows and columns may specifically be arranged in a rectangular manner. However, it should be noted that other arrangements are possible, such as non-rectangular arrangements. As an example, a circular arrangement is also possible, wherein the elements are arranged in concentric circles or ellipses about a center point. For example, the matrix may be a single row of transmitters 117. Other arrangements are possible.

[0111] VCSELs can be arranged on a common substrate or different substrates. Array 116 can include up to 2500 VCSELs. For example, array 116 can include 38x25 VCSELs, such as a high-power array with 3.5W. For example, array 116 can include 10x27 VCSELs with 2.5W. For example, the array can include 96 VCSELs with 0.9W. The size of array 116, such as 2500 elements, can be up to 2mm x 2mm.

[0112] Individual emitter 117 can be configured to emit a light beam with a wavelength range from 800 to 1000 nm, preferably at 940 nm. For example, a VCSEL can be configured to emit a light beam with a wavelength range from 800 to 1000 nm. For example, a VCSEL can be configured to emit a light beam at 808 nm, 850 nm, 940 nm, or 980 nm. Preferably, the VCSEL emits light at 940 nm because terrestrial solar radiation has a local minimum irradiance at that wavelength, as described in CIE 085-1989 "Solar spectral irradiance".

[0113] The projector and illumination module 110 includes at least one optical system 114. The optical system 114 includes at least one array of a plurality of transmission devices 118. The array of transmission devices 118 includes at least one transmission device 118 for each individual transmitter 117. The array of transmission devices 118 includes at least two sets of transmission devices 118. The two sets of transmission devices differ in at least one characteristic. The transmission devices 118 in one set are configured to generate at least one illumination pattern in response to an illumination beam incident on the transmission device 118. The transmission devices 118 in the other set are configured to generate a diverging beam in response to an illumination beam incident on the transmission device 118.

[0114] The transmission device array 118 may include multiple transmission devices arranged in a matrix. Specifically, the transmission device matrix 118 may be or may include a rectangular matrix having one or more rows and one or more columns. The rows and columns may specifically be arranged in a rectangular manner. However, it should be noted that other arrangements are possible, such as non-rectangular arrangements. As an example, a circular arrangement is also possible, wherein the transmission devices 118 are arranged in concentric circles or ellipses about a center point. For example, the matrix may be a single row of transmission devices 118. Other arrangements are possible.

[0115] The transmission device 118 can be configured to modify the beam, such as by modifying one or more of the beam parameters, beam width, or beam direction. Each transmission device 118 may include at least one element selected from the group consisting of: at least one microlens, such as at least one multifocal microlens or at least one individually addressed or matrix-addressed tunable or controllable multifocal microlens array; at least one transmission window; at least one diffuser; at least one diffractive optical element. Embodiments may also use diffractive optical elements as an addition to or replacement of microlenses to replicate the beam and increase its quantity. Using multifocal microlenses instead of ordinary microlens arrays for projecting structured light patterns can allow for enhanced estimation accuracy of depth information and can also broaden and extend the range of depths that can be detected and estimated. The use of individually addressed or matrix-addressed tunable or controllable multifocal microlens arrays is also possible, as in Algorri, JF et al., 2017, “(Tunable liquid crystal multifocal micro-lens array)”, Scientific Reports, 7(1), p. 17318.

[0116] The array of transmission devices 118 includes at least one transmission device 118 for each individual reflector. Specifically, each transmission device in the array of transmission devices 118 is arranged such that a light beam generated by an individual emitter 117 propagates from the individual emitter 117 to the associated transmission device 118 and is incident on the associated transmission device 118.

[0117] The transmission device array 118 includes at least two sets of transmission devices 118, wherein the two sets of transmission devices differ in at least one characteristic. The two sets of transmission devices 118 may differ in one or more aspects, such as their refractive power, their relative position to a corresponding emitter, their distance from the emitter, their symmetry, or the tilt of their axis of symmetry relative to the optical axis of the emitter. The sets of transmission devices 118 are arranged in at least one pattern, wherein the pattern is a line pattern or a checkerboard pattern. Individual emitters 117 associated with a first set 120 of transmission devices 118 may be represented as emitters of the first set 122, and individual emitters 117 associated with a second set 124 of transmission devices 118 may be represented as emitters of the second set 126. The transmission device array 118 may include more than two sets of transmission devices 118, particularly multiple sets of transmission devices 118, such as three, four, five, six, or more sets. Figure 1 In this design, the conveying devices 118 of the first group 120 and the second group 124 are designed as microlenses with different characteristics.

[0118] The first group 120 of transmission devices 118 is configured to generate at least one illumination pattern in response to an illumination beam incident on the transmission device 118. Light generated by the individual emitters 117 of the first group 122 can be collected by the optical system 114 in such a way that light emitted from each individual emitter can be projected onto each emitter 117 as a beam. Each beam can be collimated, converged, or diverged relative to two lateral axes. When the light from the individual emitters 117 of the first group 122 strikes the transmission devices 118 of the first group 120, each transmission device 118 can form an illumination pattern, which includes, for example, dots, lines, stripes, or curves. The projected illumination pattern can be used to retrieve 3D information about an object. Figure 1 In the image, the beam that has passed through the transmission device 118 of the first group 120 is shown as a collimated or slowly diverging beam 128.

[0119] In particular, the illumination pattern may be a single beam and its pattern generated by one of the individual emitters 117, while the collection or whole of all illumination patterns generated by the array of individual emitters 117 can be represented as a collective illumination pattern. The illumination pattern may include at least one pattern selected from the group consisting of: at least one point pattern, particularly a pseudo-random point pattern; a random point pattern or a quasi-random pattern; at least one Sobol pattern; at least one quasi-periodic pattern; at least one pattern including at least one predictable feature; at least one regular pattern; at least one triangular pattern; at least one hexagonal pattern; at least one rectangular pattern; at least one pattern including a convex consistent patch; at least one line pattern including at least one line; at least one line pattern including at least two lines, such as parallel or intersecting lines. For example, the projector and illumination module 110 may be configured to generate and / or project point clouds or non-point features. For example, the projector and illumination module 110 may be configured to generate point clouds or non-point features such that the illumination pattern may include multiple point features or non-point features. The illumination pattern may include regular and / or constant and / or periodic patterns, such as triangular patterns, rectangular patterns, hexagonal patterns, or patterns including further convex patches. The illumination pattern can include as many features as possible in each region, such that a hexagonal pattern is preferred. The distance between two features of a corresponding illumination pattern and / or the area of ​​at least one illumination feature can depend on the blurred circle in the image determined by at least one detector.

[0120] The transmission device 118 in the second group 124 is configured to generate a diverging beam 130 in response to an illumination beam incident on it. Compared to the first group 120, the light from the individual emitters 117 of the second group 124 can be collected by the optical system 114 in a different manner: the optical system 114 can generate and / or produce significantly divergent individual beams 130, one for each emitter 117. Specifically, diffuse illumination is generated and / or produced by generating and / or producing multiple diverging beams. The optical system 114 can be configured to propagate these beams 130 as light sources and overlap them in the object space. Thus, scene lighting and pattern projection can be achieved through a single module comprising an array of VCSELs or micro-LEDs and an optical system for an array of transmission devices having at least two different characteristics as described above or in more detail below. In this way, it is possible to achieve, for example, focused or diffuse illumination sample quality from one set of emitters and a sharp or focused structured light pattern from another set of emitters at a given object distance.

[0121] Optical system 114 may include a focal length f Optics At least one common optical element 132. Specifically, the common optical element 132 may include one or more lenses. The common optical element 132 may be configured to generate a beam having a desired beam diameter.

[0122] For example, the conveying devices 118 of the first group 120 and the second group 124 can differ in their refractive power, allowing them to be assigned different focal lengths. The conveying device 118 in one group has a first focal length f. ML_G1 And another set of transmission devices 118 has a focal length f ML_G2 Combined with common optical element 132, transmission device 118 in one group of the group has a first refractive power 1 / f. eff_G1 =1 / f ML_G1 +1 / f Optics Furthermore, in combination with common optical components, another set of transmission devices 118 has a second refractive power 1 / f eff_G2 =1 / f ML_G2 +1 / f Optics By adjusting the effective focal length f for each of the two groups separately. eff_G1 and f eff_G2 One or more of the collimation, convergence, or divergence characteristics are controllable.

[0123] The emission wavelengths of individual transmitters 117 can be the same or different. For example, individual transmitters 117 associated with the same group of transmission devices 118 can have the same specific emission wavelength. The brightness and illumination pattern of the diverging beam can be individually controllable. Specifically, the emission power of individual transmitters 117 associated with the same group of transmission devices 118 can be individually controllable and adjustable. Switching between uniform illumination and structured light pattern projection is possible by switching the current for the individual transmitters 117 of the first and second groups. For example, the emission power of the individual transmitters 144 of array 116 is controllable and adjustable for each individual transmitter 117. This makes it possible to reduce or turn off sharp structured light patterns within sensitive areas of an object, such as the eyes. Furthermore, it is possible to overlay uniform illumination or structured light patterns with any pattern or image, such as a QR code, warning text message, or any type of label. For example, the emission power can be controlled by individually setting and adjusting the current or by using liquid crystal elements between each individual transmitter 117 and its transmission device 118.

[0124] The individual emission power of the individual emitter 117 can be controllable and adjustable, allowing bright and dark spots to be projected onto the object. For example, a static combination of a static microlens array and a static tuning diagram can be used to control and adjust the emission intensity of each microemitter. The static microlens array may comprise a mixture of microlenses having randomly, pseudo-randomly, or systematically varying (e.g., systematically repeated) sizes and shapes. The static tuning diagram can control and adjust the emission power of the individual emitters in a random, pseudo-random, or systematic manner.

[0125] Figure 2 An embodiment of a detector 134 according to the present invention is shown. The detector 134 includes at least one projector and illumination module 110 according to the present invention. Figure 2 In one embodiment, the conveying device 118 of the first group 120 is designed as a microlens, and the conveying device 118 of the second group 124 can be a transparent window 136. For other components of the projector and lighting module 110, please refer to... Figure 1 .

[0126] The detector 134 also includes at least one camera module 136, which includes at least one image sensor 138 and at least one readout and image processing device 140. The camera module 136 can be configured to record at least one image. The camera module 136 may include at least one bandpass filter having a transmission wavelength range suitable for the emission wavelength range of the individual transmitter 117. The camera module 136 can be separated from the array 116 of the individual transmitter 117 by a baseline. The camera module 136, particularly the image sensor 138, can be configured to image at least one 2D image of at least one object illuminated by a diverging light beam.

[0127] Image sensor 138 may be or may include a photosensitive device for detecting a light beam, such as for detecting illumination and / or light spots generated by at least one light beam. Image sensor 138 may have a photosensitive area. Image sensor 138 may include at least one sensor element. Image sensor 138 may include at least one CCD detector, such as a CCD detector chip, and / or at least one CMOS detector, such as a CMOS detector chip.

[0128] Detector 124 can be configured to determine depth information, particularly object depth information, using one or more of structured light, triangulation, time-of-flight (ToF), and beam profile analysis with a projected illumination pattern. Regarding beam profile analysis, references are made to WO 2018 / 091649 A1, WO2018 / 091638 A1, and WO 2018 / 091640 A1, the contents of which are incorporated herein by reference.

[0129] The readout and image processing device 140 may be configured to read out sensor signals generated by an image sensor and image processing, preferably by using at least one data processing device and more preferably by using at least one projector and / or at least one application-specific integrated circuit (ASIC). Thus, by way of example, at least one readout and image processing device 140 may include at least one data processing device having software code comprising a large number of computer commands. The readout and image processing device 140 may provide one or more hardware elements for performing one or more specified operations, and / or provide one or more processors for running software thereon to perform one or more specified operations. The readout and image processing device 140 may include one or more programmable devices, such as one or more computers, application-specific integrated circuits (ASICs), digital signal processors (DSPs), or field-programmable gate arrays (FPGAs), configured to perform the readout and processing mentioned above, such as to determine depth information of an object. However, additionally or alternatively, the readout and image processing device 140 may also be embodied entirely or partially in hardware.

[0130] Reference tag list

[0131] 110 Projector and Lighting Module

[0132] 112 optical axes

[0133] 114 Optical System

[0134] 116 array

[0135] 117 individual launchers

[0136] 118 transmission equipment

[0137] 120 First Set of Conveyor Equipment

[0138] 122 First Group of Launchers

[0139] 124 Second Group of Conveying Equipment

[0140] 126 Second Group of Launchers

[0141] 128 collimated beams

[0142] 130 diverging beam

[0143] 132 Common Optical Components

[0144] 134 detector

[0145] 136 camera module

[0146] 138 image sensor

[0147] 140 readout and image processing equipment

[0148] Referenced files

[0149] US 8,908,277 B2

[0150] US 8,749,796 B2

[0151] US 8,743,923 B2

[0152] https: / / en.wikipedia.org / wiki / Vertical-cavity_surface-emitting_laser

[0153] WO 2017 / 222618 A

[0154] CIE 085-1989 "Solar spectral irradiance"

[0155] Algorri, JF et al., “Tunable liquid crystal multifocal micro-lensarray”, Scientific Reports, 7(1), p. 17318.

[0156] WO 2018 / 091649 A1

[0157] WO 2018 / 091638 A1

[0158] WO 2018 / 091640 A1

Claims

1. A projector and lighting module (110) configured for scene lighting and pattern projection, wherein, The projector and illumination module (110) includes at least one array (116) of a plurality of individual emitters (117) and at least one optical system (114), wherein each of the individual emitters (117) is configured to generate at least one illumination beam, wherein the optical system (114) includes at least one array of a plurality of transmission devices (118), wherein the array of transmission devices (118) includes at least one transmission device (118) for each of the individual emitters (117), wherein the array of transmission devices (118) includes at least two sets of transmission devices (118), wherein the transmission devices (118) in the two sets are different in at least one characteristic, wherein the transmission devices (118) in one set of the sets are configured to generate at least one illumination pattern in response to an illumination beam incident on the transmission device (118), wherein the transmission devices (118) in the other set are configured to generate a diverging beam in response to an illumination beam incident on the transmission device (118).

2. The projector and lighting module (110) according to claim 1, wherein, Each of the individual transmitters (117) includes at least a vertical cavity surface-emitting laser (VCSEL) or at least one micro light-emitting diode (LED).

3. The projector and lighting module (110) according to claim 1 or 2, wherein, The individual transmitter (117) is configured to emit a light beam with a wavelength range from 800 to 1000 nm.

4. The projector and lighting module (110) according to claim 1 or 2, wherein, The individual transmitter (117) is configured to emit a beam at 940 nm.

5. The projector and lighting module (110) according to claim 1 or 2, wherein, The individual transmitters (117) may have the same or different emission wavelengths.

6. The projector and lighting module (110) according to claim 5, wherein, Individual transmitters (117) associated with the same group of transmission devices (118) have the same specific transmission wavelength.

7. The projector and lighting module (110) according to claim 1 or 2, wherein, The brightness of the diverging beam and the illumination pattern are individually controllable, wherein the transmission power of the individual transmitter (117) associated with the same set of transmission devices (118) is individually controllable and adjustable.

8. The projector and lighting module (110) according to claim 1 or 2, wherein, The transmission power of the individual transmitters (117) of the array (116) is controllable and adjustable for each individual transmitter (117).

9. The projector and lighting module (110) according to claim 1 or 2, wherein, The group conveying device (118) is arranged in at least one pattern, wherein the pattern is a line pattern or a checkerboard pattern.

10. The projector and lighting module (110) according to claim 1 or 2, wherein, Each of the transmission devices (118) includes at least one element selected from the group consisting of: at least one microlens, such as at least one multifocal microlens or at least one individually addressed or matrix-addressed tunable or controllable multifocal microlens array; at least one transmission window; at least one diffuser; at least one diffractive optical element.

11. The projector and lighting module (110) according to claim 1 or 2, wherein, The two sets of transmission devices (118) differ in one or more of the following aspects: their refractive power, their relative position to the corresponding transmitter, their distance from the transmitter (117), their symmetry, or the tilt of their axis of symmetry relative to the optical axis of the transmitter (117).

12. A detector (134), comprising: - At least one projector and lighting module (110) according to any one of claims 1-11; - At least one camera module (136), which includes at least one image sensor (138) and at least one readout and image processing device (140).

13. The detector (134) according to claim 12, wherein, The camera module (136) is configured to image at least one 2D image of at least one object illuminated by the diverging light beam.

14. The detector (134) according to claim 12 or 13, wherein, The detector (134) is configured to determine depth information using one or more of the following: structured light, triangulation, time-of-flight (ToF), and beam profile analysis, based on a projected illumination pattern.

15. A method for illuminating at least one object using at least one projector and lighting module (110) according to any one of claims 1-11 involving a projector and a lighting module, wherein, The projector and illumination module (110) includes at least one array (116) of a plurality of individual emitters (117) and at least one optical system (114), wherein each of the individual emitters (117) generates at least one illumination beam, wherein the optical system (114) includes at least one array of a plurality of transmission devices (118), wherein the array of transmission devices (118) includes at least one transmission device (118) for each of the individual emitters (117), wherein the array of transmission devices (118) includes at least two sets of transmission devices (118), wherein the transmission devices (118) in the two sets are different in at least one characteristic, wherein the transmission devices (118) in one set of the sets generate at least one illumination pattern in response to the illumination beam incident on the transmission device (118), wherein the transmission devices (118) in the other set generate a diverging beam in response to the illumination beam incident on the transmission device (118).

16. The use of the projector and lighting module (110) according to any one of claims 1-11 relating to a projector and lighting module, for the purpose of use, selected from the group consisting of: flashlights for machine vision; computer vision; navigation; mobile phones; digital cameras; machine vision devices; tablet computers; smart cameras; cameras for navigation; vehicle cameras; traffic control, such as toll cameras or photography; headlights for service robots, drones and vehicles; depth measurement; marking projection for one or more of: measuring devices, 3D measuring devices, machine vision devices, inspection tools, assembly tools, robots, smart cameras, smartphones or tablet computers, guidance during measurement, quality inspection, assembly or installation, interactive games.

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