Depth imaging module and electronic device

Abstract

The invention relates to the technical field of camera shooting, and provides a depth imaging module and an electronic device. The depth imaging module comprises a transmitting module which comprises at least two transmitting units, and light rays transmitted by the at least two transmitting units form partial intersection on the sides close to each other so as to adjust a detection field angle and increase an identification area, and the transmitting module is used for transmitting at least two light rays with different frequencies to a target object, the frequencies of the at least two transmitting units transmitting to the target object each time are the same; and the receiving module is arranged on one side of the transmitting module and is used for receiving and processing the light rays which are reflected by the target object and are transmitted by the at least two transmitting units so as to correspondingly obtain at least two depth images, so that the target object at a long distance and a short distance is detected. According to the invention, a large detection field of view can be provided to cover a wider or more specific area; and a short-distance target object and a long-distance target object can be detected more accurately.

Description

Technical Field

[0001] The present application relates to the field of camera technology, and in particular to a depth imaging module and an electronic device. Background Art

[0002] Depth imaging modules have been applied to some electronic consumer products in the market, such as sweepers or intelligent service robots. In sweepers or robot scenarios, the field of view of the depth imaging module is small, for example, the field of view angle ranges from 60° to 120°, and the detection range is small, while a depth imaging module with a larger field of view (for example, a field of view angle exceeding 120°) is not yet available; and when the field of view is large, the detection distance is also limited, and the detection distance is relatively small. Summary of the invention

[0003] In view of the above, it is necessary to propose a depth imaging module and an electronic device to provide a larger detection field of view and to be able to detect target objects at both long and short distances.

[0004] According to a first aspect of an embodiment of the present application, there is provided a depth imaging module, comprising: a transmitting module, comprising at least two transmitting units, wherein the light rays emitted by the at least two transmitting units partially cross on a side close to each other to adjust the detection field of view and increase the recognition area, and are used to transmit at least two light rays of different frequencies toward a target object, wherein the at least two transmitting units transmit the same frequency toward the target object each time; and a receiving module, disposed on one side of the transmitting module, and used to receive and process the light rays emitted by the at least two transmitting units reflected by the target object, so as to obtain at least two corresponding depth images, thereby detecting the target object at a long or short distance, wherein the at least two depth images have a partial overlapping area, and the partial overlapping area is used to increase the detection distance and recognition capability.

[0005] In the solution provided by the embodiment of the present application, by making the light emitted by at least two transmitting units partially cross, it is helpful to adjust the detection field of view angle, and a larger detection field of view can be provided and the recognition area can be increased to cover a wider or more specific area; by using at least two light rays of different frequencies, close-range target objects and long-range target objects can be detected more accurately, and by using at least two light rays of different frequencies for measurement, the measurement error caused by phase ambiguity can be solved, and the signals of at least two light rays of different frequencies can assist each other, and the true distance can be determined by comparing the phase difference of the two frequencies, thereby overcoming the limitation of single frequency signals in terms of phase ambiguity. This design allows the depth imaging module to have better adaptability in different environments and applications, for example, more close-range measurements may be required in indoor environments, while longer measurement distances may be required in outdoor environments. By making at least two depth images obtained by the receiving module have a partially overlapping area, the partially overlapping area can not only improve the detection range and detection distance of the depth imaging module, but also help to improve the details of the receiving module's recognition ability and enhance the object effect.

[0006] In a possible implementation manner, the at least two different frequencies include a first frequency and a second frequency, the first frequency is greater than the second frequency, and a transmission order of the first frequency takes precedence over that of the second frequency.

[0007] In the solution provided in the embodiment of the present application, by preferentially transmitting the first frequency and then transmitting the second frequency, higher accuracy can be provided for detecting target objects at a longer distance, and a larger measurement range can be provided.

[0008] In a possible implementation, at least two different frequencies emitted by the emission module and a preset detection distance of the depth imaging module satisfy the relationship: Among them, c is the speed of light, f is the greatest common divisor of the frequencies of at least two light rays of different frequencies emitted by the transmitting module, HFOV is the horizontal field of view angle, VFOV is the vertical field of view angle, and L is the preset detection distance of the depth imaging module.

[0009] In the solution provided in the embodiment of the present application, the relationship provides a method for calculating the maximum distance that the depth imaging module can detect under the conditions of at least two different frequencies of light emitted by the transmitting module. Through this relationship, the appropriate frequency and field of view angle can be selected according to the required detection distance to ensure that the depth imaging module can accurately detect the target object within the desired distance range, and the relationship can also be used to evaluate the performance of the depth imaging module by comparing the calculated detection distance with the requirements in actual applications to determine whether the depth imaging module meets specific performance indicators.

[0010] In a possible implementation manner, the value range of the at least two different frequencies is 1 MHz to 100 MHz.

[0011] In the solution provided in the embodiment of the present application, by emitting light of different frequencies, the frequency difference can be used to more accurately measure the distance of the target object; for example, high-frequency light may be used for high-precision measurement at close range, while low-frequency light may be used for measurement at long distance. And different frequencies are suitable for different application scenarios; for example, high-frequency light may be used for fine surface scanning of objects, while low-frequency light may be used for large-scale environmental mapping. In addition, the frequency range of 1MHz~100MHz covers the frequency bands of very high frequency (VHF) and ultra-high frequency (UHF), which are widely used in television broadcasting, mobile communications, radio navigation and other fields. Therefore, the depth imaging module can be compatible with existing communication systems and is easy to integrate into a variety of devices.

[0012] In a possible implementation manner, a horizontal field of view angle of the receiving module ranges from 120° to 220°, and a vertical field of view angle of the receiving module ranges from 30° to 120°.

[0013] In the solution provided in the embodiment of the present application, the horizontal field of view angle of 120°~220° and the vertical field of view angle of 30°~120° mean that the receiving module can capture more scene information at one time, which helps to improve the efficiency of data acquisition, especially in applications that require fast response, such as real-time monitoring or dynamic tracking.

[0014] In a possible implementation, the receiving module includes a plurality of independently controlled image output sub-regions, each of the depth images obtained by the receiving module corresponds to a different image output sub-region, and the image output sub-regions corresponding to at least two of the depth images have a partial overlapping area.

[0015] In the solution provided in the embodiment of the present application, each depth image obtained by the receiving module corresponds to a different output sub-area, and there is a partial overlapping area between the output sub-areas corresponding to at least two depth images. This can not only improve the detection range and detection distance of the depth imaging module, but also help to improve the details of the receiving module's recognition ability and enhance the object effect.

[0016] In a possible implementation, the receiving module controls the transmitting module to transmit at least two light beams of different frequencies toward the target object, and fuses the corresponding depth images obtained to detect the target object at a long or short distance.

[0017] In the solution provided in the embodiment of the present application, by controlling the transmitting module to transmit light of different frequencies, the receiving module can obtain more depth information. This multi-frequency transmission method can effectively improve the detection accuracy of the depth imaging module for targets at different distances. And the control function of the receiving module can enable the receiving module to process the reflected light in real time and quickly generate a depth image, which is particularly important for application scenarios that require rapid response (such as robot navigation, real-time monitoring, etc.). In addition, by integrating the control of the transmitting module and the receiving module, the depth imaging module becomes more compact and efficient, reducing external interference and improving overall performance.

[0018] In a possible implementation, at least two of the transmitting units alternately transmit light of at least two different frequencies toward the target object.

[0019] In the solution provided by the embodiment of the present application, by alternately emitting light of different frequencies by at least two emitting units, the influence of ambient light interference and multipath interference can be reduced, thereby improving the accuracy and reliability of depth measurement. In addition, light of different frequencies can be used for different distance ranges to optimize the overall detection effect.

[0020] In a possible embodiment, the transmitting module further includes a rotating unit, which is respectively connected to at least one of the transmitting units and is used to drive at least one of the transmitting units to rotate so as to adjust the intersection range of light emitted by at least two of the transmitting units, thereby adjusting the detection field of view angle.

[0021] In the solution provided in the embodiment of the present application, by driving at least one emitting unit to rotate through a rotating unit, the intersection range of light emitted by at least two emitting units can be adjusted, thereby adjusting the detection field of view angle to cover a wider or more specific area to meet the needs of different application scenarios.

[0022] A second aspect of an embodiment of the present application further provides an electronic device, comprising a main body and a depth imaging module as described in any one of the above, wherein the depth imaging module is arranged on the main body.

[0023] In the solution provided by the embodiment of the present application, by making the light emitted by at least two transmitting units partially cross, it is helpful to adjust the detection field of view angle, and a larger detection field of view can be provided and the recognition area can be increased to cover a wider or more specific area; by using at least two light rays of different frequencies, close-range target objects and long-range target objects can be detected more accurately, and by using at least two light rays of different frequencies for measurement, the measurement error caused by phase ambiguity can be solved, and the signals of at least two light rays of different frequencies can assist each other, and the true distance can be determined by comparing the phase difference of the two frequencies, thereby overcoming the limitation of single frequency signals in terms of phase ambiguity. This design allows the depth imaging module to have better adaptability in different environments and applications, for example, more close-range measurements may be required in indoor environments, while longer measurement distances may be required in outdoor environments. By making at least two depth images obtained by the receiving module have a partially overlapping area, the partially overlapping area can not only improve the detection range and detection distance of the depth imaging module, but also help to improve the details of the receiving module's recognition ability and enhance the object effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the depth imaging module provided in an embodiment of the present application.

[0025] Figure 2 yes Figure 1 A schematic diagram of a dot matrix emitted by a transmitting unit in a depth imaging module is shown.

[0026] Figure 3 yes Figure 1 The diagram shows the emission field of view of the depth imaging module during emission.

[0027] Figure 4 yes Figure 1 Schematic diagram of the imaging screen of the depth imaging module shown.

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of the electronic device provided in an embodiment of the present application.

[0029] Main component symbols Depth imaging module 10 , transmitting module 11 , transmitting unit 111 , sparse dot matrix 112 , dense dot matrix 113 , receiving module 12 , image output sub-area 121 , rotating unit 13 , main body 20 , electronic device 100 . DETAILED DESCRIPTION

[0030] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] In the description of the present invention, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0034] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0035] See also Figure 1 In a first aspect, an embodiment of the present application provides a depth imaging module 10 , including a transmitting module 11 and a receiving module 12 .

[0036] The transmitting module 11 includes at least two transmitting units 111, and the light emitted by the at least two transmitting units 111 partially crosses on the side close to each other to adjust the detection field of view and increase the recognition area, and is used to emit at least two light rays of different frequencies toward the target object, and the frequency emitted by the at least two transmitting units 111 toward the target object each time is the same; the receiving module 12 is arranged on one side of the transmitting module 11, and is used to receive and process the light emitted by the at least two transmitting units 111 reflected by the target object, so as to obtain at least two corresponding depth images, thereby detecting the target object at a long or short distance, wherein at least two depth images have a partial overlapping area, and the partial overlapping area is used to increase the detection distance and recognition capability.

[0037] In the solution provided by the embodiment of the present application, by making the light emitted by at least two transmitting units 111 partially cross, it is helpful to adjust the detection field of view angle, and a larger detection field of view can be provided and the recognition area can be increased to cover a wider or more specific area; by using at least two light rays of different frequencies, close-range target objects and long-range target objects can be detected more accurately, and by using at least two light rays of different frequencies for measurement, the measurement error caused by phase ambiguity can be solved, and the signals of at least two light rays of different frequencies can assist each other, and the real distance can be determined by comparing the phase difference of the two frequencies, thereby overcoming the limitation of the single frequency signal in terms of phase ambiguity. This design allows the depth imaging module 10 to have better adaptability in different environments and applications, for example, more close-range measurements may be required in indoor environments, while longer measurement distances may be required in outdoor environments. By making at least two depth images obtained by the receiving module 12 have a partially overlapping area, the partially overlapping area can not only improve the detection range and detection distance of the depth imaging module 10, but also help to improve the details of the recognition ability of the receiving module 12 and enhance the object effect.

[0038] In this embodiment, there are two transmitting units 111. It can be understood that in other embodiments, there are three or four transmitting units 111, but it is not limited thereto.

[0039] The horizontal and vertical viewing angles of each emitting unit 111 are in the range of 30° to 120°. The two emitting units 111 can both be dot array emitting units 111 or planar array emitting units 111, wherein the wavelength of the emitting unit 111 is in the range of 850nm to 1200nm.

[0040] When both transmitting units 111 are dot matrix transmitting units 111, see Figure 2, one dot matrix transmitting unit 111 transmits a sparse dot matrix 112, and the other dot matrix transmitting unit 111 transmits a dense dot matrix 113. The light-emitting points in the sparse dot matrix 112 and the dense dot matrix 113 can be arranged evenly or randomly; each transmitting unit 111 can transmit a sparse dot matrix 112, can also transmit a dense dot matrix 113, and can also transmit a sparse dot matrix 112 and a dense dot matrix 113 at the same time; the emission angle of each light-emitting point ranges from 0.2° to 0.5°, and preferably, the emission angle of the light-emitting point is 0.3°. When in use, the emission angle of each dot matrix transmitting unit 111 is controlled within 100°, and when the emission angle of the dot matrix transmitting unit 111 is greater than 100°, it will cause edge field of view distortion, affecting the angular resolution of the dot matrix interval angle, and the distortion will also cause the single-point emission angle to become larger, affecting the detection distance.

[0041] In a possible implementation, the at least two different frequencies include a first frequency and a second frequency, the first frequency is greater than the second frequency, and a transmission sequence of the first frequency takes precedence over that of the second frequency.

[0042] In the solution provided in the embodiment of the present application, by preferentially transmitting the first frequency and then transmitting the second frequency, higher accuracy can be provided for detecting target objects at a longer distance, and a larger measurement range can be provided.

[0043] In this embodiment, the first frequency and the second frequency may have multiple frequency combinations, for example, the first frequency is 45.18 MHz and the second frequency is 37.65 MHz; the first frequency is 60.24 MHz and the second frequency is 48.192 MHz; the first frequency is 60.24 MHz and the second frequency is 52.71 MHz.

[0044] It can be understood that in other embodiments, the at least two different frequencies may include three frequencies, but is not limited thereto.

[0045] In a possible implementation, at least two different frequencies emitted by the transmitting module 11 and a preset detection distance of the depth imaging module 10 satisfy the relationship: Wherein, c is the speed of light, f is the greatest common divisor of the frequencies of at least two light rays of different frequencies emitted by the emission module 11, HFOV is the horizontal field of view, VFOV is the vertical field of view, and L is the detection distance of the depth imaging module 10. It can be understood that L is the preset detection distance of the depth imaging module 10 under the premise that no super cycle occurs.

[0046] Specifically, see Figure 3, θ1 is half of the horizontal field of view, that is, the angle between line segment op and line segment ps3, θ2 is half of the vertical field of view, that is, the angle between line segment op and line segment ps1, the distance between point o and point s3 is b, the distance between point o and point P is a, and the distance between point o and point s1 is c. From the Euclidean distance, we can get: Wherein, a is the preset detection distance L of the above-mentioned depth imaging module 10 .

[0047] In the solution provided in the embodiment of the present application, the formula provides a method for calculating the maximum distance that the depth imaging module 10 can detect under the conditions of at least two different frequencies of light emitted by the transmitting module 11. Through this formula, the appropriate frequency and field of view can be selected according to the required detection distance to ensure that the depth imaging module 10 can accurately detect the target object within the desired distance range, and the formula can also be used to evaluate the performance of the depth imaging module 10, by comparing the calculated detection distance with the requirements in actual applications, to determine whether the depth imaging module 10 meets specific performance indicators.

[0048] In a possible implementation manner, the value range of the at least two different frequencies is 1 MHz to 100 MHz.

[0049] In the solution provided in the embodiment of the present application, by emitting light of different frequencies, the frequency difference can be used to more accurately measure the distance of the target object; for example, high-frequency light may be used for high-precision measurement at close range, while low-frequency light may be used for long-distance measurement. And different frequencies are suitable for different application scenarios; for example, high-frequency light may be used for fine surface scanning of objects, while low-frequency light may be used for large-scale environmental mapping. In addition, the frequency range of 1MHz~100MHz covers the frequency bands of very high frequency (VHF) and ultra-high frequency (UHF), which are widely used in television broadcasting, mobile communications, radio navigation and other fields. Therefore, the depth imaging module 10 can be compatible with existing communication systems and is easy to integrate into a variety of devices.

[0050] Further, when the depth imaging module 10 adopts the itof architecture, the value range of at least two different frequencies is 5MHz~80MHz. In this way, the target object at a distance of 20 meters can be detected more accurately. When the depth imaging module 10 adopts the dtof architecture, the value range of at least two different frequencies is 1MHz~10MHz. In this way, the target object at a distance of 30 meters can be detected more accurately.

[0051] In a possible implementation manner, the horizontal field of view angle of the receiving module 12 ranges from 120° to 220°, and the vertical field of view angle of the receiving module 12 ranges from 30° to 120°.

[0052] In the solution provided in the embodiment of the present application, the horizontal field of view angle of 120°~220° and the vertical field of view angle of 30°~120° mean that the receiving module 12 can capture more scene information at one time, which helps to improve the efficiency of data acquisition, especially in applications that require fast response, such as real-time monitoring or dynamic tracking.

[0053] Preferably, the horizontal field of view angle of the receiving module 12 is 100°, and the vertical field of view angle of the receiving module 12 is 45°.

[0054] In this embodiment, f is 7.53 MHz, the horizontal field of view angle of the receiving module 12 is 100°, and the vertical field of view angle of the receiving module 12 is 45°. Substituting into the above formula, it can be obtained that L is 12.37 m.

[0055] See also Figure 4 In a possible implementation, the receiving module 12 includes a plurality of independently controlled image output sub-areas 121, each depth image obtained by the receiving module 12 corresponds to a different image output sub-area 121, and the image output sub-areas 121 corresponding to at least two depth images have a partial overlapping area.

[0056] In the solution provided in the embodiment of the present application, each depth image obtained by the receiving module 12 corresponds to a different output sub-area 121, and there is a partial overlapping area between the output sub-areas 121 corresponding to at least two depth images, which can not only improve the detection range and detection distance of the depth imaging module, but also help to improve the details of the recognition ability of the receiving module 12 and enhance the object effect.

[0057] In this embodiment, there are 6 image output sub-areas 121. For example, the resolution of the receiving module 12 is 640*480 pixels, and one of the transmitting units 111 corresponds to Figure 4 (A) in FIG. 1 has a resolution of 1-400*480 pixels and includes four image output sub-areas 121 on the left and another emission unit 111 corresponding to Figure 4 (B) in the figure has a resolution of 240-640*480 pixels and includes four output sub-areas 121 on the left. The depth images of the two receiving modules 12 have four overlapping output sub-areas 121 .

[0058] In a possible implementation, the receiving module 12 controls the transmitting module 11 to transmit at least two light beams of different frequencies toward the target object, and fuses the corresponding depth images obtained to detect the target object at a long or short distance.

[0059] In the solution provided in the embodiment of the present application, by controlling the transmitting module 11 to emit light of different frequencies, the receiving module 12 can obtain more depth information. This multi-frequency transmission method can effectively improve the detection accuracy of the depth imaging module 10 for targets at different distances. And the control function of the receiving module 12 can enable the receiving module 12 to process the reflected light in real time and quickly generate a depth image, which is particularly important for application scenarios that require rapid response (such as robot navigation, real-time monitoring, etc.). In addition, by integrating the control of the transmitting module 11 and the receiving module 12, the depth imaging module 10 becomes more compact and efficient, reduces external interference, and improves overall performance.

[0060] In a possible implementation, at least two transmitting units 111 alternately transmit at least two light beams of different frequencies toward the target object.

[0061] In the solution provided in the embodiment of the present application, by alternately emitting light of different frequencies by at least two emitting units 111, the influence of ambient light interference and multipath interference can be reduced, thereby improving the accuracy and reliability of depth measurement. In addition, light of different frequencies can be used for different distance ranges to optimize the overall detection effect.

[0062] In a possible embodiment, the transmitting module 11 also includes a rotating unit 13, which is respectively connected to at least one transmitting unit 111 and is used to drive at least one transmitting unit 111 to rotate so as to adjust the intersection range of light emitted by at least two transmitting units 111, thereby adjusting the detection field of view angle.

[0063] In the solution provided in the embodiment of the present application, by driving at least one emitting unit 111 to rotate through the rotating unit 13, the intersection range of light emitted by at least two emitting units 111 can be adjusted, thereby adjusting the detection field of view to cover a wider or more specific area to meet the needs of different application scenarios.

[0064] In this embodiment, the rotating unit 13 can be a motor. The rotating unit 13 can drive one transmitting unit 111 to rotate so that the angle between two adjacent transmitting units 111 is greater than 5°. The rotating unit 13 can also drive two transmitting units 111 to rotate. For example, two horizontally placed transmitting units 111 each rotate 20°. Since the transmitting angle of the transmitting unit 111 is controlled at 100°, the field of view angle of the two transmitting units 111 after rotation is 160°.

[0065] See also Figure 5The second aspect of the embodiment of the present application further provides an electronic device 100, including a main body 20 and a depth imaging module 10 as described above, wherein the depth imaging module 10 is disposed on the main body 20. The electronic device 100 may be a sweeping robot, a mobile phone, or a depth camera, but is not limited thereto. In this embodiment, the electronic device 100 is a sweeping robot.

[0066] In the solution provided by the embodiment of the present application, by making the light emitted by at least two transmitting units 111 partially cross, it is helpful to adjust the detection field of view angle, and a larger detection field of view can be provided to cover a wider or more specific area; by using at least two light rays of different frequencies, close-range target objects and long-range target objects can be detected more accurately, and by using at least two light rays of different frequencies for measurement, the measurement error caused by phase ambiguity can be solved, and the signals of at least two light rays of different frequencies can assist each other, and the true distance can be determined by comparing the phase difference of the two frequencies, thereby overcoming the limitation of single frequency signals in terms of phase ambiguity. This design allows the depth imaging module 10 to have better adaptability in different environments and applications, for example, more close-range measurements may be required in indoor environments, while longer measurement distances may be required in outdoor environments. By making at least two depth images obtained by the receiving module have a partially overlapping area, the partially overlapping area can not only improve the detection range and detection distance of the depth imaging module, but also help to improve the details of the receiving module's recognition ability and enhance the object effect.

[0067] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claim involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural.

[0068] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred implementation modes, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A depth imaging module, characterized in that: include: A transmitting module, comprising at least two transmitting units, wherein the light emitted by the at least two transmitting units partially crosses each other on a side close to each other to adjust the detection field angle and increase the recognition area, and is used to emit at least two light beams of different frequencies toward a target object, wherein the frequencies emitted by the at least two transmitting units toward the target object are the same each time; The receiving module is arranged on one side of the transmitting module, and is used to receive and process the light emitted by at least two transmitting units reflected by the target object, so as to obtain at least two corresponding depth images, thereby detecting the target object at a long or short distance, wherein the at least two depth images have a partial overlapping area, and the partial overlapping area is used to increase the detection distance and recognition capability.

2. The depth imaging module according to claim 1, characterized in that: The at least two different frequencies include a first frequency and a second frequency, the first frequency is greater than the second frequency and a transmission order of the first frequency is prioritized over the second frequency.

3. The depth imaging module according to claim 1, characterized in that: The at least two different frequencies emitted by the transmitting module and the preset detection distance of the depth imaging module satisfy the following relationship: ； Among them, c is the speed of light, f is the greatest common divisor of the frequencies of at least two light rays of different frequencies emitted by the transmitting module, HFOV is the horizontal field of view angle, VFOV is the vertical field of view angle, and L is the preset detection distance of the depth imaging module.

4. The depth imaging module according to claim 3, characterized in that: The value range of the at least two different frequencies is 1 MHz to 100 MHz.

5. The depth imaging module according to claim 3, characterized in that: The horizontal field of view angle of the receiving module ranges from 120° to 220°, and the vertical field of view angle of the receiving module ranges from 30° to 120°.

6. The depth imaging module according to claim 4 or 5, characterized in that: The receiving module includes a plurality of independently controlled image output sub-regions, each of the depth images obtained by the receiving module corresponds to a different image output sub-region, and the image output sub-regions corresponding to at least two of the depth images have a partial overlapping area.

7. The depth imaging module according to claim 1, characterized in that: The receiving module controls the transmitting module to transmit at least two light beams of different frequencies toward the target object, and fuses the corresponding depth images obtained to detect the target object at a long or short distance.

8. The depth imaging module according to claim 1, wherein: At least two of the transmitting units alternately transmit at least two light beams of different frequencies toward the target object.

9. The depth imaging module according to claim 1, wherein: The transmitting module further includes a rotating unit, which is respectively connected to at least one of the transmitting units and is used to drive at least one of the transmitting units to rotate.

10. An electronic device, characterized in that: It comprises a main body and a depth imaging module as described in any one of claims 1 to 9, wherein the depth imaging module is arranged on the main body.

Images