Structured light system and electronic equipment with same

Abstract

The utility model discloses a structured light system and electronic equipment with the same. The structured light system includes: a body; the transmitting module and the receiving module are arranged on the main body at an interval; and the light deflection module is arranged on the main body, and the light deflection module is used for changing the light propagation direction, so that the baseline length between the transmitting module and the receiving module adapts to the target working distance of the structured light system. According to the light deflection module, the change of the length of the base line can influence the change of the working distance of the structured light system, so that the structured light system can adapt to the requirements of different manufacturers, the operation is simple, the implementation is easy, multiple structured light systems do not need to be produced, the structured light system can be used for multiple purposes, flexible adjustment according to actual requirements is facilitated, and the production efficiency is improved. The production cost is reduced.

Description

Technical Field

[0001] The utility model generally relates to the technical field of vehicles, and in particular to a structured light system and an electronic device having the same. Background Art

[0002] With the rapid development of the robotics industry, the robotics industry has higher and higher requirements for visual imaging solutions, gradually upgrading from the earliest 2D imaging solutions to 3D stereo imaging solutions. The same 3D structured light stereo imaging technology has also been gradually applied to the robotics field and has been familiar to major robotics manufacturers and has begun to be used on a large scale. Figure 1 As shown in the figure, the distance (baseline) between the projector (transmitter module) and the receiving camera (receiver module) will affect the closest working distance, i.e. Dmin. The baseline is directly proportional to Dmin. The larger the baseline, the larger Dmin will also become.

[0003] Since different manufacturers have different Dmin requirements, the solutions that can be implemented in the relevant technology mainly include: (1) Redesigning the projector / receiving camera to increase the field of view to cover a larger range while ensuring that the baseline remains unchanged; (2) Changing the baseline distance between the projector and the receiving camera to cover a larger range while ensuring that the projector and the receiving camera remain unchanged. However, for the design side, the above two solutions either require redesigning the projector or the receiving camera, or redesigning the structural shell and PCB board. As a result, the final camera models produced are diverse, and there are often problems in distinguishing between material preparation and production conditions. Utility Model Content

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a structured light system and an electronic device having the same, which can reliably adjust the baseline length by setting a light deflection module so that the working distance of the structured light system meets different requirements, has a simple structure and is easy to implement.

[0005] In a first aspect, the utility model provides a structured light system, the structured light system comprising:

[0006] main body;

[0007] A transmitting module and a receiving module, wherein the transmitting module and the receiving module are arranged on the main body at intervals;

[0008] A light deflection module is arranged on the main body and is used to change the propagation direction of light so that the baseline length between the transmitting module and the receiving module adapts to the target working distance of the structured light system.

[0009] As an optional solution, the light deflection module is arranged at a position close to the emission module to change the propagation direction of the emission light of the emission module.

[0010] As an optional solution, the light receiving surface of the light deflection module faces the emitting module, and the size of the light receiving surface of the light deflection module is greater than or equal to the range of the emitted light of the emitting module.

[0011] As an optional solution, the light deflection module is arranged near the receiving module to change the propagation direction of the incident light of the receiving module.

[0012] As an optional solution, the light receiving surface of the light deflection module faces the receiving module, and the size of the light receiving surface of the light deflection module is greater than or equal to the range of the incident light of the receiving module.

[0013] As an optional solution, the light deflection module includes a prism or a reflector.

[0014] As an optional solution, the light deflection module includes at least one.

[0015] As an optional solution, the main body includes a shell and a PCB board, the transmitting module and the receiving module are respectively electrically connected to the PCB board, and the transmitting module, the receiving module and the PCB board are fixedly installed inside the shell.

[0016] As an optional solution, a light-transmitting area is provided on the shell, and the light-transmitting area is arranged at least corresponding to the light emitting lens of the transmitting module and the light receiving lens of the receiving module.

[0017] In a second aspect, the utility model provides an electronic device, comprising the structured light system of the first aspect.

[0018] The structured light system of the utility model includes a main body; a transmitting module and a receiving module, wherein the transmitting module and the receiving module are arranged on the main body at intervals; and a light deflection module, wherein the light deflection module is arranged on the main body, and the light deflection module is used to change the propagation direction of the light so that the baseline length between the transmitting module and the receiving module is adapted to the target working distance of the structured light system. The arrangement of the light deflection module is conducive to changing the propagation direction of the transmitted light and / or the incident light, thereby realizing the change of the baseline length between the transmitting module and the receiving module. The change of the baseline length will affect the change of the working distance of the structured light system, thereby enabling the structured light system to adapt to the needs of different manufacturers, and the operation is simple and easy to implement, without the need to produce multiple structured light systems, so that the structured light system can be used for multiple purposes, convenient for flexible adjustment according to actual needs, and reduce production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0020] Figure 1 It is a schematic diagram of the optical path of the structured light system in the prior art;

[0021] Figure 2 An exploded diagram of a structured light system according to an embodiment of the present application;

[0022] Figure 3 A schematic diagram of a light path of a structured light system according to an embodiment of the present application (the light propagation direction is not adjusted);

[0023] Figure 4 A schematic diagram of a light path of a structured light system according to an embodiment of the present application (after the light propagation direction is adjusted);

[0024] Figure 5 A schematic flow chart of a method for adjusting a structured light system according to an embodiment of the present application;

[0025] Figure 6 A schematic diagram of the light path in an optical sheet deflection module of a structured light system according to an embodiment of the present application.

[0026] In the figure,

[0027] 10. Main body, 11. Structural front shell, 12. Structural rear shell, 13. PCB board, 20. Transmitting module, 30. Receiving module, 40. Light deflection module. DETAILED DESCRIPTION

[0028] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings.

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] Based on the above problems, Figure 2 , Figure 3 and Figure 4 As shown, an embodiment of the present application provides a structured light system, the structured light system comprising:

[0031] Body 10;

[0032] The transmitting module 20 and the receiving module 30 are arranged on the main body 10 at intervals;

[0033] The light deflection module is disposed on the main body 10 and is used to change the propagation direction of light so that the baseline length between the transmitting module 20 and the receiving module 30 adapts to the target working distance of the structured light system.

[0034] It can be understood that the main body 10, as the bearing body 10 of the entire structured light system, is mainly used to install other components such as the transmitting module 20 and the receiving module 30. The main body 10 can be designed according to the actual installation requirements of the structured light system, and the embodiments of this application are not specifically limited.

[0035] Among them, there can be one transmitting module 20, and there can be one receiving module 30, or there can be two or more receiving modules, which are not specifically limited in the embodiments of the present application; when there are two or more receiving modules 30, the baseline lengths between each receiving module 30 and the transmitting module 20 are different, and the baseline lengths correspond to the working distance of the structured light system. For example: the baseline length Baseline_1 between the first receiving module 30 and the transmitting module 20 is smaller than the baseline length Baseline_2 between the second receiving module 30 and the transmitting module 20102, and the closest working distance Dmin_1 corresponding to the first receiving module 30 is smaller than the closest working distance Dmim_2 corresponding to the second receiving module 30. At this time, the first receiving module 30 can be used for close-range shooting, and the second receiving module 30 can be used for long-range shooting, thereby expanding the scope of use of 3D structured light stereo imaging technology.

[0036] The transmitting module 20 can be any type of projector, and correspondingly, the receiving module 30 can be any type of receiving camera.

[0037] It can also be understood that the light deflection module can be any kind of prism, total reflection mirror, convex mirror or concave mirror, etc. In addition, the light deflection module can be used to change the propagation direction of the emitted light, and can also be used to change the propagation direction of the incident light. Of course, it can also be used to change the propagation direction of the emitted light and the incident light at the same time; the embodiments of the present application are not limited to this, as long as the light deflection module can be used to change the propagation path or direction of the light; the light deflection module of the embodiments of the present application changes the propagation direction of the light, thereby changing the baseline length Baseline-1 of the transmitting module 20 and the receiving module 30 (increasing or decreasing). Since the baseline length is proportional to the working distance, the working distance is adjusted, so that the structured light system can meet the needs of different manufacturers.

[0038] Among them, the light deflection module 40 can be installed on the main body 10 in any way, and the light deflection module can be installed on the main body 10 in a detachable manner, such as but not limited to snap-on, screw-on, etc.; of course, the light deflection module 40 can also be directly fixed on the main body 10, such as but not limited to welding, etc.

[0039] For example, Figure 3 As shown, before the light deflection module 40 is set, the baseline length between the transmitting module 20 and the receiving module 30 is Baseline-1, and the corresponding working distance is Dmin-1; Figure 4 As shown, after the optical deflection module 40 is set, the transmitting module 20 moves relatively toward the receiving module 30, and the baseline length between the transmitting module 20 and the receiving module 30 is Baseline-2, and the corresponding working distance is Dmin-2.

[0040] The structured light system of the embodiment of the present application solves the problem that the prior art requires redesigning the projector or receiving camera, that is, the structural housing and the PCB board 13 need to be redesigned and changed, so that the models of the cameras finally produced are various, and there are often problems of misclassification in material preparation and production conditions. The embodiment of the present application is conducive to changing the propagation direction of the transmitted light and / or the incident light by setting the light deflection module, thereby realizing the change of the baseline length between the transmitting module 20 and the receiving module 30. The change of the baseline length will affect the change of the working distance of the structured light system, thereby enabling the structured light system to adapt to the needs of different manufacturers, and the operation is simple and easy to implement, without the need to produce multiple structured light systems, so that the structured light system can be used for multiple purposes, convenient for flexible adjustment according to actual needs, and reduce production costs.

[0041] As an achievable manner, the light deflection module is disposed at a position close to the emitting module 20 to change the propagation direction of the light emitted by the emitting module 20 .

[0042] In the present embodiment, the light deflection module is arranged at a position close to the transmitting module 20, which is beneficial to changing the propagation direction of the emitted light of the transmitting module 20, so that the transmitting module 20 is relatively far away from or close to the receiving module 30, so that the baseline length is changed, and it can better adapt to the working distance balls of different manufacturers; and in the present embodiment, when deflecting the propagation direction of the emitted light, since the field of view angle of the transmitting module 20 is generally smaller than the field of view angle of the receiving module 30, it is beneficial to reduce the size of the prism and save space.

[0043] In a preferred embodiment, the light receiving surface of the light deflection module faces the emitting module 20 , and the size of the light receiving surface of the light deflection module 40 is greater than or equal to the range of the emitted light of the emitting module 20 .

[0044] Among them, the size of the light receiving surface of the light deflection module 40 can be the area of ​​the light receiving surface, and of course it can also be the width of the light receiving surface, etc. The size of the light receiving surface is greater than or equal to the range of the emitted light of the emitting module 20, which is beneficial to ensure that all emitted light is deflected by the light deflection module 40.

[0045] As an achievable manner, the light deflection module 40 is disposed near the receiving module 30 to change the propagation direction of the incident light of the receiving module 30 .

[0046] In this embodiment, the light deflection module 40 is arranged near the receiving module 30, which is beneficial for changing the propagation direction of the incident light of the receiving module 30, so that the receiving module 30 is relatively far away from or close to the transmitting module 20, so that the baseline length is changed, which can better adapt to the working distance balls of different manufacturers.

[0047] It should be noted that the incident light is generally the light reflected from the outside of the object being photographed, so the light deflection module 40 is provided in the receiving module 30, and a light deflection module of a larger size needs to be provided.

[0048] In a preferred embodiment, the light receiving surface of the light deflection module 40 faces the receiving module 30 , and the size of the light receiving surface of the light deflection module is greater than or equal to the range of the incident light of the receiving module 30 .

[0049] Similarly, the size of the light receiving surface of the light deflection module 40 can be the area of ​​the light receiving surface, or of course, the width of the light receiving surface, etc. The size of the light receiving surface is greater than or equal to the range of the incident light of the receiving module 30, which is beneficial to ensure that all incident light is deflected by the light deflection module.

[0050] As an achievable manner, the transmitting module 20 and the receiving module 30 are each provided with a corresponding light deflection module 40 for simultaneously deflecting the transmitted light and the incident light, so as to reliably adjust the baseline length.

[0051] As an achievable method, the structured light system also includes:

[0052] A driving motor, the driving motor is connected to the light deflection module;

[0053] The controller is provided with a main body, and is used for controlling a driving motor to drive and adjust the physical parameters and position information of the light deflection module according to a target working distance.

[0054] As an implementable manner, the light deflection module 40 includes a prism or a reflector.

[0055] The prism or reflector in this embodiment has a simple structure, is easy to set up, and can reliably deflect light to achieve adjustment of the baseline length.

[0056] In some embodiments, the light deflection module 40 includes at least one.

[0057] The number of the light deflection modules 40 may be one, two or more than two. When there are two or more light deflection modules 40 , the light deflection modules 40 may be integrated together to form a larger light deflection module.

[0058] As an achievable method, the field of view angle α corresponding to the transmitting module 20 and the field of view angle β corresponding to the receiving module 30 are equal. Alternatively, in some other embodiments, the field of view angle α corresponding to the transmitting module 20102 is greater than the field of view angle β corresponding to the receiving module 30.

[0059] In some embodiments, the main body 10 includes a shell and a PCB board 13, the transmitting module 20 and the receiving module 30 are respectively electrically connected to the PCB board 13, and the transmitting module 20, the receiving module 30 and the PCB board 13 are fixedly installed inside the shell.

[0060] In this embodiment, the transmitting module 20 and the receiving module 30 can be electrically connected to ensure image capture.

[0061] In some embodiments, a light-transmitting area is provided on the housing, and the light-transmitting area is at least arranged corresponding to the light emitting lens of the emitting module 20 and the light receiving lens of the receiving module 30 .

[0062] Among them, there can be one, two or more light-transmitting areas; the light-transmitting area can be a hollow design on the shell, and of course, it can also be that part of the shell is made of transparent material (for example but not limited to glass, plastic, etc.). The embodiments of the present application do not make specific limitations on this, as long as it can ensure that the areas on the shell corresponding to the transmitting module 20 and the receiving module 30 can completely transmit light.

[0063] In some embodiments, the position of the light deflection module 40 on the main body 10 is adjustable, for example, the light deflection module can be rotated along a preset direction by a preset angle, or moved along a preset direction by a preset distance.

[0064] This implementation is conducive to adjusting the baseline length in real time according to the actual distance of the structured light system, so that the structured light system has higher adaptability and is easy to operate without replacing the light deflection module.

[0065] It is understandable that the light deflection module can be rotated or moved manually. Of course, a driving member can be provided on the main body 10 to drive the prism to rotate or move. The embodiments of the present application do not make specific limitations on this.

[0066] For example, a motor is provided on the main body 10, and the motor is driven and connected to the light deflection module. A first track and multiple second tracks are also provided on the main body 10, and a partial area of ​​the first track and each second track is connected. The motor drives the light deflection module to move a predetermined distance along the first track, and the motor drives the light deflection module to rotate a predetermined angle along the second track.

[0067] In practical applications, the light deflection module can be designed into a module through the structure, and can be directly added to the current 3D structured light camera. In this way, more usage scenarios and applications can be met by simply changing the module of the external light deflection module. The current 3D structured light camera module can also be more versatile in different projects and needs.

[0068] In summary, the embodiment of the present application is advantageous in that the propagation direction of the emitted light and / or the incident light is changed by setting the light deflection module 40, thereby realizing the change of the baseline length between the transmitting module 20 and the receiving module 30. The change of the baseline length will affect the change of the working distance of the structured light system, thereby enabling the structured light system to adapt to the needs of different manufacturers, and the operation is simple and easy to implement, without the need to produce multiple structured light systems, so that the structured light system can be used for multiple purposes, convenient for flexible adjustment according to actual needs, and reduce production costs;

[0069] Furthermore, the light deflection module 40 is disposed at a position close to the transmitting module 20, which is beneficial for changing the propagation direction of the emitted light of the transmitting module 20, thereby making the transmitting module 20 relatively far away from or close to the receiving module 30, so that the baseline length is changed, and it can better adapt to the working distance balls of different manufacturers; and in the present embodiment, when deflecting the propagation direction of the emitted light, since the field of view angle of the transmitting module 20 is generally smaller than the field of view angle of the receiving module 30, it is beneficial to reduce the size of the prism and save space.

[0070] The embodiment of the present application further provides a method for adjusting a structured light system, using the structured light system of the first aspect, such as Figure 5 As shown, the specific steps include:

[0071] S10, obtaining a target working distance of the structured light system;

[0072] S20, determining the actual baseline length according to the target working distance;

[0073] S30, controlling and adjusting the physical parameters and position information of the optical deflection module according to the actual baseline length to achieve the target working distance of the structured light system.

[0074] The working distance of the structured light system in step S10 is pre-set in the controller of the structured light system according to the actual needs of the manufacturer, which is conducive to meeting the needs of different manufacturers and adjusting the working distance in real time according to the actual needs;

[0075] In step S20, the actual baseline length is determined according to the working distance. Since the structured light system has a preset working distance and a preset baseline length when it leaves the factory, the preset working distance and the preset baseline length determine the angle A (such as Figure 3 As shown in the figure, when the working distance changes, since the angle A remains unchanged, the actual baseline length after adjustment can be determined by using the trigonometric function relationship;

[0076] It can be understood that in step S30, the difference between the actual baseline length and the preset baseline length is first determined according to the actual baseline length, and the difference is the distance that the light needs to move in the direction parallel to the baseline. The position information of the optical deflection module is determined according to the moving distance and the physical parameters (such as length) of the light deflection module, and the optical light is controlled to be driven to rotate and / or translate to the target position;

[0077] Of course, as a feasible method, in step S30, after determining the distance that the light needs to move in the direction parallel to the baseline, the controller can also first control the light deflection module to move, and then detect the position information of the light through the light sensor and send it to the controller. The controller determines the position information and the moving distance sent by the light sensor. If the position information and the moving distance sent by the light sensor are not equal, the controller controls the light deflection module to rotate and / or translate until the light deflection rotates and / or translates to the target position.

[0078] In some embodiments, the physical parameter includes a length; the position information includes a setting angle, S30, adjusting the physical parameter and the position information of the optical deflection module according to the actual baseline length to achieve a target working distance of the structured light system, including:

[0079] Determine the length of the light deflection module according to the actual baseline length;

[0080] Determine the setting angle of the emitted light entering the light deflection module according to the field angle α of the emission module and the refractive index of the light deflection module; wherein the field angle of the emission module and the refractive index of the light deflection module are preset;

[0081] The light deflection module is adjusted according to the set angle control to achieve the target working distance of the structured light system.

[0082] In a preferred embodiment, Figure 6As shown, the refractive index of the light deflection module includes a first refractive index n1 and a second refractive index n2, and the setting angle includes a first setting angle θ2 and a second setting angle θ4. According to the field of view angle α of the transmitting module and the refractive index of the light deflection module, the setting angle of the emitted light entering the light deflection module is determined, as follows:

[0083]

[0084] Wherein, θ1 is the incident angle of the emitted light of the emission module entering the light deflection module;

[0085] The internal coating of the light deflection module 40 makes the emitted light of the emission module enter the light deflection and undergo full emission, and the reflection angle is θ3;

[0086]

[0087]

[0088] So we get:

[0089] Similarly, we can get:

[0090] The adjustment method of the structured light system of the present application is conducive to reliably adjusting the baseline length by adjusting the light deflection module in real time according to the requirements of different manufacturers for the working distance of the structured light system, thereby meeting the working distance requirements of different manufacturers and avoiding too many different designs, which may cause problems such as difficulty in distinguishing materials and production, and realizing the versatility of the same camera in different projects.

[0091] In a third aspect, an embodiment of the present application is an electronic device, comprising the structured light system of the first aspect. Thus, the electronic device has all the features and advantages of the structured light system described above, which will not be repeated here. In general, the electronic device can flexibly adjust the working distance to meet the needs of different manufacturers, is easy to use, and has low cost.

[0092] The structured light system of the present invention is described below through an embodiment.

[0093] like Figure 2-4As shown, the structured light system includes a structural front shell 11, a structural rear shell 12 and a PCB board 13. The transmitting module 20 and the receiving module 30 are installed on the structural front shell 11, and the transmitting module 20 and the receiving module 30 are respectively electrically connected to the PCB board 13. A prism module (light deflection module 40) is also installed on the structural front shell 11. The prism module is located near the transmitting module 20 and is used to change the propagation direction of the emitted light of the transmitting module 20. A motor is also provided on the structural front shell 11. The motor is driven and connected to the prism module. The position of the prism module is adjusted under the drive of the motor, so that it can be used to adapt to the working distance requirements of different manufacturers.

[0094] It should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like used above to indicate positions or positional relationships are based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0095] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the utility model involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) by each other to form a technical solution.

Claims

1. A structured light system, characterized in that: The structured light system comprises: main body; A transmitting module and a receiving module, wherein the transmitting module and the receiving module are arranged on the main body at intervals; A light deflection module is arranged on the main body, and is used to change the propagation direction of light so that the baseline length between the transmitting module and the receiving module adapts to the target working distance of the structured light system.

2. The structured light system according to claim 1, characterized in that: The light deflection module is arranged at a position close to the emission module, and is used for changing the propagation direction of the emission light of the emission module.

3. The structured light system according to claim 2, characterized in that: The light receiving surface of the light deflection module faces the emission module, and the size of the light receiving surface of the light deflection module is greater than or equal to the range of the emission light of the emission module.

4. The structured light system according to claim 1, characterized in that: The light deflection module is arranged at a position close to the receiving module, and is used to change the propagation direction of the incident light of the receiving module.

5. The structured light system according to claim 4, characterized in that: The light receiving surface of the light deflection module faces the receiving module, and the size of the light receiving surface of the light deflection module is greater than or equal to the range of the incident light of the receiving module.

6. The structured light system according to any one of claims 1 to 5, characterized in that: The light deflection module includes a prism or a reflector.

7. The structured light system according to claim 6, characterized in that: The light deflection module includes at least one prism.

8. The structured light system according to any one of claims 1 to 5, characterized in that: The main body includes a shell and a PCB board, the transmitting module and the receiving module are respectively electrically connected to the PCB board, and the transmitting module, the receiving module and the PCB board are fixedly installed inside the shell.

9. The structured light system according to claim 8, characterized in that: The shell is provided with a light-transmitting area, and the light-transmitting area is arranged at least corresponding to the light emitting lens of the emitting module and the light receiving lens of the receiving module.

10. An electronic device, characterized in that: A structured light system comprising any one of claims 1 to 9.

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