Projection device

Abstract

The utility model discloses a projection device, and belongs to the technical field of three-dimensional information acquisition. The projection device comprises: a housing; a surface emitting laser, wherein the surface emitting laser is arranged on the shell; the light beam shaping lens assembly is installed on the shell, and the surface emitting laser is used for emitting laser to the light beam shaping lens assembly; the mask plate is arranged on the shell and is used for receiving the laser passing through the beam shaping lens assembly; the lens assembly and the mask plate are distributed in a spaced mode in the axial direction, and the lens assembly is located on the side, away from the light beam shaping lens assembly, of the mask plate. According to the projection device provided by the invention, the uniformity of the light beam can be improved and the production cost of the projection device can be reduced by adopting the surface laser transmitter, and the randomness of the speckle pattern can be improved by projecting the speckle pattern by utilizing the mask plate, so that the accuracy of obtaining the three-dimensional information of the object is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of three-dimensional information acquisition, and in particular relates to a projection device. Background Art

[0002] In the field of acquiring three-dimensional information of objects, especially in long-distance and large-field-of-view scenarios, there are extremely high requirements for the accuracy and efficiency of three-dimensional reconstruction of objects. In related technologies, commonly used technical means to obtain three-dimensional information of objects include edge-emitting lasers combined with diffractive optical elements (DOEs). However, although the edge-emitting laser plus DOE solution can generate speckle patterns, since high-power lasers have multiple light-emitting points, each light-emitting point will generate an independent speckle pattern. Ultimately, the superposition of these speckle patterns will cause the overall speckle pattern to lose randomness, which greatly troubles the subsequent three-dimensional information extraction and processing, and seriously affects the accuracy and reliability of three-dimensional reconstruction. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a projection device that, by employing a planar laser emitter, improves the uniformity of the beam and reduces the production cost of the projection device. Furthermore, by utilizing a mask to project a speckle pattern, the randomness of the speckle pattern can be increased, thereby improving the accuracy of acquiring three-dimensional information about an object.

[0004] In a first aspect, the present application provides a projection device, comprising:

[0005] case;

[0006] a surface-emitting laser, wherein the surface-emitting laser is mounted on the housing;

[0007] a beam shaping mirror assembly, the beam shaping mirror assembly being mounted on the housing, the surface emitting laser being used to emit laser light toward the beam shaping mirror assembly;

[0008] a mask plate, the mask plate being mounted on the housing and being used to receive the laser light passing through the beam shaping mirror assembly;

[0009] The lens assembly is spaced apart from the mask plate along the axial direction, and the lens assembly is located on a side of the mask plate away from the beam shaping lens assembly.

[0010] According to the projection device provided in the embodiment of the present application, by using a surface laser emitter, the uniformity of the light beam can be improved, and the production cost of the projection device can be reduced. In addition, by using a mask to project the speckle pattern, the randomness of the speckle pattern can be increased, thereby improving the accuracy of obtaining three-dimensional information of the object.

[0011] According to one embodiment of the present application, it further includes:

[0012] A copper substrate, the copper substrate is mounted on the housing, and the surface-emitting laser is mounted on the copper substrate.

[0013] According to an embodiment of the present application, the beam shaping mirror assembly includes:

[0014] A support frame, the support frame is mounted on the copper substrate;

[0015] A shaping mirror group, the shaping mirror group is mounted on the support frame and is used for shaping the laser emitted by the surface-emitting laser;

[0016] A reflecting mirror, the reflecting mirror is mounted on the support frame, and the reflecting mirror is used for reflecting the shaped laser to the mask plate.

[0017] According to an embodiment of the present application, the copper substrate is provided with a first mounting structure for mounting on the housing, the support frame is provided with a second mounting structure for mounting on the copper substrate, and the first mounting structure and the second mounting structure are correspondingly arranged.

[0018] According to an embodiment of the present application, the first mounting structure is a first mounting hole, the second mounting structure is a second mounting hole, and the first mounting hole and the second mounting hole are coaxially arranged.

[0019] According to an embodiment of the present application, the housing defines a light passing channel, the light passing channel is provided with a stepped surface, one end of the mask plate is axially abutted against the stepped surface, and the projection device further includes:

[0020] A pressing plate, the pressing plate is mounted in the light passing channel, and the other end of the mask plate is axially abutted against the pressing plate.

[0021] According to an embodiment of the present application, the lens assembly includes:

[0022] A first lens group, the first lens group is axially movably mounted on the housing;

[0023] A second lens group, the second lens group is axially movably mounted on the housing;

[0024] A fixed lens, the first lens group, the second lens group and the fixed lens are sequentially distributed axially in a direction away from the mask plate.

[0025] According to an embodiment of the present application, the lens assembly further includes:

[0026] A base, the base is connected to the housing, and the first lens group, the second lens group and the fixed lens are all mounted on the base.

[0027] According to an embodiment of the present application, the power of the surface-emitting laser is greater than or equal to 1 watt.

[0028] According to an embodiment of the present application, the size of the mask is greater than or equal to 1 inch.

[0029] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0030] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where:

[0031] Figure 1 is a schematic structural diagram of a projection device provided by an embodiment of the present application;

[0032] Figure 2 is a cross-sectional view of a projection device provided by an embodiment of the present application.

[0033] Reference Signs:

[0034] housing 100, light passing channel 110, stepped surface 111, accommodation cavity 120;

[0035] surface-emitting laser 200, copper substrate 210;

[0036] support frame 310, first support member 311, second support member 312, shaping lens group 320, reflecting mirror 330;

[0037] mask 400, pressing plate 410;

[0038] lens assembly 500, base 510, first lens group 520, second lens group 530, fixed lens 540. Detailed Embodiments

[0039] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0040] Reference will be made below to Figure 1 and Figure 2 to describe a projection device according to an embodiment of the present application.

[0041] An embodiment of the present application provides a projection device, as shown in Figure 1 and Figure 2As shown, the projection device includes a housing 100 , a surface emitting laser 200 , a beam shaping lens assembly 320 , a mask 400 and a lens assembly 500 .

[0042] The housing 100 may be a rectangular structure, a trapezoidal structure or other shapes, for example Figure 1 and Figure 2 As shown, the housing 100 is a stepped structure, and an accommodating cavity is defined inside the housing 100 .

[0043] like Figure 2 As shown, the surface emitting laser 200 is installed on the housing 100, and the beam shaping lens group 320 is installed on the housing 100. The surface emitting laser 200 and the beam shaping lens group 320 are both installed in the accommodating cavity of the housing 100. The surface emitting laser 200 is used to emit laser light to the beam shaping lens group 320.

[0044] The mask plate 400 is mounted on the housing 100 and is used to receive the laser light passing through the beam shaping lens assembly 320. The mask plate 400 can be a circular structure, a trapezoidal structure or other shape structures, such as Figure 2 As shown, the mask plate 400 is a rectangular structure.

[0045] like Figure 2 As shown, the lens assembly 500 and the mask plate 400 are spaced apart along the axial direction, and the lens assembly 500 is located on the side of the mask plate 400 away from the beam shaping lens group 320. The mask plate 400 and the lens assembly 500 are coaxially arranged, and the mask plate 400 and the lens assembly 500 are spaced apart along their own axis direction.

[0046] In the actual implementation process, Figure 2 As shown, the surface emitting laser 200 emits a laser, which is shaped by the beam shaping lens assembly 320 into a light spot the size of the mask plate 400 when passing through the beam shaping lens assembly 320. Since the mask plate 400 has a speckle pattern, when the light spot formed by the beam shaping lens assembly 320 is irradiated on the speckle pattern, the speckle pattern on the mask plate 400 can act as an active light-emitting object to emit a light beam with pattern information to the lens assembly 500. The lens assembly 500 projects the light beam emitted by the speckle pattern onto the surface of the object to be measured, thereby obtaining three-dimensional information of the object.

[0047] According to the projection device provided in the embodiment of the present application, by using a surface laser emitter, the uniformity of the light beam can be improved, and the production cost of the projection device can be reduced. In addition, by using the mask plate 400 to project the speckle pattern, the randomness of the speckle pattern can be increased, thereby improving the accuracy of obtaining three-dimensional information of the object.

[0048] In some embodiments, as Figure 2As shown, the projection device further includes a copper substrate 210, the copper substrate 210 is installed on the housing 100, and the surface-emitting laser 200 is installed on the copper substrate 210.

[0049] Among them, as Figure 2 shown, the copper substrate 210 is installed in the accommodation cavity, and the copper substrate 210 is installed on the inner wall of the housing 100, and the surface-emitting laser 200 is installed on the side of the copper substrate 210 away from the inner wall of the housing 100.

[0050] The copper substrate 210 and the surface-emitting laser 200 can be installed together and then installed in the housing 100, or the two can be installed in the housing 100 separately. For example, as Figure 2 shown, the copper substrate 210 and the surface-emitting laser 200 are installed together and then installed in the housing 100 to facilitate the later maintenance and replacement of the surface-emitting laser 200 and the copper substrate 210, and reduce the maintenance cost.

[0051] Since the surface-emitting laser 200 emits a large amount of heat during operation, the surface-emitting laser 200 is installed on the copper substrate 210, and the heat generated by the surface-emitting laser 200 can be transferred to the housing 100 by using the heat conduction performance of the copper substrate 210, and then the heat is dissipated to the external environment through the housing 100.

[0052] Through the above setting of the copper substrate 210, the heat dissipation efficiency and heat dissipation effect of the surface-emitting laser 200 can be improved, thereby extending the service life of the surface-emitting laser 200.

[0053] In some embodiments, as Figure 2 shown, the beam shaping mirror group includes a support frame 310, a shaping mirror group 320, and a reflector 330.

[0054] Among them, as Figure 2 shown, the support frame 310 is installed on the copper substrate 210, and the surface-emitting laser 200 is located at the bottom of the copper substrate 210.

[0055] As Figure 2 shown, the support frame 310 may include a first support member 311 and a second support member 312 connected to each other. The first support member 311 and the second support member 312 are bent, and the included angle between the first support member 311 and the second support member 312 is an acute angle.

[0056] As Figure 2 shown, the first support member 311 may be connected to the copper substrate 210, that is, the first support member 311 is parallel to the copper substrate 210 and the inner wall surface of the housing 100, and the second support member 312 is located on the side of the first support member 311 away from the copper substrate 210.

[0057] As Figure 2As shown, the shaping lens group 320 is installed on the support frame 310 and is used to shape the laser emitted by the surface-emitting laser 200. The shaping lens group 320 is installed on the first support member 311 and is used to emit the shaped light beam to the second support member 312. Moreover, the shaping lens group 320 is coaxially arranged with the surface-emitting laser 200 on the first support member 311.

[0058] As Figure 2 shown, the shaping lens group 320 may include a single lens or may include multiple lenses. The multiple lenses are spaced apart along the direction of their own axes.

[0059] As Figure 2 shown, the reflecting mirror 330 is installed on the support frame 310. The reflecting mirror 330 is used to reflect the shaped laser to the mask 400. The reflecting mirror 330 is installed on the second support member 312, and the mask 400 is installed on the reflection path of the light beam.

[0060] During the actual execution process, as Figure 2 shown, the surface-emitting laser 200 emits laser to the shaping lens group 320. After the laser beam is shaped by the shaping lens group 320, it is emitted to the reflecting mirror 330. Since the mask 400 is installed on the reflection path of the light beam, the light beam is reflected by the reflecting mirror 330 and then shoots towards the mask 400, and is projected onto the surface of the object to be measured after passing through the mask 400 and the lens assembly 500.

[0061] Through the above setting of the reflecting mirror 330, the path of the light beam from the shaping lens group 320 to the mask 400 can be shortened, thereby reducing the overall volume of the projection device and realizing the miniaturized design of the projection device.

[0062] In some embodiments, the copper substrate 210 is provided with a first mounting structure for mounting on the housing 100, and the support frame 310 is provided with a second mounting structure for mounting on the copper substrate 210. The first mounting structure and the second mounting structure are correspondingly arranged.

[0063] Among them, the first mounting structure may be one or multiple. For example, the first mounting structure is multiple; the second mounting structure may be one or multiple. For example, the second mounting structure is multiple.

[0064] By correspondingly arranging the first mounting structure and the second mounting structure, a positioning effect can be provided for the installation of the copper substrate 210 and the support frame 310, thereby improving the coaxiality of the surface laser emitter and the shaping lens group 320 during the installation process.

[0065] In some embodiments, the first mounting structure is a first mounting hole, the second mounting structure is a second mounting hole, and the first mounting hole and the second mounting hole are coaxially arranged.

[0066] Among them, a first mounting hole is provided on the copper substrate 210, and a second mounting hole is provided on the first support member 311. The first mounting hole and the second mounting hole are corresponding and coaxially arranged.

[0067] During the actual implementation process, when installing the copper substrate 210 and the support frame 310, align the first mounting hole of the copper substrate 210 with the second mounting hole on the support frame 310, and then install them on the housing 100 in sequence through screws, bolts or other threaded connectors passing through the second mounting hole and the first mounting hole.

[0068] By setting the first mounting structure as the first mounting hole and the second mounting structure as the second mounting hole, the copper substrate 210 and the support frame 310 can be integrally installed in the housing 100 by using the same threaded connector during the installation process, thereby improving the coaxiality of the shaping lens group 320 mounted on the support frame 310 and the surface emitting laser 200 mounted on the copper substrate 210, and the structure is simple, which can reduce the production cost.

[0069] In some embodiments, as Figure 2 shown, the housing 100 defines a light passing channel 110. The light passing channel 110 is provided with a stepped surface 111. One end of the mask 400 abuts against the stepped surface 111 axially. The projection device further includes a pressing plate 410. The pressing plate 410 is installed in the light passing channel 110, and the other end of the mask 400 abuts against the pressing plate 410 axially.

[0070] Among them, as Figure 2 shown, the housing 100 is a two-stage stepped structure. A larger section of the housing 100 defines a receiving cavity. A smaller section of the housing 100 is also a hollow structure, and the hollow part communicates with the receiving cavity. The mask 400 is installed at the communication part between the hollow part and the receiving cavity, and the communication part is the light passing channel 110.

[0071] As Figure 2 shown, the side wall of the light passing channel 110 located on the first side of the mask 400 is provided with a stepped surface 111. The stepped surface 111 abuts against the first end of the mask 400 axially. The pressing plate 410 is installed on the second side of the mask 400, and the pressing plate 410 abuts against the second end of the mask 400 axially. That is, the mask 400 is fixed in the light passing channel 110 by the pressing plate 410 and the stepped surface 111.

[0072] Through the above settings of the stepped surface 111 and the pressing plate 410, the mask 400 can be limited, and the influence on the projection effect caused by the offset of the mask 400 can be reduced.

[0073] In some embodiments, as Figure 2 shown, the lens assembly 500 includes a first lens group 520, a second lens group 530 and a fixed lens 540.

[0074] Among them, as Figure 2 shown, the first lens group 520 is axially movably mounted on the housing 100, the second lens group 530 is axially movably mounted on the housing 100, and both the first lens group 520 and the second lens group 530 are axially movably mounted on the side of the mask 400 facing away from the beam shaping mirror group 320.

[0075] The first lens group 520 may include one lens or multiple lenses. For example, as Figure 2 shown, the first lens group 520 includes a convex lens; the second lens group 530 may include one lens or multiple lenses. For example, as Figure 2 shown, the second lens group 530 includes a concave lens.

[0076] As Figure 2 shown, the fixed lens 540 is mounted on the housing 100, and the first lens group 520, the second lens group 530, and the fixed lens 540 are sequentially distributed along the axis in the direction away from the mask 400.

[0077] Since both the first lens group 520 and the second lens group 530 are axially movably mounted on the housing 100, during the actual projection process, the axial distance between the first lens group 520 and the second lens group 530 can be adjusted according to the working distance and the actual projection requirements to achieve different magnification ratios.

[0078] During the actual implementation process, as Figure 2 shown, the lens assembly 500 further includes a base 510. The base 510 is connected to the housing 100, and the first lens group 520, the second lens group 530, and the fixed lens 540 are all mounted on the base 510.

[0079] Among them, the base 510 can be detachably connected to the housing 100 through threaded connectors, snap connectors or other means, and the first lens group 520, the second lens group 530, and the fixed lens 540 are all mounted inside the base 510.

[0080] Through the above setting of the base 510, when maintaining or replacing the first lens group 520, the second lens group 530, and the fixed lens 540, the lens assembly 500 can be detached separately, which is convenient for the maintenance and replacement of the lens assembly 500 and reduces the maintenance cost.

[0081] In some embodiments, the power of the surface emitting laser 200 is greater than or equal to 1 watt.

[0082] Among them, the power of the surface emitting laser 200 can specifically be 1 watt, 1.5 watts, 2 watts, 3 watts, 4 watts or other values greater than 1 watt.

[0083] By setting the power of the surface-emitting laser 200 to be greater than or equal to 1 watt, the projection distance and projection range of the surface-emitting laser 200 can be increased, thereby meeting the requirements of scenarios for long-distance or large-range measurement, and expanding the applicable range of the projection device.

[0084] In some embodiments, the size of the mask 400 is greater than or equal to 1 inch.

[0085] Specifically, the size of the mask 400 can be 1 inch, 1.1 inches, 1.5 inches, 1.9 inches, 2.3 inches, or other values greater than or equal to 1 inch.

[0086] Since the laser damage threshold of the mask 400 is positively correlated with the projection area of the mask 400, setting the size of the mask 400 to be greater than or equal to 1 inch can increase the projection area of the mask 400, thereby increasing the laser damage threshold of the mask 400, and further improving the clarity and contrast during the projection of the speckle pattern, so that the projection device can maintain a good working state at night or in a low-brightness environment, and improve the measurement effect.

[0087] The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same type, and do not limit the number of objects. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally represents an "or" relationship between the associated objects before and after.

[0088] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application 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 should not be construed as a limitation to this application.

[0089] In the description of this application, the "first feature", "second feature" may include one or more of such features.

[0090] In the description of this application, "a plurality" means two or more.

[0091] In the description of the present application, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, or may include contact between the first and second features through additional features therebetween rather than direct contact.

[0092] In the description of the present application, a first feature being "on", "above", or "over" a second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature.

[0093] In the description of this specification, descriptions with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0094] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A projection device, characterized in that, include: case; a surface-emitting laser, wherein the surface-emitting laser is mounted on the housing; a beam shaping mirror assembly, the beam shaping mirror assembly being mounted on the housing, the surface emitting laser being used to emit laser light toward the beam shaping mirror assembly; a mask plate, the mask plate being mounted on the housing and being used to receive the laser light passing through the beam shaping mirror assembly; The lens assembly is spaced apart from the mask plate along the axial direction, and the lens assembly is located on a side of the mask plate away from the beam shaping lens assembly.

2. The projection device according to claim 1, wherein Also includes: A copper substrate is mounted on the housing, and the surface emitting laser is mounted on the copper substrate.

3. The projection device according to claim 2, wherein The beam shaping mirror assembly comprises: A support frame, the support frame being mounted on the copper substrate; a shaping lens assembly, mounted on the support frame and used for shaping the laser light emitted by the surface emitting laser; A reflector is installed on the support frame and is used to reflect the shaped laser light to the mask.

4. The projection device according to claim 3, wherein, The copper substrate is provided with a first mounting structure for mounting on the housing, and the support frame is provided with a second mounting structure for mounting on the copper substrate, and the first mounting structure and the second mounting structure are provided correspondingly.

5. The projection device according to claim 4, characterized in that, The first mounting structure is a first mounting hole, the second mounting structure is a second mounting hole, and the first mounting hole and the second mounting hole are coaxially arranged.

6. The projection device according to any one of claims 1-5, characterized in that, The housing defines a light passage, the light passage is provided with a step surface, one end of the mask plate abuts against the step surface along the axial direction, and the projection device further comprises: A pressing plate is installed in the light passage, and the other end of the mask plate abuts against the pressing plate along the axial direction.

7. The projection device according to any one of claims 1-5, characterized in that, The lens assembly comprises: a first lens group, wherein the first lens group is movably mounted on the housing along an axial direction; a second lens group, the second lens group being movably mounted on the housing along an axial direction; A fixed lens, wherein the first lens group, the second lens group and the fixed lens are sequentially distributed along an axial direction away from the mask plate.

8. The projection device according to claim 7, wherein The lens assembly further comprises: A base is connected to the housing, and the first lens group, the second lens group and the fixed lens are all installed on the base.

9. The projection device according to any one of claims 1-5, characterized in that, The power of the surface emitting laser is greater than or equal to 1 watt.

10. The projection device according to any one of claims 1-5, characterized in that, The size of the mask is greater than or equal to 1 inch.

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