Speckle projector capable of changing angle, depth camera and electronic equipment

Abstract

The speckle projector capable of changing the angle is characterized by comprising an array laser, a collimating lens, a light splitting element and a DOE, the array laser comprises a plurality of sub light sources and is used for emitting laser; the collimating lens is located on an emergent light path of the array laser; the light splitting element is located on an emergent light path of the collimating lens and comprises a first area and a second area, and the first area comprises a micro lens and is used for changing the divergence angle of the laser; and the DOE is located on an emergent light path of the light splitting element. According to the utility model, the speckle projection angle is changed.

Description

Technical Field

[0001] The utility model relates to the technical field of laser projection, and in particular to an angle-adjustable speckle projector, a depth camera, and an electronic device. Background Art

[0002] A laser projector is a device that uses a laser light source to project images or light. Laser projectors are widely used due to their high brightness, high contrast, high color accuracy, and long life.

[0003] A speckle projector with variable projection angle is a specially designed optical device that can flexibly adjust the projection angle in different application scenarios to meet specific measurement or imaging requirements.

[0004] Speckle projectors with variable projection angles typically combine sophisticated mechanical structures, optical systems, and electronic control components. By adjusting the position and orientation of the laser or projection lens, the speckle projection angle can be precisely controlled. Some advanced designs also utilize advanced technologies such as electromagnetic drives and roller structures to achieve greater angle adjustment and more stable projection.

[0005] Speckle projectors with variable projection angles are widely used in many fields, including but not limited to:

[0006] 3D scanning and measurement: In industrial manufacturing, cultural heritage preservation, medical diagnosis, and other fields, accurate three-dimensional data of objects is required. Angle-variable speckle projectors can flexibly adjust the projection angle to cover different surfaces of an object, improving scanning accuracy and efficiency.

[0007] Machine Vision and Positioning: In areas such as automated production lines and robotic navigation, machine vision systems must accurately identify the position and posture of objects. Speckle projectors project specific speckle patterns onto surfaces and capture the reflected patterns, enabling high-precision positioning of objects.

[0008] Optical measurement and inspection: In optical instruments, sensors, and other fields, speckle projectors can be used to measure parameters such as an object's shape and surface roughness. By varying the projection angle, measurement data can be obtained from different viewing angles, improving the comprehensiveness and accuracy of measurements.

[0009] A speckle projector with variable projection angle has several advantages:

[0010] High flexibility: The projection angle can be adjusted according to actual needs and is suitable for a variety of application scenarios.

[0011] High precision: The use of advanced optical system and sophisticated mechanical structure ensures that the projected speckle pattern is clear and stable.

[0012] Good stability: Through electronic control components and feedback mechanisms, the projection angle can be precisely controlled and stably maintained.

[0013] Easy to integrate: It can be integrated with a variety of optical instruments, sensors and other equipment to form a complete measurement or imaging system.

[0014] However, the existing speckle projectors with variable projection angles have complex structures, high costs, large volumes, and poor stability.

[0015] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the utility model. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of this application. Utility Model Content

[0016] To this end, the present invention provides an array laser and a spectroscopic element in front of the array laser. A microlens is provided in a part of the area on the spectroscopic element, so that the divergence angle of the laser passing through the microlens part changes. By controlling the state of the laser passing through the microlens, the speckle projection angle can be changed.

[0017] In a first aspect, the present invention provides a speckle projector with variable angle, characterized by comprising: an array laser, a collimating lens, a beam splitter element and a DOE;

[0018] The array laser includes a plurality of sub-light sources for emitting laser light;

[0019] The collimating lens is located on the outgoing light path of the array laser;

[0020] The beam splitter is located on the outgoing light path of the collimating lens and includes a first area and a second area. The first area includes a microlens for changing the divergence angle of the laser.

[0021] The DOE is located on the outgoing light path of the beam splitter element;

[0022] The laser light emitted after passing through the first region and the laser light emitted after passing through the second region have different divergence angles.

[0023] Optionally, the angle-adjustable speckle projector is characterized in that the laser light passing through the first area is emitted in the form of speckles after passing through the DOE.

[0024] Optionally, the angle-adjustable speckle projector is characterized in that the plurality of sub-light sources include a first group and a second group; the laser light emitted by the first group passes through the first area, and the laser light emitted by the second group passes through the second area.

[0025] Optionally, the angle-adjustable speckle projector is characterized in that the first group and the second group are controlled by different controllers.

[0026] Optionally, the angle-adjustable speckle projector is characterized in that the first group and the second group do not work at the same time.

[0027] Optionally, the angle-adjustable speckle projector is characterized in that the area of the second region is larger than that of the first region.

[0028] Optionally, the angle-adjustable speckle projector is characterized in that the microlens includes a first microlens and a second microlens, and the first microlens and the second microlens have different degrees of change in the divergence angle of the laser.

[0029] Optionally, the angle-adjustable speckle projector is characterized in that the laser light emitted by the array laser does not penetrate the first microlens and the second microlens at the same time.

[0030] In a second aspect, the present invention provides a depth camera, characterized in that it includes an angle-adjustable speckle projector as described in any one of the aforementioned items.

[0031] In a third aspect, the present invention provides an electronic device, characterized in that it comprises an angle-adjustable speckle projector as described in any one of the aforementioned items.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] In the utility model, a light splitting element is arranged at the front end of the array laser, the divergence angle of the laser is changed by the microlens on the light splitting element, and the emission angle of the speckle is changed by the diffusion effect of DOE.

[0034] The utility model arranges the first area and the second area on the light splitting element, so that the emitted light can selectively pass through the first area and the second area by controlling the lit sub-light source, thereby changing the emission angle of the speckle.

[0035] The utility model can project speckles with different divergence angles with a size substantially the same as that of the speckle projector in the prior art, has a smaller volume, and is conducive to miniaturization of the device.

[0036] The utility model adopts an array laser and projects speckles of different quantities and densities by adjusting the number and distribution of working sub-light sources to meet the needs of different scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without inventive work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more apparent:

[0038] Figure 1 This is a schematic structural diagram of a speckle projector with adjustable angle according to an embodiment of the present invention;

[0039] Figure 2 This is a structural diagram of a light splitting element in an embodiment of the present utility model;

[0040] Figure 3 This is a schematic structural diagram of an array light source in an embodiment of the present utility model;

[0041] Figure 4 This is a schematic structural diagram of a microlens in an embodiment of the present utility model;

[0042] Figure 5 This is a schematic diagram of speckle in an embodiment of the present utility model;

[0043] Figure 6 This is a schematic diagram of the relationship between a speckle position and a light splitting element in an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the relationship between another speckle position and a light splitting element in an embodiment of the present invention;

[0045] Figure 8 A schematic diagram of the optical path of a speckle projector with variable angle according to an embodiment of the present invention;

[0046] Figure 9 A schematic diagram of the optical path of another speckle projector with adjustable angle according to an embodiment of the present invention.

[0047] 1- Array laser;

[0048] 2-sub-light source;

[0049] 3-Collimating lens;

[0050] 4-Spectral splitter element;

[0051] 5-First area;

[0052] 6-Second area;

[0053] 7-microlens;

[0054] 8-DOE;

[0055] 9-first group;

[0056] 10-Second group; DETAILED DESCRIPTION

[0057] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art further understand the present invention, but are not intended to limit the present invention in any way. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the scope of the present invention. These modifications and improvements are all within the scope of protection of the present invention.

[0058] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or apparatus.

[0059] The embodiment of the present invention provides a speckle projector with adjustable angle, which aims to solve the problems existing in the prior art.

[0060] The following specific embodiments describe in detail the technical solution of the present invention and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following embodiments of the present invention are described in conjunction with the accompanying drawings.

[0061] Figure 1 FIG. 1 is a schematic structural diagram of a speckle projector with variable angle in an embodiment of the present invention. Figure 1As shown, an angle-adjustable speckle projector according to an embodiment of the present invention includes: an array laser 1, a collimating lens 3, a beam splitter 4, and a DOE 8;

[0062] The array laser 1 includes a plurality of sub-light sources 2 for emitting laser light.

[0063] Specifically, an array laser 1 comprises multiple sub-light sources 2, each capable of emitting a laser beam independently or in concert. The arrangement of these sub-light sources (e.g., linear, two-dimensional array, etc.) affects the uniformity and speckle characteristics of the resulting laser beam. By controlling the output of each sub-light source, the output characteristics of the entire laser can be adjusted, enabling different modes of laser emission.

[0064] The collimating lens 3 is located on the outgoing light path of the array laser 1 .

[0065] Specifically, it is located on the outgoing light path of the array laser 1 and is used to collimate the laser beams emitted by multiple sub-light sources, that is, to reduce the divergence angle of the light beams so that the light beams remain relatively parallel during the subsequent propagation process.

[0066] The beam splitter element 4 is located on the outgoing light path of the collimating lens 3 and includes a first area 5 and a second area 6. The first area 5 includes a microlens 7 for changing the divergence angle of the laser.

[0067] Specifically, if Figure 2 As shown, the beam splitter element is located on the outgoing light path of the collimating lens 3 and includes at least two areas: a first area 5 and a second area 6 .

[0068] Region 1 5: Contains microlenses. Microlenses are very small lenses, typically ranging in diameter from a few microns to a few millimeters. An array of microlenses can form a microlens array. A microlens array consists of multiple tiny lenses, each of which can independently focus or diverge light. By adjusting the arrangement and parameters of each lens in the microlens array, complex optical transformations and image processing can be achieved. The first region is composed of multiple unconnected sub-regions, each of which is larger than the projected area of the speckle on the speckle splitting element.

[0069] Second region 6: may or may not contain microlenses. If the second region contains microlenses, the parameters of the microlenses in the second region differ from those in the first region, resulting in a different divergence angle for the laser. If the second region does not contain microlenses, the laser light will maintain a relatively high degree of parallelism as it passes through, without undergoing significant optical transformation.

[0070] DOE8 is located on the outgoing light path of the spectrometer 4.

[0071] Specifically, DOE 8 is located on the outgoing optical path of beam splitter 4 and is used to further process or optimize the optical properties of the laser beam. DOE can adjust the intensity distribution of the laser beam to make it more uniform through its special optical design.

[0072] When array laser 1 emits laser beams, they are first collimated by collimating lens 3 to reduce the divergence angle. The laser beams then strike beam splitter 4, which can selectively pass through first region 5 or second region 6, depending on the application requirements. Finally, regardless of which region the beam passes through, it is further optically processed by DOE 8. By adjusting the parameters and configuration of array laser 1, collimating lens 3, beam splitter 4, and DOE 8, the output characteristics of the laser beam can be flexibly controlled, achieving complex optical effects such as speckle uniformity switching.

[0073] The laser light emitted after passing through the first region and the laser light emitted after passing through the second region have different divergence angles.

[0074] In some embodiments, the area of the second region is larger than that of the first region. When the second region does not include microlenses, the second region does not process the light path. The larger area allows for more flexible placement of microlenses in the first region and more flexible arrangement of sub-light sources, thereby meeting the space and layout requirements of the product and application scenarios.

[0075] In some embodiments, Figure 3 As shown, the plurality of sub-light sources 2 include a first group 9 and a second group 10 ; the laser light emitted by the first group 9 passes through the first area 5 , and the laser light emitted by the second group 10 passes through the second area 6 . Figure 3 The solid circle in the middle represents the second group 10, and the hollow circle represents the first group 9. The first and second groups have different distribution patterns. The multiple sub-light sources in the array laser are not illuminated simultaneously but are instead divided into first and second groups. The laser beams emitted by the first group have different emission angles than those emitted by the second group. By controlling the illumination states of the first and second groups, different emission angles can be achieved.

[0076] In some embodiments, the first group and the second group are controlled by different controllers. Controlling the first group and the second group by different controllers can achieve independent control of the lighting status of the first group and the second group, thereby meeting the needs of more application scenarios.

[0077] In some embodiments, the first group and the second group do not operate simultaneously. Setting the control status of the first group and the second group to operate separately, when the first group is operating, the second group is not operating; when the second group is operating, the first group is not operating, which is suitable for scenarios where different types of data need to be collected.

[0078] In some embodiments, the first group includes a third group and a fourth group, and the third and fourth groups are controlled by different controllers. The first group further includes a third group and a fourth group. Because the third and fourth groups are controlled by different controllers, the third and fourth groups can operate independently. This embodiment, through more detailed sub-light source grouping, allows the illumination intensity to be adjusted according to different application scenarios, providing greater adaptability.

[0079] In some embodiments, the second group includes a fifth group and a sixth group, each of which is controlled by a different controller. The second group further includes a fifth group and a sixth group. Because the fifth and sixth groups are controlled by different controllers, they can operate independently. The different distributions of sub-light sources in the fifth and sixth groups result in different projected speckle patterns. These can be adjusted to suit different scenarios, providing greater adaptability.

[0080] In some embodiments, the microlens includes a first microlens and a second microlens, wherein the first microlens and the second microlens alter the divergence angle of the laser beam to different degrees. The first and second microlenses have different parameters, including but not limited to dihedral angle deviation and radius of curvature, resulting in different effects on the laser beam. The first microlens produces a greater change in the divergence angle of the laser beam. It may have a shorter focal length, a larger radius of curvature, or a special surface shape to introduce a greater divergence effect when the laser beam passes through it. By adjusting these parameters of the first microlens, the divergence of the laser beam passing through the area can be precisely controlled, thereby generating a laser beam with a specific divergence angle. Compared to the first microlens, the second microlens alters the divergence angle of the laser beam to a lesser extent. The second microlens may have a longer focal length, a smaller radius of curvature, or a flatter surface shape to reduce the impact on the divergence angle of the laser beam. Thus, when the laser beam passes through the second microlens, its divergence angle changes relatively little, maintaining a more concentrated beam characteristic. By integrating two types of microlenses with varying degrees of divergence angle change into the beam splitter and strategically arranging their distribution and number, the laser beam divergence angle can be finely controlled. For example, by adjusting the ratio, arrangement, or relative position of the first and second microlenses, laser beams with varying divergence angle distribution characteristics can be generated. By incorporating first and second microlenses with varying degrees of divergence angle change, the speckle projector achieves greater flexibility and precision in controlling the laser divergence angle, providing strong support for diverse application requirements.

[0081] In some embodiments, the laser light emitted by the array laser does not simultaneously penetrate the first microlens and the second microlens. This embodiment ensures that the laser beam emitted by the array laser can be directed to different areas as needed and processed by different optical elements, providing greater flexibility and controllability for the system. By adjusting the design of the beam splitter element (such as the area size, shape, and position) and the parameters of the microlens (such as the focal length and radius of curvature), the divergence angle of the laser beam can be precisely controlled and a speckle pattern with desired characteristics can be generated.

[0082] like Figure 4 As shown, the microlenses 7 are spaced apart on the light splitting element so that the laser light can be emitted in different forms.

[0083] In some embodiments, the microlens includes a first microlens and a second microlens, and the first microlens and the second microlens have different degrees of change in the divergence angle of the laser. When the first microlens and the second microlens have different degrees of change in the divergence angle of the laser, the light beam emitted from the first microlens has a first divergence angle after being processed by DOE, and the light beam emitted from the second microlens has a second divergence angle after being processed by DOE. The first divergence angle is different from the second divergence angle. When the laser only passes through the first microlens, the divergence angle of the laser is the first divergence angle. When the laser only passes through the second microlens, the divergence angle of the laser is the first divergence angle. This embodiment can achieve speckle projection with different irradiation ranges, and at the same time, different laser irradiation intensities. When controlling the sub-light source, the aforementioned embodiment can be referred to.

[0084] The following further describes some details of this solution with reference to the accompanying drawings. It should be noted that the following is intended to enable those skilled in the art to better understand the principles of this technical solution so that they can be implemented, and should not be construed as limiting the scope of protection of this utility model.

[0085] Figure 5 This is a schematic diagram of speckle in an embodiment of the present utility model. Figure 5 The speckle shape after passing through the collimating lens is more dispersed. When the speckle is irradiated on the spectroscopic element, there is no micro lens at the irradiation position, such as Figure 6 As shown in , the speckle still passes through the spectroscopic element in its original form, illuminates the DOE, and finally projects the speckle. When the speckle illuminates the spectroscopic element, the illuminated position has a microlens, as shown in Figure 7 As shown in FIG, the speckle has a larger divergence angle. When the irradiation further diverges on the DOE, a speckle with a larger exit angle is finally projected.

[0086] Figure 8 is a schematic diagram of the light path when the light path passes through the first area, Figure 9 Figure 1 is a schematic diagram of the light path when the light path passes through the second area. Figure 8 and Figure 9 It can be seen from the figure that the light paths of different emission angles in this embodiment are basically the same, the volume is small, and the light projection efficiency is high.

[0087] The present invention also provides a depth camera, characterized in that it comprises the angle-adjustable speckle projector described in any one of the above items.

[0088] Depth cameras, also known as 3D cameras, can obtain three-dimensional spatial information about objects in a scene, including distance, shape, and position. Depth cameras are widely used in various fields, such as robot navigation, 3D reconstruction, object recognition and tracking, etc.

[0089] The main functions of the depth camera are as follows:

[0090] Laser emission and modulation: The array laser emits a laser beam, which is collimated by a collimating lens to form a parallel beam.

[0091] Speckle generation and switching: A parallel light beam passes through the first area or the second area of the beam splitter, generating speckle or maintaining parallel light as needed.

[0092] Projection and acquisition: The modulated laser beam is projected onto the object to be measured, forming a specific infrared image or speckle pattern. The depth camera collects the reflected light signal through a specialized sensor (such as an infrared camera).

[0093] Depth calculation: Based on the collected light signals, parallax or time-of-flight algorithms are used to calculate the depth of the object surface. For speckle projectors with variable angles, the randomness and positional variations of the speckle patterns are crucial for calculating depth information.

[0094] 3D reconstruction and output: Combining the depth information of multiple points can achieve 3D reconstruction of the object surface. Ultimately, the depth camera outputs the 3D data in the form of images or point clouds.

[0095] Depth cameras with variable-angle speckle projectors have broad application prospects in many fields, such as:

[0096] Robot navigation: By acquiring three-dimensional information of the environment in real time, it helps robots achieve autonomous navigation and obstacle avoidance.

[0097] 3D reconstruction: Used to generate high-precision 3D models in fields such as architecture and cultural heritage protection.

[0098] Object recognition and tracking: In industrial automation, logistics and other fields, it can achieve rapid recognition and accurate tracking of objects.

[0099] Security monitoring: In the security field, the intelligence level of the monitoring system is improved through technologies such as facial recognition and behavior analysis.

[0100] A depth camera with an angle-adjustable speckle projector is a three-dimensional perception device with high precision, high reliability and broad application prospects.

[0101] The present invention also provides an electronic device, characterized in that it comprises the angle-adjustable speckle projector described in any one of the above items.

[0102] An electronic device can be a device that integrates high-precision optical sensing, imaging, or measurement capabilities, such as a high-end camera, 3D printer, laser scanner, or biometric device. As one of its core components, the angle-adjustable speckle projector provides the device with powerful optical processing capabilities.

[0103] In high-end cameras, variable-angle speckle projectors can be used to improve image clarity and contrast. By reducing speckle effects and optimizing beam distribution, finer image details and richer color information can be captured.

[0104] In devices like 3D printers and laser scanners, angle-adjustable speckle projectors can be used to achieve three-dimensional perception and reconstruction of objects. By projecting speckle patterns and capturing reflected light signals, the surface shape and depth of the object can be calculated, enabling 3D modeling and printing.

[0105] In biometric devices (such as facial recognition systems) and security surveillance systems, variable-angle speckle projectors can be used to improve recognition accuracy and reliability. By generating unique speckle patterns and capturing biometric information (such as facial contours and palm veins), fast and accurate identity verification and surveillance analysis can be achieved.

[0106] In industrial production, variable-angle speckle projectors can be used to measure parameters such as part size, shape, and position. By projecting a laser beam and capturing the reflected light signal, information such as the part's actual size and positional deviation can be calculated, providing a basis for quality control and process improvement.

[0107] In summary, an electronic device containing an angle-adjustable speckle projector will possess high-precision optical sensing, imaging, or measurement capabilities, and has broad application prospects in multiple fields. With continuous technological advancement and innovation, the functions and performance of this electronic device will be further enhanced and optimized.

[0108] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the utility model. Various modifications to these embodiments will be obvious to professionals and technicians in this field. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the utility model. Therefore, the utility model will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0109] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A speckle projector with variable angle, characterized in that: include: Array lasers, collimating lenses, beam splitters and DOEs; The array laser includes a plurality of sub-light sources for emitting laser light; The collimating lens is located on the outgoing light path of the array laser; The beam splitter is located on the outgoing light path of the collimating lens and includes a first area and a second area. The first area includes a microlens for changing the divergence angle of the laser. The DOE is located on the outgoing light path of the beam splitter; The laser light emitted after passing through the first region and the laser light emitted after passing through the second region have different divergence angles.

2. The angle-adjustable speckle projector according to claim 1, characterized in that: The laser light passing through the first region is emitted in the form of speckles after passing through the DOE.

3. The angle-adjustable speckle projector according to claim 1, characterized in that: The plurality of sub-light sources include a first group and a second group; the laser light emitted by the first group passes through the first area, and the laser light emitted by the second group passes through the second area.

4. The speckle projector with variable angle according to claim 3, characterized in that: The first group and the second group are controlled by different controllers.

5. The speckle projector with variable angle according to claim 3, characterized in that: The first group and the second group do not operate simultaneously.

6. The speckle projector with variable angle according to claim 1, characterized in that: The area of the second region is larger than that of the first region.

7. The speckle projector with variable angle according to claim 1, characterized in that: The microlens includes a first microlens and a second microlens, and the first microlens and the second microlens have different degrees of changing the divergence angle of the laser.

8. The speckle projector with variable angle according to claim 7, characterized in that: The laser light emitted by the array laser does not penetrate the first microlens and the second microlens at the same time.

9. A depth camera, characterized in that A speckle projector with variable angle comprising the invention as claimed in any one of claims 1 to 8.

10. An electronic device, characterized in that: A speckle projector with variable angle comprising the invention as claimed in any one of claims 1 to 8.

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