Double-line laser projector and electronic equipment

Abstract

The utility model relates to the technical field of semiconductors, in particular to a double-line laser projector and electronic equipment. Wherein the laser light source is used for generating laser, and the number of the laser light source is one; the laser optical device is used for allowing the laser generated by the laser light source to penetrate through and corresponds to a laser emitting path so as to collimate and adjust the angle of part of collimated laser light; the laser shaping element corresponds to the propagation path of the laser light and is configured in a specific shape to enable the laser light to form two linear light spots, and the two linear light spots are parallel to each other; the laser passing through the laser optical device forms two light beams, each light beam correspondingly forms a linear light spot, the two light beams are respectively a light beam L1 and a light beam L2, and the light beam L1 and the light beam L2 do not interfere with each other on the same plane. A plurality of laser projectors which only emit one linear laser are integrated, so that the layout number of the laser projectors on electronic equipment is reduced, and the cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of semiconductor technology, specifically to a dual-line laser projector and electronic device. Background Technology

[0002] Laser projectors, as devices capable of projecting lasers, are widely used in daily life, medical equipment, industrial production, and other fields. With the development of various optical sensors, different types of light patterns have been proposed according to actual needs, such as homogenized surface light fields, speckle light fields, and linear spot light fields.

[0003] Linear laser projectors, used for projecting linear light spots, are widely used due to their strong anti-interference performance and stable operation. Linear structured light is applied to service robots, such as robotic vacuum cleaners; it uses 3D vision measurement to quickly measure the service scenarios served by these robots, offering advantages such as high measurement speed, high accuracy, simple structure, economy, and ease of implementation. The measurement principle involves first spreading a laser beam emitted from a laser into a continuous laser plane through a cylindrical mirror, which is then used to illuminate the object being measured. The laser beam intersects with the object's surface to form a deformed structured light fringe. Then, the geometric information of the deformed structured light fringe image captured by a CMOS or CCD probe, combined with the system's motion parameters during measurement, is used to extract the 3D topographic geometric information of the object's surface. The processing and calculation of the deformed structured light fringe image is one of the key steps in 3D measurement.

[0004] Due to the need for detection in different directions, service robots are equipped with multiple line structured light sensors, each facing a different direction. Each line structured light sensor requires a line laser source and a camera module, which necessitates the installation of multiple line laser sources and camera modules on the service robot. This results in the structured light modules occupying a significant amount of layout space on the service robot; furthermore, the large number of structured light modules increases the cost of structured light systems on service robots. Utility Model Content

[0005] One advantage of this invention is that it provides a dual-line laser projector that integrates multiple laser projectors that emit only a single line of laser light into one unit, reducing the number of laser projectors on the service robot and the space occupied by the laser projectors on the service robot.

[0006] Another advantage of this invention is that it provides a dual-line laser projector that emits two linear laser beams, replacing the original multiple linear structured light modules, reducing the number of structured light modules and lowering the cost of the laser projector in the service robot.

[0007] Another advantage of this invention is that it provides a dual-line laser projector that can form two parallel linear laser beams, thereby expanding the detection range and accuracy of the laser projector and optimizing the precision of the service robot during operation.

[0008] Another advantage of this invention is that it provides a dual-line laser projector. Compared with three-line laser modules or other multi-line laser modules, the dual-line laser projector has a simpler structure, lower cost, and is suitable for low-end vision robots and other electronic devices.

[0009] To achieve at least one of the above advantages or other advantages and objectives, the technical solution provided by this utility model is as follows:

[0010] A dual-line laser projector includes a laser source, laser optics, and a laser shaping element;

[0011] The laser source is used to generate laser light, and one laser source is provided.

[0012] The laser optical device allows the laser generated by the laser source to pass through, corresponding to the laser emission path, and collimates and adjusts the angle of a portion of the collimated laser beam.

[0013] The laser shaping element is positioned along the propagation path of the laser beam and has a specific shape configuration to form two linear light spots, wherein the two linear light spots are linear light spot a and linear light spot b, and the linear light spot a and the linear light spot b are parallel to each other.

[0014] The laser light passing through the laser optical device forms two beams, each beam corresponding to the linear light spot. The two beams are beam L1 and beam L2, and beam L1 and beam L2 are on the same plane and do not interfere with each other.

[0015] Optionally, the ratio of the edge laser energy to the center laser energy of the linear spot a and the linear spot b along the linear length direction is 1.0~2.0:1.0.

[0016] Optionally, the laser source is one of VCSEL, HCSEL, EEL, and LED.

[0017] Optionally, the laser optical device includes an optical collimator corresponding to forming the beam, the optical collimator having a raised curved surface.

[0018] Optionally, the top and / or bottom surfaces of the optical collimator are spherical.

[0019] Optionally, the laser shaping element includes a first shaping lens for shaping beam L1 to obtain a linear spot a, and a second shaping lens for shaping beam L2 to obtain a linear spot b.

[0020] Optionally, the bottom of both the first shaping lens and the second shaping lens is wavy.

[0021] Optionally, the system further includes a substrate on which the laser light source is disposed; a conductor for illuminating the laser light source is connected to the substrate.

[0022] Optionally, the laser source is provided with a plurality of light-emitting holes arranged in a straight line.

[0023] An electronic device includes the aforementioned dual-line laser projector and a detector for receiving laser light emitted from the dual-line laser projector. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the dual-line laser projector proposed in an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram illustrating the principle of the dual-line laser projector proposed in an embodiment of this utility model.

[0026] Figure 3 This is one of the cross-sectional schematic diagrams of the dual-line laser projector proposed in the embodiments of this utility model.

[0027] Figure 4 This is the second cross-sectional schematic diagram of the dual-line laser projector proposed in the embodiment of this utility model.

[0028] Figure 5 This is an exploded view of the dual-line laser projector proposed in an embodiment of the present invention.

[0029] Figure 6 This is a schematic diagram of linear spot a and linear spot b of this application. Detailed Implementation

[0030] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely for explaining the relevant utility model and not for limiting the utility model. Furthermore, it should be noted that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings. The terms "first," "second," etc., used in this utility model are provided for the convenience of describing the technical solution of the utility model and have no specific limiting effect; they are all general terms and do not constitute a limitation on the technical solution of the utility model. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Multiple technical solutions in the same embodiment, as well as multiple technical solutions in different embodiments, can be arranged and combined to form new technical solutions that do not contradict or conflict, all of which are within the scope of protection claimed by this utility model.

[0032] Currently, when laser projectors are used in service robots, multiple laser projectors that project a linear laser beam are typically installed to achieve better detection accuracy and a wider detection area. Installing multiple laser projectors on a service robot directly increases costs, occupies significant layout space, and complicates the robot's component placement.

[0033] This invention integrates multiple laser projectors that emit only a single linear laser beam into one unit, reducing the number of laser projectors required on the service robot and the space they occupy. The integrated laser projector is less expensive than multiple individual laser projectors on the service robot as a whole. Furthermore, the integrated laser projector can generate multiple linear laser beams, expanding the detection range and accuracy of the laser projector.

[0034] Furthermore, integrated multi-line laser projectors still suffer from complex structures and high costs, making them unsuitable for low-end electronic products. Therefore, the dual-line laser projector of this invention has been designed accordingly, resulting in a simpler overall structure, lower cost, and suitability for low-end vision robots and other electronic devices.

[0035] Based on this, the present invention proposes a dual-line laser projector, comprising a laser source, laser optics, and a laser shaping element. The laser source emits infrared laser light when powered on. The laser optics, a laser collimating element, is positioned above the laser source, i.e., along its emission path, collimating the emitted laser light into two parallel beams. The laser shaping element is positioned along the propagation path of the laser light and has a specific shape configuration to form two linear light spots, namely, linear spot a and linear spot b, which are parallel to each other.

[0036] The following example will illustrate the dual-line laser projector of this utility model in detail:

[0037] Reference manual attached Figure 1 To be continued Figure 5 According to one embodiment of the present invention, a dual-line laser projector is provided; wherein the dual-line laser projector mainly includes a substrate 10, a laser light source 20, a laser optical device 30, and a laser shaping element 50.

[0038] The laser source 20 can be implemented as a VCSEL (Vertical Cavity Surface Emitting Laser) type source, an EEL (Edge Emitting Laser) type source, an HCSEL (Horizontal Cavity Surface Emitting Laser) type source, an LED type source, etc. Among them, the VCSEL type source has the advantages of extremely small active layer volume and extremely low operating threshold; relatively low sensitivity of wavelength and threshold to temperature changes, and can achieve single longitudinal mode emission; emitted circular light spot, which is easy to couple with optical fiber; and simple packaging and can form a two-dimensional laser array. Therefore, the laser source 20 of this utility model preferably uses a VCSEL type source.

[0039] In this embodiment, the number of laser light sources 20 is one, in order to save costs and to accommodate electronic devices such as vision robots with low requirements.

[0040] In an optional implementation, each laser source 20 has multiple light-emitting holes arranged on it. In this embodiment, one laser source 20 will form two linear light spots after passing through the laser shaping element 50.

[0041] In order to maximize the use of the laser beam emitted from the laser source 20, the straight line formed by connecting the center points of any two light-emitting holes on the laser source 20 is parallel to the linear light spot formed by the laser source 20 after being shaped by the laser shaping element 50.

[0042] Furthermore, the laser optical device 30 corresponds to the beam emission path of the laser source 20, and the laser optical device 30 is used to shape the laser beam (i.e., multiple laser beams) emitted from the laser source 20 into parallel and collimated laser beams. In this invention, the laser optical device 30 is made of light-transmitting materials such as plastic or glass, for example, PMMA (polymethyl methacrylate) organic glass, EP5000 type polycarbonate resin plastic, etc.

[0043] The laser emitted from the laser source 20 forms the incident light of the laser optical device 30. The incident light enters the laser optical device 30 from the lower end face and exits from the upper end face. The laser light entering the laser optical device 30 is collimated within the laser optical device 30, and the direction of the two laser beams is changed. Then, the two emitted laser beams form parallel optical beams.

[0044] The structural characteristics of the laser optics device 30 will affect the width of the light spot (the diameter of a circular light spot or the major or minor axis of an elliptical light spot), and thus affect the linewidth parameters of the light spot finally projected by the dual-line laser projector.

[0045] Specifically, the laser optical device 30 is configured as a light-transmitting element having multiple optical collimators 31, the number of which matches the number of laser light sources 20, i.e., one optical collimator 31 corresponds to one laser light source 20. In a conceivable embodiment, the lower mirror surface (the mirror surface closer to the laser light source 20) of the optical collimator 31 is a convex curved surface, and the upper mirror surface (the mirror surface opposite to the lower mirror surface and farther from the laser light source 20) of the optical collimator 31 is a convex curved surface.

[0046] The distance between the lower mirror surface of the optical collimator 31 and the light source will affect the linewidth parameters and quality of the final light spot, and needs to be set reasonably according to requirements. Furthermore, the thickness of the optical collimator 31 is designed based on the angle of refraction of the collimated light path as needed.

[0047] In conceivable embodiments, the laser collimating element includes a housing, which may be a shell with a generally square cross-section, and the optical collimating part 31 is integrated with the housing.

[0048] Reference Appendix Figure 3 To be continued Figure 5 In this invention, there is one laser source 20 and one corresponding optical collimator 31. Therefore, one optical collimator 31 collimates two laser beams emitted from one independent laser source 20, forming two collimated laser beams that are parallel to each other.

[0049] The optical collimator 31, which corresponds one-to-one with the laser source 20, allows the distance between the laser collimator element and the laser source 20 to be controlled within a minimum range, thus collimating more lasers and controlling the overall volume of the dual-line laser projector, leaving more layout space for other components in electronic devices such as service robots.

[0050] As attached Figure 3 To be continued Figure 5 As shown, the bottom surface of the optical collimator 31 is a downward-facing (the surface closer to the laser chip) curved surface, and the top surface (the surface farther from the laser chip) is also a curved surface. The laser light from the laser source 20 enters from the bottom surface of the optical collimator 31, exits through the top surface of the optical collimator 31, thereby forming two refracted beams, namely beam L1 and beam L2.

[0051] Reference Appendix Figure 2 To be continued Figure 5 A laser shaping element 50 is provided on the propagation path of beams L1 and L2 respectively. The laser shaping element 50 has a specific shape configuration, so that beams L1 and L2 form two linear light spots respectively.

[0052] The laser shaping element 50 includes a first shaping lens 51 and a second shaping lens 52. The first shaping lens 51 corresponds to the optical path of the beam L1. After the beam L1 is shaped by the first shaping lens 51, it forms a linear spot a. The second shaping lens 52 corresponds to the optical path of the beam L2. After the beam L2 is shaped by the second shaping lens 52, it forms a linear spot b. The linear spot a and the linear spot b are parallel to each other on the same plane.

[0053] In an optional embodiment, the FOV of the linear spot a is 60°~100°, preferably 80°; the ratio between the edge laser energy and the center laser energy of the linear spot a in the linear direction is 1.0~2.0:1.0.

[0054] It is conceivable that the parameters of the linear spot b and the linear spot a can be the same or different. For example, in one embodiment, the FOV of the linear spot b is also 60°~100°, preferably 80°, and the ratio between the edge laser energy and the center laser energy of the linear spot b in the linear length direction is 1.0~2.0:1.0. For example, in another embodiment, the FOV of the linear spot b is 100°~150°, preferably 100°.

[0055] Reference Appendix Figure 3 To be continued Figure 5 The laser shaping element 50 of this utility model also includes a housing, and the housing, the first shaping lens 51 and the second shaping lens 52 are integrated into one unit.

[0056] In this application, the material of the shaping lenses (i.e., the first shaping lens 51 and the second shaping lens 52) will affect the refractive index of the laser beam. In one embodiment, the shaping lenses can be made of light-transmitting materials such as plastic or glass, for example, PMMA (polymethyl methacrylate) acrylic glass, EP5000 type polycarbonate resin plastic, etc., and the bottom cross-section of the first shaping lens 51 and the second shaping lens 52 is wavy, which extends in one direction. The top surface of the first shaping lens 51 and the second shaping lens 52 is flat, concave, or has a wavy cross-section.

[0057] In a specific example of this application, the laser light source 20 is mounted on the substrate 10. Specifically, the substrate 10 is implemented as a ceramic substrate 10, which includes a ceramic substrate and a circuit layer 12 formed on the ceramic substrate. The laser light source 20 is electrically connected to the circuit layer 12. More specifically, the laser light source 20 can be electrically connected to the circuit layer 12 through conductive structures such as conductive adhesive and electrical connecting wires. It should be understood that if there is only one laser light source 20, then a corresponding circuit layer 12 for electrical connection is provided on the substrate 10, and the laser light source 20 is connected to the circuit layer 12 through conductive adhesive or electrical connecting wires. The circuit layer 12 is composed of a positive conductor and a negative conductor. The substrate 10 can also be implemented as other types of substrates 10, and the laser light source 20 can also be electrically connected to the substrate 10 in other ways. This is not limited to the present application. Furthermore, a conductor is connected to the substrate 10 to supply current to the circuit layer 12 on the substrate 10 to illuminate the laser light source 20. The conductor is an FPC, but different conductive lines can be selected as needed.

[0058] The above is a description of the dual-line laser projector, which can project two linear light spots that are parallel to each other, enabling it to meet specific low-demand application scenarios, such as obstacle avoidance for low-end robot models.

[0059] This application also proposes an electronic device comprising a dual-line laser projector as described above and a detector for receiving the laser emitted from the dual-line laser projector. The specific structure and function of the dual-line laser projector have been described in detail above and in conjunction with the accompanying drawings, and their repeated description is omitted here.

[0060] The electronic device can be implemented as a sweeping robot, or as other devices that need to project two parallel linear light spots a and b in the X-axis direction, with the laser energy in the middle and the laser energy at the edge being basically consistent, wherein the linear light spots a and b are parallel on the same plane.

[0061] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited to this. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A dual-line laser projector, characterized in that, This includes laser light sources, laser optical devices, and laser shaping components; The laser source is used to generate laser light, and one laser source is provided. The laser optical device allows the laser generated by the laser source to pass through, corresponding to the laser emission path, and collimates and adjusts the angle of a portion of the collimated laser beam. The laser shaping element is positioned along the propagation path of the laser beam and has a specific shape configuration to form two linear light spots, wherein the two linear light spots are linear light spot a and linear light spot b, and the linear light spot a and the linear light spot b are parallel to each other. The laser light passing through the laser optical device forms two beams, each beam corresponding to the linear light spot. The two beams are beam L1 and beam L2, and beam L1 and beam L2 are on the same plane and do not interfere with each other.

2. A dual-line laser projector according to claim 1, characterized in that, The ratio of the edge laser energy to the center laser energy of the linear spot a and the linear spot b along the linear length direction is 1.0~2.0:1.

0.

3. A dual-line laser projector according to claim 1, characterized in that, The laser source is one of VCSEL, HCSEL, EEL, or LED.

4. A dual-line laser projector according to claim 1, characterized in that, The laser optical device includes an optical collimator corresponding to the formation of the beam, the optical collimator having a raised curved surface.

5. A dual-line laser projector according to claim 4, characterized in that, The top and / or bottom surfaces of the optical collimator are spherical.

6. A dual-line laser projector according to claim 1, characterized in that, The laser shaping element includes a first shaping lens that shapes beam L1 to obtain a linear spot a, and a second shaping lens that shapes beam L2 to obtain a linear spot b.

7. A dual-line laser projector according to claim 6, characterized in that, The bottoms of both the first and second shaping lenses are wavy.

8. A dual-line laser projector according to claim 1, characterized in that, It also includes a substrate, on which the laser light source is disposed; and a conductor for illuminating the laser light source is connected to the substrate.

9. A dual-line laser projector according to claim 1, characterized in that, The laser source is provided with multiple light-emitting holes arranged in a straight line.

10. An electronic device, characterized in that, Includes a dual-line laser projector as described in any one of claims 1 to 9, and a detector for receiving the laser emitted from the dual-line laser projector.

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