Speckle projection device and binocular speckle stereo-camera

Abstract

A speckle projection device (10) and a binocular speckle stereo-camera. The speckle projection device (10) comprises: a speckle projector (1), a reflective mirror (2), and one or more electromagnetic control units (3). The reflective mirror (2) is arranged on a projection optical path of the speckle projector (1) and is used for reflecting a speckle image projected by the speckle projector (1) to a photographing region of the binocular speckle stereo-camera. Each electromagnetic control unit (3) comprises a first magnet (31) fixedly mounted at the edge of the reflective mirror (2) and a second magnet (32) spaced apart from the reflective mirror (2); and one of the first magnet (31) and the second magnet (32) is a permanent magnet, and the other one is an electromagnet, so that upon energization, the electromagnet generates an attractive or repulsive force with the permanent magnet to drive the reflective mirror (2) to generate a pose change, such that speckle patterns projected under different poses are dynamically changed, ensuring speckle pattern coverage at different positions in the photographing region, thus increasing a speckle pattern coverage region.

Description

Speckle projection device and binocular speckle stereo camera

[0001] The present application claims priority to the Chinese patent application No. 202410190073.5, filed on February 20, 2024, and entitled "A speckle projection device and binocular speckle stereo camera", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of binocular stereo cameras, in particular to a speckle projection device and binocular speckle stereo camera. BACKGROUND

[0003] The binocular speckle stereo camera is a stereo camera improved based on binocular matching technology, which solves the problem that the binocular matching cannot match the textureless or low-texture plane by actively projecting a speckle pattern, also known as active binocular stereo camera.

[0004] The binocular speckle stereo camera in the related art, as shown in FIG. 1, includes a first imaging unit 101, a second imaging unit 102 and a speckle projection device 103. The speckle projection device 103 is used to project discrete light beams to a shooting area to form a plurality of discrete speckles in the shooting area. The first imaging unit 101 and the second imaging unit 102 shoot to obtain one or more sets of two-dimensional images. The one or more sets of two-dimensional images are subjected to image matching to find the corresponding pixel points of each pixel point of the image on the image of another view angle, calculate the disparity image, and further estimate the depth map.

[0005] In order to further improve the depth map acquisition accuracy of the binocular speckle stereo camera, a multi-frame fusion scheme is usually adopted, which requires the speckle texture projected by the camera to change, so that the texture can cover different positions.

[0006] However, in the related art, the speckle texture projected by the speckle projection device is usually static, which results in a limited speckle texture coverage area in the shooting area and low depth map acquisition accuracy of the binocular speckle stereo camera. SUMMARY

[0007] The purpose of the embodiments of the present application is to provide a speckle projection device and binocular speckle stereo camera, so that the speckle projection device can dynamically project speckle texture, increase the speckle texture coverage area and improve the depth map acquisition accuracy. The specific technical solutions are as follows:

[0008] The present application provides a speckle projection device applied to a binocular speckle stereo camera; the device includes a speckle projector, a reflecting lens and one or more electromagnetic control units.

[0009] The reflective lens is arranged on a projection light path of the speckle projector, and is used for reflecting a speckle image projected by the speckle projector to a shooting area of the binocular speckle stereo camera.

[0010] Each electromagnetic control unit comprises a first magnet fixedly installed at an edge of the reflective lens and a second magnet arranged in a spaced manner with the reflective lens; one of the first magnet and the second magnet is a permanent magnet, and the other is an electromagnet; so that the electromagnet generates an attractive force or a repulsive force with the permanent magnet after being energized, thereby driving the reflective lens to change a pose.

[0011] In some embodiments, the first magnet is a permanent magnet, and the second magnet is an electromagnet; a polarity of the permanent magnet is distributed along an inner-to-outer direction of the reflective lens, and a single magnetic pole of the permanent magnet extends out of the reflective lens to face the electromagnet; the electromagnet is a U-shaped electromagnet, two poles of the U-shaped electromagnet are arranged in a spaced manner with the single magnetic pole of the permanent magnet, and positions of the two poles are symmetrical; or, the number of the electromagnets is two, the two electromagnets are arranged in a spaced manner with the single magnetic pole of the permanent magnet, and positions of the two electromagnets are symmetrical.

[0012] In some embodiments, the first magnet is a permanent magnet, and the second magnet comprises two electromagnets; a polarity of the permanent magnet is perpendicular to the reflective lens; polarities of the two electromagnets are distributed in a perpendicular direction along the reflective lens, the two electromagnets are arranged in a spaced manner with two poles of the permanent magnet, and positions of the two electromagnets are symmetrical; after the two electromagnets are energized, the same polarity faces the permanent magnet.

[0013] In some embodiments, the first magnet is an electromagnet, and the second magnet comprises two permanent magnets; a polarity of the electromagnet is perpendicular to the reflective lens; polarities of the two permanent magnets are distributed in a perpendicular direction along the reflective lens, and polarities of the two permanent magnets are opposite; the two permanent magnets are arranged in a spaced manner with two poles of the electromagnet, and positions of the two permanent magnets are symmetrical.

[0014] In some embodiments, when the number of the electromagnetic control units is multiple, the multiple electromagnetic control units are arranged in a circumferential direction of the reflective lens.

[0015] In some embodiments, the device further comprises a first mounting plate, a second mounting plate and a third mounting plate; the first mounting plate and the second mounting plate are arranged in a spaced manner and parallel to each other; the third mounting plate is arranged between the first mounting plate and the second mounting plate, and a distance between the third mounting plate and the first mounting plate and the second mounting plate is adjustable.

[0016] The reflective lens is installed in a first hollow region at a middle position of the third mounting plate; the first magnet is installed in a magnet mounting hole at an edge of the third mounting plate.

[0017] The second magnet is two, which are installed in the two magnet installation slots on the edge of the first and second installation plates respectively; the two magnet installation slots are open towards the magnet installation hole and correspond in position.

[0018] In some embodiments, the first magnet is an electromagnet and the second magnet is a permanent magnet.

[0019] The magnet installation hole of the third installation plate is a through hole, one of the two magnetic poles of the electromagnet installed in the magnet installation hole is towards the permanent magnet installed in the first installation plate, and the other magnetic pole is towards the permanent magnet installed in the second installation plate; the polarity directions of the permanent magnets of the first and second installation plates are perpendicular to the distribution of the reflecting mirror and are opposite in polarity.

[0020] In some embodiments, the first, third and second installation plates are connected by a mounting column; the first end of the mounting column is fixedly connected with the edge of the first installation plate; the middle part of the mounting column penetrates through the connecting through hole on the edge of the third installation plate; the second end of the mounting column is fixedly connected with the edge of the second installation plate; and the diameter of the connecting through hole is larger than the diameter of the mounting column, so that the third installation plate can move relative to the mounting column to adjust the distance between the third installation plate and the first and second installation plates.

[0021] In some embodiments, the number of the first magnets is multiple; the number of the magnet installation holes on the edge of the third installation plate is the same as the number of the first magnets and is arranged uniformly in a circumferential direction around the first hollow area.

[0022] The number of the second magnets is multiple pairs; the number of the magnet installation slots on the edge of the first and second installation plates is the same as the number of the second magnets and corresponds in position to the position of the first magnets.

[0023] In some embodiments, the first end of the mounting column is fixedly connected with the first installation hole on the edge of the first installation plate; the second end of the mounting column is fixedly connected with the second installation hole on the edge of the second installation plate.

[0024] The number of the connecting through holes of the third installation plate is multiple; the number of the first installation holes of the first installation plate and the number of the second installation holes of the second installation plate are the same as the number of the connecting through holes.

[0025] The positions of the multiple connecting through holes of the third installation plate are staggered with the multiple magnet installation holes.

[0026] Each first installation hole of the first installation plate and each second installation hole of the second installation plate are respectively staggered with each magnet installation slot.

[0027] In some embodiments, the first mounting plate, the third mounting plate and the second mounting plate have the same shape; the second mounting plate is mounted towards the shooting area; the second mounting plate is provided with a second hollow area; the second hollow area is positionally corresponding to the first hollow area and has the same shape and size as the first hollow area.

[0028] In some embodiments, the device further comprises a driving module; the driving module comprises a control circuit and a power supply circuit; the power supply circuit is electrically connected with the control circuit and the electromagnet in each electromagnetic control unit;

[0029] The control circuit is configured to send a coding instruction to the power supply circuit; the coding instruction is used to identify the direction of the current through each electromagnet; so that the power supply circuit provides a forward or reverse current for each electromagnet according to the coding instruction;

[0030] Each electromagnet is driven by the forward or reverse current to generate an attractive force or a repulsive force with the permanent magnet.

[0031] In some embodiments, the device further comprises a housing; the housing is used to accommodate each component; the bottom of the housing is provided with an opening towards the shooting area; the speckle image reflected by the reflecting lens is reflected to the shooting area of the binocular speckle stereo camera through the opening.

[0032] The embodiments of the present application also provide a binocular speckle stereo camera, comprising: any one of the speckle projection devices, a camera support and two cameras; the two cameras are respectively arranged at two ends of the camera support, and the lens field of view thereof covers a target shooting area; the speckle projection device is arranged on the camera support and can reflect the speckle image projected by the speckle projector to the target shooting area.

[0033] The embodiments of the present application have the following beneficial effects:

[0034] The speckle projection device and the binocular speckle stereo camera provided by the embodiment of the application reflect the speckle image projected by the speckle projector to the shooting area of the binocular speckle stereo camera through the reflecting lens, realize the discrete pose change of the reflecting lens in the form of electromagnetic attraction by the electromagnetic control unit, and further realize dynamic speckle projection. Specifically, the electromagnetic control unit includes a first magnet fixedly installed at the edge of the reflecting lens and a second magnet arranged in the space of the reflecting lens; one of the first magnet and the second magnet is a permanent magnet, and the other is an electromagnet. In this way, after the electromagnet is powered on, the attraction or repulsion force is generated with the permanent magnet, so as to drive the reflecting lens to change the pose, so that the speckle texture projected in different poses changes dynamically, the speckle texture can cover different positions in the shooting area, the speckle texture coverage area is increased, the image matching accuracy of the binocular speckle stereo camera is improved, and thus the depth map acquisition accuracy of the binocular speckle stereo camera is improved.

[0035] Of course, implementing any product or method of the present application does not necessarily require achieving all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are included to provide a further understanding of the application, illustrate embodiments of the application and together with the description serve to explain the application. The accompanying drawings are included as part of this specification and together with the description, serve to explain the application.

[0037] FIG. 1 is a schematic diagram of the principle of a binocular speckle stereo camera in the related art;

[0038] FIG. 2 is a structural schematic diagram of an embodiment of the speckle projection device provided by the embodiment of the application;

[0039] FIG. 3 is a schematic diagram of the working principle of the speckle projection device provided by the embodiment of the application;

[0040] FIG. 4a is a schematic diagram of one structure of the electromagnetic control unit in which the permanent magnet is bound with the reflecting lens;

[0041] FIG. 4b is a schematic diagram of another structure of the electromagnetic control unit in which the permanent magnet is bound with the reflecting lens;

[0042] FIG. 5 is a schematic diagram of the structure of the electromagnetic control unit in which the electromagnet is bound with the reflecting lens;

[0043] FIGS. 6a-6c are schematic diagrams of three arrangement modes of the electromagnetic control unit;

[0044] FIG. 7 is a structural schematic diagram of an embodiment two of the speckle projection device provided by the embodiment of the application;

[0045] FIG. 8a is a schematic diagram of one structure in which the electromagnetic control unit is connected with the reflecting lens;

[0046] Fig. 8b is a structural diagram of the third mounting plate in the embodiment shown in Fig. 8a;

[0047] Fig. 8c is a structural diagram of the second mounting plate in the embodiment shown in Fig. 8a;

[0048] Fig. 9 is another structural diagram of the electromagnetic control unit and the reflecting mirror;

[0049] Fig. 10 is a structural diagram of the third embodiment of the speckle projection device provided by the present application;

[0050] Fig. 11 is a structural diagram of the binocular speckle stereo camera provided by the present application.

[0051] Reference signs:

[0052] Speckle projector 1; reflecting mirror 2; electromagnetic control unit 3, first magnet 31, second magnet 32;

[0053] First mounting plate 4, magnet mounting groove 41; second mounting plate 5, magnet mounting groove 51, second mounting hole 52, second hollow area 53;

[0054] Third mounting plate 6, first hollow area 61, magnet mounting hole 62, connecting through hole 63;

[0055] Mounting column 7, first end 71, middle part 72, second end 73;

[0056] Driving module 8, control circuit 81, power supply circuit 82; shell 9, opening 91;

[0057] Speckle projection device 10, camera support 11, camera 12, camera 13. DETAILED DESCRIPTION

[0058] To make the purpose, technical solutions, and advantages of the present application clearer and more apparent, the present application is further described in detail below with reference to the drawings and embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0059] In order to enable the speckle projection device to dynamically project speckle texture, increase the coverage area of speckle texture, and improve the accuracy of depth map acquisition, the present application provides a speckle projection device and a binocular speckle stereo camera. The following are described in detail respectively.

[0060] The speckle projection device provided by the embodiment of the application is applied to a binocular speckle stereo camera. Referring to FIG. 2, which is a structural schematic diagram of an embodiment of the speckle projection device provided by the embodiment of the application, the speckle projection device comprises a speckle projector 1, a reflecting lens 2 and one or more electromagnetic control units 3; wherein the reflecting lens 2 is arranged on a projection light path of the speckle projector 1, and is used for reflecting a speckle image projected by the speckle projector 1 to a shooting area of the binocular speckle stereo camera; each electromagnetic control unit 3 comprises a first magnet 31 fixedly installed on an edge of the reflecting lens 2 and a second magnet 32 arranged in a spaced manner with the reflecting lens 2; wherein one of the first magnet 31 and the second magnet 32 is a permanent magnet, and the other is an electromagnet; so that the electromagnet generates an attractive force or a repulsive force with the permanent magnet after being electrified, and drives the reflecting lens 2 to generate a pose change.

[0061] As can be seen from the embodiment shown in FIG. 2, the electromagnet in the electromagnetic control unit 3 generates an attractive force or a repulsive force with the permanent magnet after being electrified, thereby driving the reflecting lens 2 to generate a pose change, so that the projected speckle texture dynamically changes in different poses, and speckle texture coverage can be ensured at different positions of the shooting area, the speckle texture coverage area is increased, the image matching accuracy of the binocular speckle stereo camera is improved, and thus the depth map acquisition accuracy of the binocular speckle stereo camera is improved.

[0062] Referring to FIG. 3, which is a working principle schematic diagram of the speckle projection device provided by the embodiment of the application. The reflecting lens 2 is on the projection light path of the speckle projector 1, so that the speckle projector 1 projects speckles to the reflecting surface of the reflecting lens 2; the projection light ray and the reflecting surface normal have an angle θ, and then the projection light ray is deflected to an angle θ position on the other side of the normal and continues to transmit to the shooting area of the binocular speckle stereo camera. When the reflecting surface of the reflecting lens 2 deflects, the angle θ of the emission changes Δθ, and the reflected light ray changes the projection direction by 2*Δθ. Therefore, the position of the projected speckle texture changes, and the speckle texture coverage area is increased.

[0063] The electromagnetic control unit 3 in the embodiment of the application has at least two implementation manners:

[0064] The first kind: the permanent magnet is bound with the reflecting lens 2.

[0065] As shown in FIG. 2 and FIG. 4a, which is a structural schematic diagram of the electromagnetic control unit with the permanent magnet bound with the reflecting lens; the first magnet 31 of the electromagnetic control unit 3 is a permanent magnet, and the second magnet 32 is an electromagnet.

[0066] The magnet and the reflecting mirror piece 2 are fixed together, and the magnetization direction of the magnet should be parallel to the reflecting mirror piece 2. That is, the polarity of the magnet is distributed along the inward-outward direction of the reflecting mirror piece 2, and a single magnetic pole extends out of the reflecting mirror piece to be opposite to the electromagnet. As shown in FIG. 4a, the magnet can be a strip-shaped magnet, and the electromagnet can be a U-shaped electromagnet with the coil located between the two poles. The anode and part of the cathode of the strip-shaped magnet are attached to the edge of the reflecting mirror piece 2 along the inward-outward direction of the reflecting mirror piece 2, and the cathode extends out of the reflecting mirror piece to be opposite to the U-shaped electromagnet. The two poles of the U-shaped electromagnet are respectively arranged symmetrically with the cathode of the magnet. In this way, the cathode on the reflecting mirror piece 2 is controlled by the electromagnet. When the electromagnet passes through a forward current, the anode is above the coil of the electromagnet, and the cathode is below the coil. At this time, the cathode below the electromagnet and the cathode on the reflecting mirror piece 2 generate repulsive force, and the anode above the electromagnet and the cathode on the reflecting mirror piece 2 generate attractive force, thereby driving the reflecting mirror piece 2 to the first position shown in FIG. 4a. When the electromagnet passes through a reverse current, the cathode is switched to above the coil of the electromagnet, and the anode is switched to below the coil, thereby driving the reflecting mirror piece 2 to switch to the opposite second position.

[0067] In other embodiments of this mode, the electromagnetic control unit 3 can not use a U-shaped electromagnet, but can use two rectangular electromagnets instead. The two rectangular electromagnets are respectively arranged symmetrically with the cathode of the magnet. The working principle is the same as above, which is not repeated here.

[0068] In the above embodiments, the magnetization direction of the magnet is parallel to the reflecting mirror piece 2. In some embodiments, the magnetization direction of the magnet can also be perpendicular to the reflecting mirror piece 2.

[0069] Specifically, as shown in FIG. 4b, which is another structure diagram of the electromagnetic control unit with the magnet and the reflecting mirror piece bound together. The first magnet 31 is a permanent magnet, which is bound with the reflecting mirror piece 2, and the polarity of the magnet is perpendicular to the reflecting mirror piece 2. As shown in FIG. 4b, the second magnet 32 includes two electromagnets. The polarity directions of the two electromagnets are distributed vertically along the reflecting mirror piece. The two electromagnets are respectively arranged symmetrically with the two poles of the magnet. After the two electromagnets are energized, the same polarity faces the magnet. Among them, the two electromagnets can pass through opposite currents to ensure that the polarities of the two electromagnets are opposite, that is, the polarities of the electrodes facing the magnet are the same.

[0070] Second: The electromagnet is bound with the reflecting mirror piece 2.

[0071] As shown in FIG. 5, FIG. 5 is a structural diagram of the electromagnetic control unit in which the electromagnet is combined with the reflecting mirror. The first magnet 31 of the electromagnetic control unit 3 is an electromagnet, and the second magnet 32 includes two permanent magnets. The polarity of the electromagnet is perpendicular to the reflecting mirror 2, and the polarity directions of the two permanent magnets are distributed along the reflecting mirror 2 perpendicularly and oppositely. In this case, the same poles of the two permanent magnets are close to the electromagnet, and the two permanent magnets are respectively arranged at intervals from the two poles of the electromagnet and symmetrically.

[0072] In the embodiment, as shown in FIG. 5, the anodes of the two permanent magnets face the electromagnet. When the electromagnet is supplied with a forward current, as shown in FIG. 5, the upper end of the electromagnet is the cathode and the lower end is the anode. The cathode of the electromagnet and the anode of the permanent magnet generate an attractive force, and the anode of the electromagnet and the anode of the permanent magnet generate a repulsive force. In other embodiments in this mode, the cathodes of the two permanent magnets can face the electromagnet, which is not limited here.

[0073] As can be seen from the above embodiments, in the embodiment, only one of the first magnet 31 and the second magnet 32 of the electromagnetic control unit 3 needs to be a permanent magnet, and the other needs to be an electromagnet, which can be flexibly set according to actual needs, and has the advantages of simple structure, easy implementation and low cost.

[0074] The speckle projection device provided in the embodiment of the present application can include a plurality of electromagnetic control units 3. In the case where the number of electromagnetic control units 3 is multiple, the plurality of electromagnetic control units 3 are arranged along the circumference of the reflecting mirror 2, and specifically can be uniformly arranged or not uniformly arranged. The shape of the reflecting mirror 2 of the speckle projection device provided in the embodiment of the present application can be set according to actual needs, for example, can be circular or rectangular, etc.

[0075] Taking the circular reflecting mirror 2 as an example, referring to FIGS. 6a-6c, FIGS. 6a-6c are schematic diagrams of three arrangement modes of the electromagnetic control unit. As shown in FIG. 6a, in the case where the number of electromagnetic control units 3 is two, the two electromagnetic control units 3 can be symmetrically arranged, and in other embodiments, can be asymmetrically arranged. The difference between the asymmetric arrangement mode and the symmetric arrangement mode is only that the pose symmetry and the control stability are slightly worse. In the case where the number of electromagnetic control units 3 is one or two, one-dimensional control of the reflecting mirror 2 can be achieved. Specifically, as described above, in the case where the number of electromagnetic control units 3 is one, the reflecting mirror 2 can be controlled to switch between the first and second two poses. In the case where the number of electromagnetic control units 3 is two, whether the two electromagnetic control units 3 are symmetrically arranged or asymmetrically arranged, the reflecting mirror 2 realizes pose change with the center vertical line of the line connecting the two electromagnetic control units 3 as the axis.

[0076] Each electromagnetic control unit 3 can realize two poses: pose 1 and pose 2, so that binary coding can be used to represent, 0 and 1 represent pose 1 and pose 2 that can be realized by one electromagnetic control unit 3 respectively, the 0th bit and the 1st bit represent the poses that can be realized by two electromagnetic control units 3 respectively, so the mirror 2 can realize 00, 01, 10 and 11 four poses in total. Among them, in the case of 00 pose and 11 pose, although the positions of the speckle texture can be the same, the sizes are different, so they are also two different poses.

[0077] As shown in FIG. 6b, in the case of three electromagnetic control units 3, the three electromagnetic control units 3 can be arranged uniformly around the mirror 2. In this case, the mirror 2 can realize 000, 001, 010, 011, 100, 101, 110 and 111, a total of eight pose controls. And the transition of these poses is no longer changed along a single axis, but changes along multiple axes, so that the pose control is also a two-dimensional control.

[0078] As shown in FIG. 6c, in the case of four electromagnetic control units 3, the four electromagnetic control units 3 can be arranged uniformly and symmetrically around the mirror 2. In this case, there are 0000, 0001, …, 1111 sixteen possible poses in total according to the binary coding. However, considering that the mirror is a rigid body, 0101 and 1010 diagonal two identical coding states are essentially unstable, and when the control units are symmetrically distributed, 1000 and 1101, 0100 and 1110, 0010 and 0111, 0001 and 1011, the roles played by these four pairs of codes are consistent, that is, the number of effective codes is ten in total.

[0079] In fact, the more the number of electromagnetic control units 3, the more the number of possible poses, which will also increase the structural complexity of the speckle projection device. From the practical application, considering the stability and complexity of the structure and other factors, the number of electromagnetic control units 3 is three, which is a relatively better choice.

[0080] As can be seen from the above embodiments, the electromagnetic attraction mode can realize the discrete pose change of the mirror 2. In the case of one or two electromagnetic control units 3, one-dimensional adjustment of the pose of the mirror 2 can be realized; and in the case of three or more electromagnetic control units 3, two-dimensional adjustment of the pose of the mirror 2 can also be extended.

[0081] Referring to FIG. 7, FIG. 7 is a structural schematic diagram of an embodiment two of the speckle projection device provided in the present application. In this embodiment, the number of the electromagnetic control units 3 is two, and the electromagnetic control units 3 are symmetrically arranged along the horizontal direction of the reflecting mirror 2. Among them, the first magnet 31 of the electromagnetic control unit 3 is an electromagnet, and the second magnet 32 is a permanent magnet, and the number of the permanent magnet is two, and the permanent magnets are respectively arranged in a spaced manner with the reflecting mirror 2, and the positions are symmetrically arranged along the vertical direction of the reflecting mirror 2 relative to the edges of the reflecting mirror 2. In this embodiment, the specific structure of each electromagnetic control unit 3 can be the same as that of the electromagnetic control unit 3 shown in FIG. 5, which will not be repeated here.

[0082] As mentioned above, the number of the electromagnetic control units 3 is three, which is a relatively better choice. Hereinafter, taking the number of the electromagnetic control units 3 as three and the reflecting mirror 2 as a circular shape as an example, the specific structure of the electromagnetic control unit 3 is described in detail.

[0083] Referring to FIGS. 8a-8c, FIG. 8a is a structural schematic diagram of the connection between the electromagnetic control unit and the reflecting mirror; FIG. 8b is a structural diagram of the third mounting plate in the embodiment shown in FIG. 8a; and FIG. 8c is a structural diagram of the second mounting plate in the embodiment shown in FIG. 8a. Among them, FIG. 8c is the internal structure of the second mounting plate in FIG. 8a, which is horizontally flipped by 180°.

[0084] In this embodiment, the electromagnet is bound with the reflecting mirror 2.

[0085] Specifically, as shown in FIGS. 8a-8c, the first magnet 31 fixedly mounted at the edge of the reflecting mirror 2 is an electromagnet (shown by a coil in the figure), and the second magnet 32 is a permanent magnet, and the number of the permanent magnet is two.

[0086] In this embodiment, three mounting plates are used to form a three-layer structure to realize the connection between the electromagnetic control unit and the reflecting mirror. As shown in FIG. 8a, the speckle projection device of this embodiment further comprises a first mounting plate 4, a second mounting plate 5 and a third mounting plate 6. Among them, the first mounting plate 4 and the second mounting plate 5 are arranged in parallel and spaced apart, and the third mounting plate 6 is arranged between the first mounting plate 4 and the second mounting plate 5, and the distance between the third mounting plate 6 and the first mounting plate 4 and the second mounting plate 5 is adjustable.

[0087] As shown in FIG. 8a-8c, the reflecting lens 2 is installed in the first hollow area 61 in the middle of the third mounting plate 6; the first magnet 31, i.e. the electromagnet, is installed in the magnet mounting hole 62 in the edge of the third mounting plate 6; the second magnet 32, i.e. the permanent magnet, of each electromagnet control unit 3 is two in number, and is installed in the two magnet mounting slots in the edge of the first mounting plate 4 and the second mounting plate 5 respectively. As shown in FIG. 8a, one of the permanent magnets of the second magnet 32 is installed in the magnet mounting slot 41 of the first mounting plate 4; as shown in FIG. 8c, the other permanent magnet is installed in the magnet mounting slot 51 of the second mounting plate 5. The openings of the magnet mounting slot 41 and the magnet mounting slot 51 face the magnet mounting hole 62, and the positions correspond.

[0088] In other embodiments, the two second magnets 32 can be installed in other ways in the edge of the first mounting plate 4 and the second mounting plate 5, for example, by installing through the through hole in the edge of the first mounting plate 4 and the second mounting plate 5, or by fitting installation, etc., which are not limited in the present application.

[0089] In the present embodiment, the magnet mounting hole 62 of the third mounting plate 6 can be a circular through hole, and the electromagnet installed in the magnet mounting hole 62 can be a circular electromagnet, whose two magnetic poles are one towards the permanent magnet installed in the first mounting plate 4, and the other towards the permanent magnet installed in the second mounting plate 5. The permanent magnets of the first mounting plate 4 and the second mounting plate 5 are circular permanent magnets, the polar directions of the two circular permanent magnets are perpendicular to the distribution of the reflecting lens 2, and the polarities are opposite, i.e. the same magnetic poles are close to the electromagnet. For example, the permanent magnet installed in the magnet mounting slot 41 of the first mounting plate 4, whose anode is towards the electromagnet installed on the third mounting plate 6, and the cathode is away from the electromagnet installed on the third mounting plate 6; at the same time, the permanent magnet installed in the magnet mounting slot 51 of the second mounting plate 5, whose anode is also towards the electromagnet installed on the third mounting plate 6, and the cathode is away from the electromagnet installed on the third mounting plate 6.

[0090] In other embodiments, the shape and size of the magnet mounting hole 62 of the third mounting plate 6 can be designed according to the actual shape of the electromagnet, for example, it can be a rectangular hole, etc., as long as after installation, one single pole of the electromagnet is towards the permanent magnet of the first mounting plate 4, and the other single pole is towards the permanent magnet of the second mounting plate 5.

[0091] As shown in FIGS. 8a-8c, the first mounting plate 4, the third mounting plate 6 and the second mounting plate 5 are connected by the mounting column 7; wherein the first end 71 of the mounting column 7 is fixedly connected with the edge of the first mounting plate 4; the middle part 72 of the mounting column 7 penetrates through the connecting through hole 63 of the edge of the third mounting plate 6; the second end 73 of the mounting column 7 is fixedly connected with the edge of the second mounting plate 5; and the diameter of the connecting through hole 63 is larger than the diameter of the mounting column 7, so that the third mounting plate 6 can move relative to the mounting column 7 to adjust the distance between the third mounting plate 6 and the first mounting plate 4 and the second mounting plate 5. As shown in FIGS. 8a and 8c, the first end 71 of the mounting column 7 is fixedly connected with the first mounting hole of the edge of the first mounting plate 4; and the second end 73 of the mounting column 7 is fixedly connected with the second mounting hole 52 of the edge of the second mounting plate 5.

[0092] In the embodiment, the mounting column 7 can be realized by a bolt with external threads at both ends and no thread in the middle part. In this way, the first mounting plate 4 and the second mounting plate 5 can be fixedly connected by setting internal threads in the first mounting hole and the second mounting hole of the edges of the first mounting plate 4 and the second mounting plate 5, and cooperating the external threads at both ends of the mounting column 7 with the internal threads. In this way, the structure is simple and easy to realize.

[0093] In the embodiment, the first mounting plate 4, the third mounting plate 6 and the second mounting plate 5 are connected by the mounting column 7 with no thread in the middle part, and in other embodiments, they can be connected by elastic members. For example, the first mounting plate 4 and the third mounting plate 6 are connected by a first spring; the second mounting plate 5 and the third mounting plate 6 are connected by a second spring, etc., as long as the distance between the third mounting plate 6 and the first mounting plate 4 and the second mounting plate 5 is adjustable.

[0094] In some embodiments, the number of the first magnets 31 can be multiple, and the number of the second magnets 32 can be multiple pairs. As shown in FIGS. 8a-8c, in the embodiment, the number of the first magnets 31 is three; the number of the magnet mounting holes 62 of the edge of the third mounting plate 6 is also three, which is the same as the number of the first magnets 31, and the magnet mounting holes 62 are uniformly arranged circumferentially around the first hollow area 61.

[0095] As shown in FIGS. 8a-8c, in the embodiment, the number of the second magnets 32 is three pairs; the number of the magnet mounting slots 41 and 51 of the edges of the first mounting plate 4 and the second mounting plate 5 is the same as the number of the second magnets 32, and the positions correspond to the positions of the first magnets 31, respectively.

[0096] As shown in FIGS. 8a-8c, in this embodiment, the number of the connecting through holes 63 of the third mounting plate 6 is three; the number of the first mounting holes 42 of the first mounting plate 4 and the second mounting holes 52 of the second mounting plate 5 is the same as that of the connecting through holes 63, and the positions correspond. In addition, as shown in FIGS. 8a-8c, in this embodiment, the positions of the three connecting through holes 63 of the third mounting plate 6 are staggered with the plurality of the magnet mounting holes 62; and each of the first mounting holes 42 of the first mounting plate 4 and the second mounting holes 52 of the second mounting plate 5 is staggered with each of the magnet mounting slots 41 and the magnet mounting slots 51, respectively.

[0097] In this embodiment, the shapes of the first mounting plate 4, the third mounting plate 6 and the second mounting plate 5 are the same. As shown in FIGS. 8a-8c, the shape of each of the three mounting plates can be a hexagonal shape, and each corner of the hexagonal shape is used to set the aforementioned magnet mounting hole, magnet mounting slot, connecting through hole and mounting hole.

[0098] In addition, as shown in FIG. 8c, since the second mounting plate 5 is installed towards the imaging area, the second mounting plate 5 is provided with a second hollow area 53; the second hollow area 53 corresponds in position to the first hollow area 61 in the middle of the third mounting plate 6, and the shape and size of the two are the same; in this way, the speckle image reflected by the mirror 2 can be prevented from being blocked by the second mounting plate 5. The position of the first mounting plate 4 corresponding to the first hollow area 61 of the third mounting plate 6 can not be provided with a hollow area.

[0099] Referring to FIG. 9, FIG. 9 is another schematic view of the structure of the electromagnetic control unit connected with the mirror.

[0100] In this embodiment, the permanent magnet and the mirror 2 are bound together.

[0101] Specifically, the first magnet 31 fixedly installed at the edge of the mirror 2 is a permanent magnet, and the second magnet 32 is an electromagnet, and the number of the electromagnet is two. In this embodiment, the same three mounting plates as those shown in FIGS. 8a-8c are used to form a three-layer structure to realize the connection between the electromagnetic control unit and the mirror.

[0102] As shown in FIG. 9, the difference between this embodiment and the embodiment shown in FIGS. 8a-8c is that the first magnet 31 installed in the magnet mounting hole 62 at the edge of the third mounting plate 6 is a permanent magnet; the second magnet 32 installed in the magnet mounting slot 41 of the first mounting plate 4 and the magnet mounting slot (since the magnet mounting slot of the second mounting plate 5 is towards the third mounting plate 6, it is not shown in FIG. 9) of the second mounting plate 5 is an electromagnet (shown as a coil in the figure). In practical applications, the mounting mode of the embodiment shown in FIGS. 8a-8c or the mounting mode of the embodiment shown in FIG. 9 can be selected according to the actual situation.

[0103] In the embodiment, the permanent magnet can be a long strip-shaped permanent magnet, and the polarity of the permanent magnet is distributed along the direction from the inner to the outer of the reflective mirror 2. In the case that the reflective mirror is circular, the polarity of the permanent magnet is distributed along the diameter direction of the reflective mirror 2. The magnet mounting hole 62 of the edge of the third mounting plate 6 only exposes one single pole of the permanent magnet, and the other single pole can be embedded in the third mounting plate 6. For example, the cathode is exposed in the magnet mounting hole 62, and the anode is embedded in the third mounting plate 6. One magnetic pole of the electromagnet installed on the first mounting plate 4 is directed to the single pole of the permanent magnet of the third mounting plate 6, and one magnetic pole of the electromagnet installed on the second mounting plate 5 is directed to the single pole of the permanent magnet of the third mounting plate 6. When the two electromagnets are powered, the polarities of the two magnetic poles directed to the single pole of the permanent magnet of the third mounting plate 6 are ensured to be the same.

[0104] It should be noted that the structure of connecting the electromagnetic control unit and the reflective mirror through the three mounting plates is only one specific implementation manner. Based on the disclosed embodiment, those skilled in the art can think of other implementation manners. For example, a frame with two opposite side walls can be provided, and the distance-adjustable mounting plate is arranged between the two side walls. The reflective mirror and the first magnet are mounted on the mounting plate, and the second magnet is mounted on the two side walls. The side wall facing the shooting area is provided with an opening, so that the speckle image projected by the speckle projector can be irradiated onto the reflective mirror through the opening of the side wall and reflected by the reflective mirror to the shooting area of the binocular speckle stereo camera.

[0105] In addition, the speckle projection device provided by the embodiment of the application can further include a driving module 8 and a housing 9. Referring to FIG. 10, FIG. 10 is a structural schematic diagram of the third embodiment of the speckle projection device provided by the embodiment of the application. The driving module 8 includes a control circuit 81 and a power supply circuit 82, and the power supply circuit 82 is electrically connected with the electromagnet in each electromagnetic control unit 3. The control circuit 81 is configured to send a coded instruction to the power supply circuit 82, and the coded instruction is used to identify the direction of the current through each electromagnet, so that the power supply circuit 82 provides a forward or reverse current for each electromagnet according to the coded instruction.

[0106] As described above, the electromagnet of each electromagnetic control unit 3 of the speckle projection device is driven by the forward or reverse current to generate an attractive force or a repulsive force with the permanent magnet. In this way, the two poses that each electromagnetic control unit 3 can achieve, pose 1 and pose 2, can be represented in a binary coding manner, 0 and 1 representing pose 1 and pose 2 that each electromagnetic control unit 3 can achieve, respectively. In this embodiment, the two poses that each electromagnetic control unit 3 can achieve are controlled by the forward and reverse currents sent by the power supply circuit 82. For example, in the case where the number of electromagnetic control units 3 is three, the control circuit 81 can send a total of eight coding instructions including 000, 001, 010, 011, 100, 101, 110, and 111 to the power supply circuit 82 to achieve eight pose controls.

[0107] In this embodiment, the speckle projection device further includes a control circuit 81 and a power supply circuit 82, which can control each electromagnetic control unit 3 through simple coding instructions to make the reflecting mirror 2 generate corresponding pose changes. Not only can it ensure that different positions in the shooting area are covered with speckle textures, but also can increase the speckle texture coverage area, and the structure is simple and easy to implement.

[0108] In some embodiments, a housing can be added to the speckle projection device to prevent dust. As shown in FIG. 10, the speckle projection device of this embodiment further includes a housing 9. The housing 9 is used to accommodate the components; the bottom of the housing 9 is provided with an opening 91 facing the shooting area; the speckle image reflected by the reflecting mirror 2 is reflected to the shooting area of the binocular speckle stereo camera through the opening 91.

[0109] In addition, in the related art, in order to achieve dynamic speckle projection, the speckle projector is usually improved, mainly in two ways: 1. Multiple speckle projectors are used for switching or combined projection. This way makes the structure of the binocular speckle stereo camera too complex and the cost is high. 2. A servo motor drives the speckle projector to swing to achieve dynamic speckle projection. This way also makes the structure of the binocular speckle stereo camera too complex and the cost is high. The speckle projection device provided in the embodiments of the present application realizes the discrete pose change of the reflecting mirror by the attraction of the electromagnet, which has the advantages of simple structure, easy implementation, and low cost compared with the above related art.

[0110] The embodiments of the present application also provide a binocular speckle stereo camera, as shown in FIG. 11, which is a structural schematic diagram of the binocular speckle stereo camera provided by the embodiments of the present application. The binocular speckle stereo camera includes the aforementioned speckle projection device 10, a camera bracket 11, and two cameras: a camera 12 and a camera 13.

[0111] In this embodiment, the camera 12 and the camera 13 are respectively arranged at two ends of the camera support 11, and the lens field of view covers the target shooting area; the speckle projection device 10 is arranged on the camera support 11, and can reflect the speckle image projected by the speckle projector 1 to the target shooting area. As shown in FIG. 11, the speckle projection device 10 in this embodiment can adopt the speckle projection device shown in FIG. 10, and the specific structure is described above, which is not repeated here.

[0112] As can be seen from the above embodiments, after the electromagnet in the speckle projection device 10 of the binocular speckle stereo camera is electrified, an attractive force or a repulsive force is generated with the permanent magnet, thereby driving the reflecting lens 2 to change the pose, so that the speckle texture projected at different poses changes dynamically, which can ensure that the speckle texture can cover different positions in the shooting area, increase the speckle texture coverage area, and improve the image matching accuracy of the binocular speckle stereo camera, thereby improving the depth map acquisition accuracy of the binocular speckle stereo camera.

[0113] It should be noted that in this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0114] Each embodiment in the specification is described in a related manner, and the same or similar parts between each embodiment can be referred to each other, and each embodiment mainly explains the difference from other embodiments.

[0115] The above only describes the preferred embodiments of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application is included in the protection scope of the present application.

Claims

1. A speckle projection device, characterized by, The application is applied to binocular speckle stereo camera; the device comprises a speckle projector (1), a reflecting lens (2) and one or more electromagnetic control units (3); The reflecting lens (2) is arranged on the projection light path of the speckle projector (1) and is used for reflecting the speckle image projected by the speckle projector (1) to the shooting area of the binocular speckle stereo camera. Each electromagnetic control unit (3) comprises a first magnet (31) fixedly installed on the edge of the reflecting lens (2) and a second magnet (32) arranged in a spaced manner with the reflecting lens (2); one of the first magnet (31) and the second magnet (32) is a permanent magnet, and the other is an electromagnet; so that the electromagnet generates an attractive force or a repulsive force with the permanent magnet after being electrified, and drives the reflecting lens (2) to generate a pose change.

2. The speckle projection device according to claim 1, wherein the first magnet (31) is a permanent magnet, and the second magnet (32) is an electromagnet. The polarity of the permanent magnet is distributed along the reflecting lens (2) from the inside to the outside, and a single magnetic pole of the permanent magnet extends out of the reflecting lens (2) and is opposite to the electromagnet. The electromagnet is a U-shaped electromagnet, and the two poles of the U-shaped electromagnet are arranged in a spaced manner and are positionally symmetrical with the single magnetic pole of the permanent magnet.

3. The speckle projection device according to claim 1, wherein the first magnet (31) is a permanent magnet, and the second magnet (32) comprises two electromagnets; the polarity of the permanent magnet is perpendicular to the reflecting lens (2); the polarity directions of the two electromagnets are distributed vertically along the reflecting lens (2), the two electromagnets are arranged in a spaced manner and are positionally symmetrical with the two poles of the permanent magnet; and the same polarity of the two electromagnets faces the permanent magnet after being electrified.

4. The speckle projection device according to claim 1, wherein the first magnet (31) is an electromagnet, and the second magnet (32) comprises two permanent magnets; the polarity of the electromagnet is perpendicular to the reflecting lens (2); the polarity directions of the two permanent magnets are distributed vertically along the reflecting lens (2) and are opposite; and the two permanent magnets are arranged in a spaced manner and are positionally symmetrical with the two poles of the electromagnet.

5. The speckle projection device according to claim 1, wherein when the number of electromagnetic control units (3) is multiple, the multiple electromagnetic control units (3) are arranged along the circumferential direction of the reflecting lens (2).

6. The speckle projection device according to claim 1, wherein the device further comprises a first mounting plate (4), a second mounting plate (5) and a third mounting plate (6); the first mounting plate (4) and the second mounting plate (5) are arranged in a spaced manner and are parallel to each other; the third mounting plate (6) is arranged between the first mounting plate (4) and the second mounting plate (5), and the distance between the third mounting plate (6) and the first mounting plate (4) and the second mounting plate (5) is adjustable. ​ ​ ​ ​ ​ The reflective lens (2) is installed in the first hollow area (61) at the middle of the third mounting plate (6); the first magnet (31) is installed in the magnet mounting hole (62) at the edge of the third mounting plate (6); The second magnet (32) is two in number, and is installed in the two magnet mounting slots (41, 51) at the edge of the first mounting plate (4) and the second mounting plate (5) respectively; the two magnet mounting slots (41, 51) are open towards the magnet mounting hole (62) and correspond in position.

7. The speckle projection device according to claim 6, characterized in that, The first magnet (31) is an electromagnet, and the second magnet (32) is a permanent magnet; The magnet mounting hole (62) of the third mounting plate (6) is a through hole, one of the two magnetic poles of the electromagnet installed in the magnet mounting hole (62) is towards the permanent magnet installed in the first mounting plate (4), and the other magnetic pole is towards the permanent magnet installed in the second mounting plate (5); the polarity directions of the permanent magnets of the first mounting plate (4) and the second mounting plate (5) are perpendicular to the distribution of the reflective lens (2), and the polarities are opposite.

8. The speckle projection device according to claim 6, characterized in that, The first mounting plate (4), the third mounting plate (6) and the second mounting plate (5) are connected through the mounting column (7); wherein the first end (71) of the mounting column (7) is fixedly connected with the edge of the first mounting plate (4); the middle part (72) of the mounting column (7) penetrates through the connecting through hole (63) at the edge of the third mounting plate (6); the second end (73) of the mounting column (7) is fixedly connected with the edge of the second mounting plate (5); and the diameter of the connecting through hole (63) is greater than the diameter of the mounting column (7), so that the third mounting plate (6) can move relative to the mounting column (7) to adjust the distance between the third mounting plate (6) and the first mounting plate (4) and the second mounting plate (5).

9. The speckle projection device according to claim 8, characterized in that, The number of the first magnet (31) is multiple; the number of the magnet mounting hole (62) at the edge of the third mounting plate (6) is the same as the number of the first magnet (31), and is uniformly arranged circumferentially around the first hollow area (61); The number of the second magnet (32) is multiple pairs, and the number of the magnet mounting slot (41, 51) at the edge of the first mounting plate (4) and the second mounting plate (5) is the same as the number of the second magnet (32), and the positions correspond to those of the first magnet (31) respectively.

10. The speckle projection device according to claim 9, characterized in that, The first end (71) of the mounting column (7) is fixedly connected with the first mounting hole at the edge of the first mounting plate (4); and the second end (73) of the mounting column (7) is fixedly connected with the second mounting hole (52) at the edge of the second mounting plate (5). The number of the connecting through holes (63) of the third mounting plate (6) is the same as the number of the first mounting holes of the first mounting plate (4) and the second mounting holes (52) of the second mounting plate (5); The positions of the plurality of connecting through holes (63) of the third mounting plate (6) are staggered with the plurality of magnet mounting holes (62); Each first mounting hole of the first mounting plate (4) and each second mounting hole (52) of the second mounting plate (5) are respectively staggered with each magnet mounting slot (41, 51).

11. The speckle projection device according to claim 6, characterized in that, The first mounting plate (4), the third mounting plate (6) and the second mounting plate (5) have the same shape; the second mounting plate (5) is mounted towards the shooting area; the second mounting plate (5) is provided with a second hollow area (53); the second hollow area (53) corresponds in position to the first hollow area (61) and has the same shape and size as the first hollow area (61).

12. The speckle projection device according to any one of claims 1 to 11, characterized in that The device further comprises a driving module (8); The driving module (8) comprises a control circuit (81) and a power supply circuit (82); the power supply circuit (82) is electrically connected with the control circuit (81) and the electromagnet in each electromagnetic control unit (3); The control circuit (81) is configured to send a coded instruction to the power supply circuit (82); the coded instruction is used to identify the direction of the current through each electromagnet; so that the power supply circuit (82) provides forward or reverse current for each electromagnet according to the coded instruction; Each electromagnet is driven by the forward or reverse current to generate an attractive force or a repulsive force with the permanent magnet.

13. The speckle projection device of claim 12, wherein, The device further comprises a housing (9) for accommodating each component; The bottom of the housing (9) is provided with an opening (91) towards the shooting area; the speckle image reflected by the reflecting lens (2) is reflected to the shooting area of the binocular speckle stereo camera through the opening (91).

14. A binocular speckle stereoscopic camera, characterized by, Comprising: The speckle projection device (10), the camera support (11) and the two cameras (12, 13) according to any one of claims 1-13; The two cameras (12, 13) are respectively arranged at the two ends of the camera support (11), and the lens field of view covers the target shooting area; The speckle projection device (10) is arranged on the camera support (11); the speckle image projected by the speckle projector (1) can be reflected to the target shooting area.

Images