Device for projecting a projection arrangement onto at least one portion of an object for determining a 3D object shape, system for determining a 3D object shape, and method for operating the device

Abstract

The invention relates to a device (1), in particular a projector (1'), for projecting a projection arrangement (2) onto at least one portion (3) of an object (4) to determine a three-dimensional object shape (5) of at least the portion (3) of the object (4), wherein the device (1) has: - an emission arrangement (6) of a plurality of identifiable laser emission surfaces (7) which are designed to emit laser beams (8), and - at least one, in particular precisely one, diffractive optical element (9), wherein the at least one diffractive optical element (9) is designed to manipulate the emitted laser beams (8) in order to generate the projection arrangement (2) in such a way that - the projection arrangement (2) has a tile arrangement (10) of a plurality of identifiable tiles (11), which each image the emission arrangement (6), - wherein in the tile arrangement (10) each of the tiles (11) imaged by the laser emission surfaces (7) in the laser emission arrangement (6) is identifiable via at least one, in particular precisely one, elongated form (15) with various orientations (16) and / or various extents and / or various elongated forms, in particular and various extents.

Description

[0001] P 61867 WO 25 February 2026

[0002] - 1 - ES / sb

[0003] Device for projecting a projection arrangement onto at least one part of a body for determining a three-dimensional body shape of at least that part of the body, system for determining a three-dimensional body shape of at least one part of a body, and method for operating the device and / or the system.

[0004] SCOPE OF APPLICATION AND STATE OF THE ART

[0005] The invention relates to a device for projecting a projection arrangement onto at least one part of a body for determining a three-dimensional body shape of at least one part of the body, a system for determining a three-dimensional body shape comprising the device and a method for operating the device and / or the system.

[0006] US patent 2021 / 0313778 A1 discloses that an addressable VCSEL (Vertical Cavity Surface Emitting Laser) array can generate structured light in dot patterns. The VCSEL array comprises a multitude of conductive traces that control different groups of VCSELs, allowing each group to be individually addressed. The VCSEL groups are arranged to emit a dot pattern, and the density of the dot pattern can be adjusted by modulating the active VCSEL groups. The VCSEL array can be part of a depth projector that projects the dot pattern into a local area. A projection array can replicate the dot pattern in multiple tiles.

[0007] EP 3 175 201 B1 discloses an integrated optical projector comprising: a semiconductor substrate; an array of optical emitters arranged on the substrate in a two-dimensional pattern; a projection lens mounted on the semiconductor substrate and configured to collect and focus light emitted by the optical emitters in order to project optical beams containing a baseline light pattern with a given pitch corresponding to the two-dimensional pattern of the optical emitters on the substrate; and a diffractive optical element (DOE) mounted on the substrate and configured to produce and project multiple overlapping replicas of the baseline light pattern, the multiple overlapping replicas forming a composite pattern with a density of the composite pattern that is finer than the pitch of the baseline light pattern.US patent 2020 / 387004 A1 discloses a structured light projection module and a depth camera. The structured light projection module comprises: a light source array consisting of a plurality of partial light sources arranged in a two-dimensional pattern and configured to emit array beams according to the two-dimensional pattern; a lens configured to receive and focus the array beams; and a diffractive optical element configured to receive the array beams focused by the lens and project them in a structured light speckle pattern. The structured light speckle pattern is created by the staggered superposition of at least two secondary structured light speckle patterns.Each secondary structured light speckle pattern is formed by a tiling arrangement of multiple partial speckle patterns generated by a portion of the partial light sources and features speckles formed by diffraction of a single partial light source by means of the diffractive optical element.

[0008] TASK AND SOLUTION

[0009] The invention is based on the objective of providing a device for projecting a projection arrangement onto at least one part of a body for determining a three-dimensional body shape of at least one part of the body, a system for determining a three-dimensional body shape of at least one part of a body comprising the device and a method for operating the device and / or the system, which have improved properties.

[0010] The invention solves this problem by providing a device and a method described in the independent claims. Advantageous further developments and / or embodiments of the invention are described in the dependent claims.

[0011] The device according to the invention, in particular the projector according to the invention, is designed for projecting a projection arrangement onto at least, and in particular precisely, a portion of a body for determining a three-dimensional body shape of at least that portion of the body. The device comprises an emission arrangement of a plurality of identifiable laser emission surfaces. The laser emission surfaces are designed for emitting laser beams. Furthermore, the device comprises at least, and in particular precisely, one diffractive optical element (abbreviated: DOE). The at least one diffractive optical element is designed for manipulating the emitted laser beams to generate the projection arrangement such that the projection arrangement comprises a tile arrangement of a plurality of identifiable tiles.that the projection arrangement is composed of, or arises from, at least, and in particular precisely, the tile arrangement of the majority of the tiles. The tiles each represent the emission arrangement, in particular of the majority of the laser emission surfaces, and / or are identifiable as such, or each exhibit the emission arrangement, or each reproduce the emission arrangement, or each are based on the emission arrangement.

[0012] The laser emission surfaces enable the use of the at least one diffractive optical element, particularly in contrast to at least one LED, and / or the at least one diffractive optical element enables the manipulation of the laser beams emitted by means of the laser emission surfaces. Additionally or alternatively, the laser emission surfaces allow the device to be without a lens, particularly an optical lens, especially a collimator lens and / or for beam steering, and / or without a slide, particularly a glass slide and / or with a projection arrangement, and / or without an objective lens, particularly for imaging the slide, and / or without anything between the laser emission surfaces and the at least one diffractive optical element. This thus allows for a small distance between the emission arrangement and the at least one diffractive optical element and / or, in particular, enables the device to be small and / or inexpensive.This can be cost-effective. Furthermore, or alternatively, the emission arrangement of the majority of identifiable laser emission surfaces and the at least one diffractive optical element, comprising the projection arrangement, enable the tile arrangement of the majority of identifiable tiles, each of which depicts the emission arrangement. This thus allows the determination of the three-dimensional shape of at least a portion of the body.

[0013] In particular, the device can be electrical and / or optical.

[0014] The projector can be a laser projector.

[0015] Projecting, emitting, manipulating and / or generating can be automatic and / or optical.

[0016] The term "throwing" can be used synonymously with the term "projecting".

[0017] The term component "field", "distribution", or "pattern" can be used synonymously with the term component "arrangement". The projection arrangement, the emission arrangement, and / or the tile arrangement can be unique, without repetition, spatial and / or two-dimensional.

[0018] The body can be three-dimensional.

[0019] The piece can be a surface piece.

[0020] The term "part" can be used synonymously with the term "piece".

[0021] The term "only" can be used synonymously with the term "exactly".

[0022] The terms “configured”, “set up” or “intended” or the English phrase “programmed to perform the function / s of” can be used synonymously with the term “trained”.

[0023] The terms "include" or "have" can be used synonymously with the term "exhibits".

[0024] The term component "recognize" can be used synonymously with the term component "identify".

[0025] Identifiable can be uniquely identifiable and / or re-identifiable.

[0026] The laser emission surfaces can be laser emission surfaces of semiconductor laser sources and / or laser diodes of the device.

[0027] The laser emission surfaces can be arranged next to each other, in particular in at least one orthogonal direction to an emission direction to the emission of the laser beams, especially spatially.

[0028] The laser beams can, especially almost ideally, have exactly one wavelength and / or be light beams, especially in the X-ray or ultraviolet range, visible range and / or infrared or terahertz range.

[0029] In the at least one diffractive optical element, phase modulation can occur due to different optical path lengths of the laser beams' partial beams, resulting in interference patterns. In other words, the projection arrangement generates interference from the laser beams exiting the at least one diffractive optical element, which are phase-shifted by the at least one diffractive optical element. Put another way, the laser beams are guided through the at least one diffractive optical element and delayed differently by structures of varying thickness.

[0030] The at least one diffractive optical element can be designed as a, in particular small, plastic plate, pressed / embossed and / or to map the emission arrangement of the majority of the laser emission surfaces into the projection arrangement.

[0031] The phrase “shaping and / or dividing or disassembling” or “folding” can be used synonymously with the term “manipulating”.

[0032] The term "composing" can be used synonymously with the term "producing".

[0033] The term "replica" can be used synonymously with the term "tile".

[0034] Each case can be individual.

[0035] Furthermore, reference is made to the specialist literature.

[0036] In the tile arrangement, the tiles are each imaged by the laser emission surfaces of the emission arrangement with at least, and in particular exactly, one extended shape with different orientations and / or different dimensions. In particular, the term "orientation" or "rotation" can be used synonymously with the term "orientation". Additionally or alternatively, the term "size" can be used synonymously with the term "dimension". Furthermore, additionally or alternatively, the shape does not have to be a point. Furthermore, additionally or alternatively, the shape can be a double dot or a duplication (English: each tile replicates the emitters as double dots of different orientation).Furthermore, or alternatively, the shape can be a plus sign, a minus sign, a line, and / or a quadrilateral, in particular a rectangle, especially a square. Furthermore, or alternatively, the orientations, dimensions, and / or shapes can have different values. For further details, please refer to the relevant technical literature. In a further development of the invention, the laser emission surfaces are laser emission surfaces of surface emitters (VCSELs) of the device. This allows the device to be particularly small and / or particularly inexpensive and / or powerful, and in particular without any issues regarding eye safety. For further details, please refer to the relevant technical literature.

[0037] In particular, the laser emission surfaces do not need to be stripe laser emission surfaces and / or non-diffuse laser emission surfaces.

[0038] In a further development of the invention, the laser emission surfaces are point laser emission surfaces, in particular from point laser sources of the device. This allows the projection arrangement, the emission arrangement, and / or the tiling arrangement to be simple. In particular, the projection arrangement, the emission arrangement, and / or the tiling arrangement can be a point arrangement. For further details, please refer to the relevant literature.

[0039] In a further development of the invention, the laser emission surfaces in the emission arrangement, particularly as depicted in the tiles, are identifiable by, in particular, precisely, laser emission surfaces in their vicinity, in particular by a unique, especially spatial, arrangement of the laser emission surfaces in the emission arrangement, particularly as depicted in the tiles. This allows the laser emission surfaces to be identical, in particular the point laser emission surfaces. In particular, the emission arrangement of the majority of the identifiable laser emission surfaces can be random. For further details, reference is made to the relevant literature.

[0040] In a further development of the invention, the emission arrangement and / or the tiles are each rectangular, in particular square, and / or shaped. Additionally or alternatively, the tiles in the tile arrangement are arranged in a diagonal pattern and / or a pattern other than a cross pattern, in particular spatially. This enables a good, in particular gapless, arrangement of the tiles in the tile arrangement. For further details, please refer to the relevant technical literature.

[0041] In a further development of the invention, the tiles in the tile arrangement are each depicted with the laser emission surfaces of the emission arrangement at a maximum distance from each other equal to the maximum distance between two laser emission surfaces of the emission arrangement, and / or at a minimum distance equal to the minimum distance between two laser emission surfaces of the emission arrangement, arranged one above or to each other, in particular seamlessly adjacent to or next to each other, and especially spatially. This enables a good, in particular complete, determination of the three-dimensional shape of at least the portion of the body. In particular, the distance can have a specific value. For further details, reference is made to the relevant technical literature.

[0042] In a further development of the invention, the emission arrangement (particularly not shown) and the at least one diffractive optical element are arranged, particularly in the device, in a fixed and / or non-electrically controllable manner, movable relative to each other, particularly spatially, at least in the orthogonal direction to the emission direction of the laser beams. In particular, the device is arranged without an electrically controllable movement device for electrically controlling the movement of the emission arrangement and the at least one diffractive optical element relative to each other, particularly in at least the orthogonal direction. This allows for a simple design of the device and / or, in particular, enables the device to be particularly small and / or particularly inexpensive. In particular, the components can be mechanically connected to each other in a fixed manner. For further details, reference is made to the relevant technical literature.

[0043] Alternatively, the emission arrangement and the at least one diffractive optical element can be arranged in a non-fixed and / or electrically controllable manner, in particular in at least the orthogonal direction to the emission direction of the laser beams. In particular, the device can be equipped with an electrically controllable movement device for electrically controlling the movement of the emission arrangement and the at least one diffractive optical element relative to each other, in particular in at least the orthogonal direction. This enables "temporal active stereo". In particular, the electrically controllable movement device can be a piezo-mechanical displacement device. For further details, please refer to the relevant literature.

[0044] In a further development of the invention, the device comprises at least one further emission arrangement, in particular exactly three further emission arrangements, and a further plurality of further identifiable laser emission surfaces. The further laser emission surfaces are configured to emit further laser beams. The emission arrangement and the at least one further emission arrangement, in particular not shown, are arranged side by side, in particular without overlap, and in particular in at least the orthogonal direction to the emission direction of the laser beams and the further laser beams, in particular spatially. The at least one diffractive optical element is configured to manipulate the further emitted laser beams to generate the projection arrangement such that the projection arrangement comprises at least one further tile arrangement of a further plurality of further identifiable tiles.The additional tiles each represent the further emission arrangement. In the projection arrangement, the tile arrangement and the at least one further tile arrangement are superimposed relative to each other, in particular not completely covering each other, and in particular spatially arranged. The emission arrangement and the at least one further emission arrangement, in particular not shown, are each electrically controllable for electrically controlling the emission, in particular an intensity, of the laser beams and the further laser beams for a time sequence of the laser beams and the further laser beams, in particular. In particular, the device has an electrical control device.The control device is designed for electrically controlling the emission arrangement and at least one further emission arrangement, specifically for electrically controlling the emission of the laser beams and the subsequent laser beams in relation to the time sequence of the laser beams and the subsequent laser beams. This enables "temporally active stereo". In particular, the emission arrangement and the at least one further emission arrangement, the laser emission surfaces and the subsequent laser emission surfaces, the laser beams and the subsequent laser beams, the tile arrangement and the at least one further tile arrangement, and / or the tiles and the subsequent tiles can be identical, especially in terms of construction and / or congruence. Additionally or alternatively, each can be controlled individually. Furthermore, additionally or alternatively, the control can be implemented automatically and / or by computer.Furthermore, or alternatively, the intensity and / or the time sequence can have a value, in particular at least three values. Furthermore, or alternatively, the emission arrangement and at least one further emission arrangement can be switched on and / or off sequentially and / or simultaneously or in combination for the time sequence. Furthermore, or alternatively, the term component "switch" or "control" can be used synonymously with the term component "control". Furthermore, or alternatively, the control device can comprise a computing device, a processor, a microcontroller, a storage device, and / or a computer. For further details, please refer to the relevant literature.

[0045] Additionally or alternatively, the laser emission surfaces of the emission arrangement, particularly those not shown, can each be electrically controllable for electrically controlling the emission, especially the intensity, of the laser beams for the respective time sequence of the laser beams. In particular, the control device for electrically controlling the laser emission surfaces can be configured to electrically control the emission of the laser beams for the respective time sequence of the laser beams. This enables "temporally active stereo". Specifically, the laser emission surfaces can be switched on and / or off sequentially and / or simultaneously, or in a mixed manner, for the respective time sequence. For further details, please refer to the relevant literature.

[0046] In a further development, and in particular an embodiment, of the invention, the device comprises a chip. The chip includes the emission arrangement, in particular not shown. The device also includes at least one further chip. This further chip includes at least one further emission arrangement, in particular not shown. This enables simple control of the emission for the time sequence. In particular, the chip can be electrically controllable for controlling the emission for the time sequence. For further details, reference is made to the relevant technical literature.

[0047] In a further development of the invention, the majority of the laser emission surfaces is at least 50, in particular at least 100, in particular at least 200, and / or at most 2000, in particular at most 1000, in particular at most 500. Additionally or alternatively, the majority of the tiles is at least 50, in particular at least 100, in particular at least 200, and / or at most 8000, in particular at most 4000, in particular at most 2000. Furthermore, additionally or alternatively, the distance between the emission arrangement, in particular not shown, and the at least one diffractive optical element, in particular in the emission direction to the emission of the laser beams, is at least 2 mm (millimeters), in particular at least 4 mm, and / or at most 40 mm, in particular at most 20 mm.Furthermore, or alternatively, a dimension of the emission arrangement, particularly not shown, is specified, in particular in at least the orthogonal direction to the emission direction of the laser beams, with a minimum of 100 pm (micrometers), in particular a minimum of 200 pm, in particular a minimum of 400 pm, and / or a maximum of 4000 pm, in particular a maximum of 2000 pm, in particular a maximum of 1000 pm. Furthermore, or alternatively, a dimension of the at least one diffractive optical element is specified, in particular in at least the orthogonal direction to the emission direction of the laser beams, with a minimum of 1 mm, in particular a minimum of 2 mm, in particular a minimum of 5 mm, and / or a maximum of 50 mm, in particular a maximum of 30 mm, in particular a maximum of 15 mm. This enables, and in particular the multiples enable, a good determination of the three-dimensional shape of at least the portion of the body.Additionally or alternatively, this, particularly the distance, allows the device to be small. Furthermore, additionally or alternatively, this, particularly the dimensions, allows manipulation to create the projection arrangement.

[0048] The system according to the invention is designed to determine the three-dimensional shape of at least one part of the body. The system includes the device described above for projecting the projection arrangement onto at least that part of the body. Furthermore, the system includes at least one camera, and in particular exactly two cameras. The at least one camera is designed to capture at least one image of the projected projection arrangement, and in particular a complete image, onto at least that part of the body. The system also includes an identification and determination device.The identification and determination device is designed to determine the three-dimensional shape of at least one part of the body by identifying the majority of identifiable laser emission surfaces of the emission arrangement, each represented by tiles of the majority of identifiable tiles of the tile arrangement, in the at least one captured image of the projected projection arrangement. In particular, the system, the camera, and / or the identification and determination device can be electrical and / or optical. Additionally or alternatively, the determination, capture, and / or identification can be implemented automatically, optically, and / or by computer. Furthermore, additionally or alternatively, the camera can be a digital camera. Furthermore, additionally or alternatively, the image can be a digital image. Furthermore, additionally or alternatively, the image can show all tiles, at least partially.Furthermore, or alternatively, the body shape and / or the image may have values. Furthermore, or alternatively, the identification and determination device may include a computing device, a processor, a microcontroller, a storage device, and / or a computer. Further, or alternatively, the determination may be carried out with spatial correlation and / or without temporal correlation. Furthermore, or alternatively, the determination may be carried out by ascertaining, in particular three-dimensional, positional coordinates, specifically values ​​of the positional coordinates, for the identified laser emission surfaces on at least the portion of the body. In particular, the three-dimensional body shape of at least the portion of the body may be defined or formed by the determined positional coordinates. Furthermore, or alternatively, the determination may be based on the determined positional coordinates. For further details, please refer to the relevant literature.

[0049] The method according to the invention is for operating or using the device as described above for projecting the projection arrangement onto at least the part of the body and / or the system as described above for determining the three-dimensional shape of at least the part of the body. In particular, the method and / or operation can be implemented automatically, optically, and / or by computer.

[0050] BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Further advantages and aspects of the invention will become apparent from the claims and from the description of exemplary embodiments of the invention, which are explained below with reference to the figures. These show:

[0052] Fig. 1 shows a schematic view of a system according to the invention for determining a three-dimensional body shape of at least one part of a body, comprising a device according to the invention for projecting a projection arrangement onto at least the part of the body for determining the three-dimensional body shape of at least the part of the body, and a method according to the invention for operating the device for projecting the projection arrangement onto at least the part of the body and / or the system for determining the three-dimensional body shape of at least the part of the body.

[0053] Fig. 2 shows a schematic view of part of the device,

[0054] Fig. 3 shows a schematic view of the projection arrangement, including a tile arrangement of a plurality of identifiable tiles with tile boundaries and an emission arrangement of the device (not shown).

[0055] Fig. 4 shows a schematic view of one tile of the majority of the tiles and the emission arrangement (not shown) with tile boundaries.

[0056] Fig. 5 shows a schematic view of the tile of the majority of the tiles, depicting the emission arrangement with tile boundaries; Fig. 6 shows a schematic view of the projection arrangement, showing the tile arrangement of the majority of the identifiable tiles, each depicting the emission arrangement with tile boundaries.

[0057] Fig. 7 shows a schematic view of the projection arrangement, depicting the tile arrangement of the majority of the identifiable tiles, and the emission arrangement without tile boundaries.

[0058] Fig. 8 shows a schematic view of the emission arrangement and at least one further emission arrangement of the device (not shown).

[0059] Fig. 9 shows a schematic view of the projection arrangement with the emission arrangement centrally arranged.

[0060] Fig. 10 shows a schematic view of the projection arrangement with the emission arrangement and at least one further emission arrangement arranged decentrally, and

[0061] Figs. 11 to 14 show schematic views of the projection arrangement with the emission arrangement and at least one further emission arrangement arranged decentrally.

[0062] DETAILED DESCRIPTION OF THE EXECUTION EXAMPLES

[0063] Figures 1 to 14 show a device 1 according to the invention, in particular a projector T according to the invention, for projecting a projection arrangement 2 onto at least one part 3 of a body 4 for determining a three-dimensional body shape 5 of at least the part 3 of the body 4, a system 50 according to the invention for determining the three-dimensional body shape 5 of at least the part 3 of the body 4, comprising the device 1 for projecting the projection arrangement 2 onto at least the part 3 of the body 4, and a method according to the invention for operating the device 1 for projecting the projection arrangement 2 onto at least the part 3 of the body 4 and / or the system 50 for determining the three-dimensional body shape 5 of at least the part 3 of the body 4. In particular, the device 1 and / or the system 50 projects the projection arrangement 2 onto at least the part 3 of the body 4. The device 1 has an emission arrangement 6 of a plurality of identifiable laser emission surfaces 7, as shown in Figures 1 to 14.Figures 1 and 3 to 14 show the laser emission surfaces 7. The laser emission surfaces 7 are configured to emit laser beams 8, in particular emit as shown in Figure 2. Furthermore, the device 1 has at least, in particular exactly, one diffractive optical element 9, as shown in Figures 1 and 2. The at least one diffractive optical element 9 is configured to manipulate the emitted laser beams 8 to generate the projection arrangement 2, in particular manipulated such that the projection arrangement 2 has a tile arrangement 10 of a plurality of identifiable tiles 11, as shown in Figures 3 to 7 and 9 to 14. The tiles 11 each represent the emission arrangement 6, as shown in Figures 5 to 7 and 9 to 14.

[0064] Furthermore, the system 50 comprises at least one camera 51, in particular exactly two cameras 51, as shown in Fig. 1. The at least one camera 51 is configured to capture at least one image 52 of the projected projection arrangement 2 onto at least the part 3 of the body 4, in particular, captures the image. The system 50 also comprises an identification and determination device 53. The identification and determination device 53 is configured to determine the three-dimensional shape 5 of at least the part 3 of the body 4 by identifying laser emission surfaces 7 of the majority of the identifiable laser emission surfaces 7 of the emission arrangement 6, each represented by tiles 11 of the majority of the identifiable tiles 11 of the tile arrangement 10, in the at least one captured image 52 of the projected projection arrangement 2, in particular, identifying and determining the three-dimensional shape 52 of the body 4.

[0065] In the illustrated embodiment, the body 4 is a sphere. Therefore, in this embodiment, the three-dimensional shape 5 of the part 3, in particular the spherical surface portion, of the body 4 is precisely determined. In alternative embodiments, the body can be different and / or the three-dimensional shape of the entire body can be determined.

[0066] In detail, the laser emission surfaces 7 are laser emission surfaces of surface emitters 12 of the device 1, as shown in Figs. 1, 3 and 8.

[0067] Furthermore, the laser emission surfaces 7 are point laser emission surfaces 13, in particular of point laser sources 14 of the device 1. Furthermore, in the emission arrangement 6, in particular and in the tiles 11 shown in each case, the laser emission surfaces 7 are each identifiable by laser emission surfaces 7 in their environment, in particular by a unique arrangement of the laser emission surfaces 7 in the emission arrangement 6, in particular and in the tiles 11 shown in each case, as shown in Figs. 3 to 14.

[0068] Furthermore, in the tile arrangement 10, the tiles 11 are each imaged by the laser emission surfaces 7 of the emission arrangement 6 with at least, in particular exactly, one extended shape 15 with different orientations 16 and / or different extents and / or different extended shapes, in particular and different extents, identifiable as shown in Figs. 3, 5 to 7 and 9 to 14.

[0069] In the illustrated embodiment, the shape is a colon.

[0070] Furthermore, the emission arrangement 6 and / or the tiles 11 are each rectangular, in particular square, as shown in Figs. 3 to 14. Additionally or alternatively, in the tile arrangement 10, the tiles 11 are arranged in a diagonal bond 17 and / or a bond 18 other than a cross bond, as shown in Figs. 3 to 7 and 9 to 14.

[0071] Furthermore, in the tile arrangement 10, the tiles 11 are each depicted with the laser emission surfaces 7 of the emission arrangement 6 depicted at a maximum distance equal to a maximum distance between two laser emission surfaces of the emission arrangement depicted from each other and / or at a minimum distance equal to a minimum distance between two laser emission surfaces of the emission arrangement depicted one above the other, in particular seamlessly adjacent to each other.

[0072] Furthermore, the emission arrangement 6 and the at least one diffractive optical element 9 are fixed and / or not electrically controllable and movable, in particular in at least the orthogonal direction x, y to an emission direction z to the emission of the laser beams 8, relative to each other, as shown in Fig. 1. In particular, the device 1 is without an electrically controllable movement device for electrically controllable movement of the emission arrangement 6 and the at least one diffractive optical element 9 relative to each other, in particular in at least the orthogonal direction x, y.

[0073] Furthermore, the device comprises at least one further emission arrangement 6', in particular exactly three further emission arrangements 6', and a further plurality of further identifiable laser emission surfaces 7', as shown in Figures 1 and 8 to 14. The further laser emission surfaces 7' are configured to emit further laser beams 8', in particular to emit as shown in Figure 2. The emission arrangement 6 and the at least one further emission arrangement 6' are arranged side by side, in particular in at least the orthogonal direction x, y to the emission direction z for the emission of the laser beams 8 and the further laser beams 8'.The at least one diffractive optical element 9 is configured to manipulate the further emitted laser beams 8' to generate the projection arrangement 2, in particular manipulated such that the projection arrangement 2 has at least one further tile arrangement 10' of a further plurality of further identifiable tiles 1T, as shown in Figures 10 to 14. The further tiles 11' each represent the further emission arrangement 6'. In the projection arrangement 2, the tile arrangement 10 and the at least one further tile arrangement 10' are arranged superimposed and offset relative to each other. The emission arrangement 6 and the at least one further emission arrangement 6' are each electrically controllable for electrically controlling the emission, in particular an intensity I8, I8', of the laser beams 8 and the further laser beams 8' for a time sequence ZS of the laser beams 8 and the further laser beams 8', as shown in Figures 2 and 10.In particular, the device 1 has an electrical control device 19, as shown in Fig. 1. The control device 19 is designed, and in particular controlled, for electrically controlling the emission arrangement 6 and the at least one further emission arrangement 6', specifically for electrically controlling the emission of the laser beams 8 and the further laser beams 8' in each case according to the time sequence ZS of the laser beams 8 and the further laser beams 8'.

[0074] Furthermore, the device 1 comprises a chip 20, as shown in Figures 3 and 8. The chip 20 comprises the emission arrangement 6. In particular, the device 1 comprises at least one further chip 20'. The at least one further chip 20' comprises the at least one further emission arrangement 6'.

[0075] In Fig. 9, the projection arrangement with the VCSEL chip is positioned centrally behind the diffractive optical element. The rectangle represents a usable rectangular image area. In Fig.

[0076] In Figure 10, the four VCSEL chips are arranged decentrally. In Figure 11, the projection arrangement with the first VCSEL chip is arranged decentrally. The large rectangle is a usable rectangular image area with the VCSEL chip arranged centrally. The small rectangle is a usable rectangular image area with the four or all VCSEL chips arranged decentrally. In Figure 12, the projection arrangement with the second VCSEL chip is arranged decentrally. In Figure 13, the projection arrangement with the third VCSEL chip is arranged decentrally. In Figure 14, the projection arrangement with the fourth VCSEL chip is arranged decentrally.

[0077] Furthermore, the majority of the laser emission surfaces 7 are at least 50, in particular at least 100, in particular at least 200, and / or at most 2000, in particular at most 1000, in particular at most 500, as shown in Figs. 3 to 14. Additionally or alternatively, the majority of the tiles 11 are at least 50, in particular at least 100, in particular at least 200, and / or at most 8000, in particular at most 4000, in particular at most 2000. Furthermore, additionally or alternatively, there is a distance 21 between the emission arrangement 6 and the at least one diffractive optical element 9, in particular in the emission direction z to the emission of the laser beams 8, of at least 2 mm, in particular at least 4 mm, and / or at most 40 mm, in particular at most 20 mm, as shown in Fig. 1.Furthermore, or alternatively, a dimension 22 of the emission arrangement 6 is, in particular in at least the orthogonal direction x, y orthogonal to the emission direction z to the emission of the laser beams 8, a minimum of 100 pm, in particular a minimum of 200 pm, in particular a minimum of 400 pm, and / or a maximum of 4000 pm, in particular a maximum of 2000 pm, in particular a maximum of 1000 pm, as shown in Figures 1 and 3. Furthermore, or alternatively, a dimension 23 of the at least one diffractive optical element 9 is, in particular in at least the orthogonal direction x, y orthogonal to the emission direction z to the emission of the laser beams 8, a minimum of 1 mm, in particular a minimum of 2 mm, in particular a minimum of 5 mm, and / or a maximum of 50 mm, in particular a maximum of 30 mm, in particular a maximum of 15 mm, as shown in Figures 1 and 2.

[0078] As the exemplary embodiments shown and explained above make clear, the invention provides an advantageous device for projecting a projection arrangement onto at least one part of a body for determining a three-dimensional body shape of at least one part of the body, an advantageous system for determining a three-dimensional body shape comprising the device and an advantageous method for operating the device and / or the system, which have improved properties.

Claims

Patent claims 1. Device (1), in particular projector (1'), for projecting a projection arrangement (2) onto at least one part (3) of a body (4) for determining a three-dimensional body shape (5) of at least the part (3) of the body (4), wherein the device (1) comprises: an emission arrangement (6) comprising a plurality of identifiable laser emission surfaces (7) configured to emit laser beams (8), and at least, in particular exactly, a diffractive optical element (9), wherein the at least one diffractive optical element (9) is configured to manipulate the emitted laser beams (8) to generate the projection arrangement (2) such that the projection arrangement (2) comprises a tile arrangement (10) comprising a plurality of identifiable tiles (11), each of which maps the emission arrangement (6), wherein in the tile arrangement (10) the tiles (11) are each imaged by the laser emission surfaces (7) of the emission arrangement (6) with at least, in particular exactly, an extended shape (15) with different orientations (16) and / or different extents and / or different extended shapes, in particular and different extents, are identifiable.

2. Device (1) according to the preceding claim, wherein the laser emission surfaces (7) are laser emission surfaces of surface emitters (12) of the device (1).

3. Device (1) according to one of the preceding claims, wherein in the emission arrangement (6), in particular and in the tiles (11) each depicted, the laser emission surfaces (7) are each identifiable by laser emission surfaces (7) in their environment, in particular by a unique arrangement of the laser emission surfaces (7) in the emission arrangement (6), in particular and in the tiles (11) each depicted.

4. Device (1) according to any one of the preceding claims, wherein the emission arrangement (6) and / or the tiles (11) are each rectangular, in particular square, and / or wherein in the tile arrangement (10) the tiles (11) are arranged in a diagonal bond (17) and / or a bond (18) other than a cross bond.

5. Device (1) according to one of the preceding claims, in the tile arrangement (10) the tiles (11) are each depicted with the laser emission surfaces (7) of the emission arrangement (6) at a maximum distance equal to a maximum distance between two laser emission surfaces of the emission arrangement depicted from each other and / or at a minimum distance equal to a minimum distance between two laser emission surfaces of the emission arrangement depicted one above the other, in particular seamlessly adjacent to each other.

6. Device (1) according to any one of the preceding claims, wherein the emission arrangement (6) and the at least one diffractive optical element (9) are arranged fixedly and / or not electrically controllable and movable, in particular in at least one orthogonal direction (x, y) to an emission direction (z) to the emission of the laser beams (8), in particular wherein the device (1) is without an electrically controllable movement device for electrically controllable movement of the emission arrangement (6) and the at least one diffractive optical element (9) relative to each other, in particular in at least the orthogonal direction (x, y).

7. Device (1) according to one of the preceding claims, wherein the device (1) comprises at least one further emission arrangement (6'), in particular exactly three further emission arrangements (6'), a further plurality of further identifiable laser emission surfaces (7') which are configured to emit further laser beams (8'), wherein the emission arrangement (6) and the at least one further emission arrangement (6') are arranged side by side, in particular at least one orthogonal direction (x, y) orthogonal to an emission direction (z) for emitting the laser beams (8) and the further laser beams (8'), and wherein the at least one diffractive optical element (9) for manipulating the further emitted laser beams (8') for generating the projection arrangement (2) is configured such that that the projection arrangement (2) comprises at least one further tile arrangement (10') of a further plurality of further identifiable tiles (1 T), each of which depicts the further emission arrangement (6'), wherein in the projection arrangement (2) the tile arrangement (10) and the at least one further tile arrangement (10') are arranged superimposed and shifted relative to each other, and wherein the emission arrangement (6) and the at least one further emission arrangement (6') are each electrically controllable for electrical control of the emission, in particular of an intensity (I8, I8'), of the laser beams (8) and the further laser beams (8') for a time sequence (ZS) of the laser beams (8) and the further laser beams (8'), in particular wherein the device (1) has an electrical control device (19) which is designed to electrically control the emission arrangement (6) and the at least one further emission arrangement (6') for the electrical control of the emission of the laser beams (8) and the further laser beams (8') in each case to the time sequence (ZS) of the laser beams (8) and the further laser beams (8').

8. Device (1) according to one of the preceding claims, in particular the preceding claim, wherein the device (1) comprises a chip (20) which includes the emission arrangement (6), in particular wherein the device (1) comprises at least one further chip (20') which comprises at least one further emission arrangement (6').

9. Device (1) according to any one of the preceding claims, wherein the majority of the laser emission areas (7) are at least 50, in particular at least 100, in particular at least 200, and / or at most 2000, in particular at most 1000, in particular at most 500, and / or wherein the majority of the tiles (11) is at least 50, in particular at least 100, in particular at least 200, and / or at most 8000, in particular at most 4000, in particular at most 2000, and / or wherein a distance (21) between the emission arrangement (6) and the at least one diffractive optical element (9), in particular in an emission direction (z) to the emission of the laser beams (8), is at least 2 mm, in particular at least 4 mm, and / or at most 40 mm, in particular at most 20 mm, and / or wherein a dimension (22) of the emission arrangement (6), in particular in at least one orthogonal direction (x, y) orthogonal to an emission direction (z) to the emission of the laser beams (8), is at least 100 pm, in particular at least 200 pm, in particular at least 400 pm, and / or at most 4000 pm, in particular at most 2000 pm, in particular at most 1000 pm, and / or wherein a dimension (23) of the at least one diffractive optical element (9), in particular in at least one orthogonal direction (x, y) orthogonal to an emission direction (z) to the emission of the laser beams (8), is at least 1 mm, in particular at least 2 mm, in particular at least 5 mm, and / or at most 50 mm, in particular at most 30 mm, in particular at most 15 mm.

10. System (50) for determining a three-dimensional body shape (5) of at least one piece (3) of a body (4), wherein the system (50) comprises: the device (1) according to one of the preceding claims for projecting the projection arrangement (2) onto at least the part (3) of the body (4), at least one camera (51), in particular exactly two cameras (51), wherein the at least one camera (51) is configured to capture at least one image (52) of the projected projection arrangement (2) onto at least the part (3) of the body (4), and an identification and determination device (53) which is designed to determine the three-dimensional body shape (5) of at least the piece (3) of the body (4) by identifying laser emission surfaces (7) of the majority of the identifiable laser emission surfaces (7) of the emission arrangement (6) as imaged by tiles (11) of the majority of the identifiable tiles (11) of the tile arrangement (10) in the at least one recorded image (52) of the projected projection arrangement (2).

11. Method for operating the device (1) according to one of the preceding claims for projecting the projection arrangement (2) onto at least the part (3) of the body (4) and / or the system (50) according to the preceding claim for determining the three-dimensional body shape (5) of at least the part (3) of the body (4).

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