CN114002692A

CN114002692A - Depth detection transmitting device, receiving device and electronic equipment

Info

Publication number: CN114002692A
Application number: CN202111283406.1A
Authority: CN
Inventors: 王玉栋
Original assignee: Huiding Technology Chengdu Co ltd
Current assignee: Huiding Technology Chengdu Co ltd
Priority date: 2021-11-01
Filing date: 2021-11-01
Publication date: 2022-02-01

Abstract

The application relates to a degree of depth detects emitter and electronic equipment, emitter includes: the light source comprises N light-emitting units which form a light-emitting array and are used for emitting N beams of light; and the transmitting lens is used for collimating the N beams of light, projecting the N beams of light to a first target object to form a floodlight signal, and projecting the N beams of light to a second target object to form a speckle light signal, wherein the distance from the first target object to the transmitting lens is within a first distance, the distance from the second target object to the transmitting lens is beyond the first distance, and the floodlight signal and the speckle light signal are used for acquiring the depth information of the first target object and the second target object. This application is through designing special transmitting lens for emitter can acquire the degree of depth information that is located a plurality of target object within the certain distance and beyond simultaneously, just can launch the light signal of two kinds of differences through one set of optical path system, has promoted degree of depth detection device's work efficiency.

Description

Depth detection transmitting device, receiving device and electronic equipment

Technical Field

The present application relates to the field of depth measurement technologies, and more particularly, to a depth detection transmitting device, a receiving device, and an electronic apparatus.

Background

As a currently mainstream three-dimensional depth measurement method, 3D TOF (Time of flight) obtains depth information of a target object by measuring a flight Time of signal light in a space. The TOF depth detection device is composed of a transmitting device and a receiving device, the transmitting device modulates light to form a modulated light signal on the surface of a target object, the receiving device receives a depth light signal which is returned by the target object and carries depth information, and the depth information of the target object is calculated according to parameters such as phase difference or time difference of the two light signals. As a key component of a high-end camera system, the system is widely applied to the fields of smart phones, Virtual Reality (VR) devices and the like, and realizes functions of acquiring the depth of field of a photographed object, assisting in rapid focusing, and realizing a portrait blurring algorithm.

TOF depth detection devices can be classified into flood TOF (flood TOF) and speckle light TOF (spot TOF), depending on the light field formed by the light emitted by the TOF emitting device. Among them, the Flood TOF has a relatively uniform emitted light energy distribution in the entire field of view, so that the resolution of a captured depth picture is high, but the energy distribution is dispersed, so that the measurement distance is limited, and if the measurement distance of more than 3 meters is considered, very large emitted power is required, and the power consumption is relatively large. The Spot TOF decomposes the emission energy into several very concentrated energy beams, the measurement distance can reach over 5m, and higher accuracy can be achieved at very low power consumption level, but the depth map resolution is lower because the beams are sparse.

Therefore, how to satisfy the requirements of longer measurement distance, lower power consumption and high resolution in the TOF depth detection device at the same time is an urgent problem to be solved.

Disclosure of Invention

The embodiment of the application provides a degree of depth detection emitter, receiving arrangement and electronic equipment, under the condition that does not change TOF degree of depth detection device's mechanical structure, can have the closely measure of high resolution and measure the remote measurement far away apart from concurrently, acquires closely and remote degree of depth information simultaneously, improves degree of depth detection device's detection efficiency.

In a first aspect, a depth detection transmitter is provided, the transmitter comprising: the light source comprises a light emitting array consisting of N light emitting units and is used for emitting N beams of light; and the transmitting lens is used for projecting the N beams of light to a first target object to form a floodlight signal and projecting the N beams of light to a second target object to form a speckle light signal, wherein the distance from the first target object to the transmitting lens is within a first distance, the distance from the second target object to the transmitting lens is beyond the first distance, the floodlight signal and the speckle light signal are used for acquiring the depth information of the first target object and the second target object, and the first distance is greater than 0.2 m.

In the embodiment of the application, the target object is in a floodlight field within a certain distance from the transmitting device through the special transmitting lens without a complex mechanical structure, outside a certain distance, in the speckle light field, so that the transmitting device can simultaneously acquire the depth information of a plurality of target objects inside and outside the certain distance, in other words, the first distance is numerically equal to the distance between the transmitting lens and the focusing plane of the transmitting lens on the optical axis of the transmitting device minus the front depth of field of the transmitting lens, the application can design the depth of field of the transmitting lens, thereby realize a degree of depth detection emitter and only through one set of optical path system, need not switch the light path and just can launch two kinds of different light signals, have the advantage of Spot TOF and Flood TOF concurrently, simplified degree of depth detection device's light path, promoted degree of depth detection device's work efficiency.

In one possible implementation, the first distance is 0.3 m.

In one possible implementation, the emission lens is a collimator lens.

In a possible implementation, the focal length of the collimating mirror is 1-5 mm.

In one possible implementation, the F-number of the collimating mirror is 1.0-2.0.

In one possible implementation, the chief ray angle of the collimating mirror is 0.05 ° to 1 °.

In a possible implementation manner, the collimating mirror comprises a plurality of lenses arranged in front of and behind the optical axis of the emitting device, and the number of the lenses is 2-4.

In one possible implementation, the emission lens is a projection lens, and the field angle of the projection lens is equal to the field angle of the emission device.

In one possible implementation, the focal length of the projection lens is 1-4 mm.

In one possible implementation, the projection lens F-number is 1.0-2.2.

In one possible implementation, the chief ray angle of the projection lens is 1-5 °.

In a possible implementation manner, the projection lens comprises a plurality of lenses which are arranged in front of and behind the optical axis of the emitting device, and the number of the lenses is 2-4.

In the embodiment of the application, through focal length, F number, chief ray angle and the lens quantity of configuration collimating mirror and projection lens, can reduce the depth of field scope for degree of depth detection emitter can form floodlight field and speckle light field and enlarge, can obtain the floodlight light signal and the speckle light signal of target object in bigger floodlight, speckle light field, improve depth detection device's detection efficiency.

In one possible implementation manner, the N light emitting units are composed of M rows of the light emitting units arranged in a first direction and K columns of the light emitting units arranged in a second direction, and the emitting device further includes: a diffusion sheet having a first field angle in the first direction for converting the N light beams into M lines of linear light having a first divergence angle in the first direction, each line of the linear light being formed by overlapping K light beams of the linear light, the first field angle being equal to the first divergence angle.

In the embodiment of the application, the diffusion sheet with the first field angle in the first direction is used for obtaining the linear light beams parallel to the first direction, the emitting device consisting of the light source, the collimating mirror and the diffusion sheet is simple in structure, floodlight can be projected to a target object beyond a target distance in a large angle range by the emitting device without using a rotary mechanical structure, a plurality of linear light beams are projected to the target object within the target distance, and different types of depth information of a plurality of target objects can be obtained simultaneously; in addition, the launching device does not need to be arranged at the top of the protruding equipment, so that the service life of the launching device is prolonged, and the equipment with the launching device can enter a low space; because the multiple linear lights emitted by the emitting device have the first divergence angle equal to the first field angle, the emitting device can be used for obstacle detection and avoidance, so that the electronic device can support two functions of map construction and obstacle avoidance only by using one emitting device, the cost is reduced, and the miniaturization, the lightness and the thinness of equipment are facilitated.

In one possible implementation manner, the transmitting apparatus further includes:

and the optical diffraction element is arranged between the emission lens and the diffusion sheet and is used for copying the N beams of light after passing through the emission lens to obtain N x P beams of light.

In the embodiment of the application, the replication capacity of the optical diffraction element is utilized, the number of speckle beams or linear beams projected to the surface of the object to be detected can be increased under the condition that a light source is not changed, the field angle of the depth detection device in the second direction is enlarged, the depth detection device has a wider detection range in the second direction, and the detection capacity of the depth detection device is improved.

In a possible implementation manner, the transmitting device is applied to a device which needs the depth information to avoid obstacles, position or map.

The depth detection transmitting device provided by the embodiment of the application is applied to the requirement when the depth information is used for avoiding barriers, positioning or mapping equipment (such as a sweeping robot), the transmitting device has a wide field angle and does not have a rotary mechanical structure, and the transmitting device does not need to protrude out of the top of the equipment, so that the equipment can enter a short space.

In one possible implementation, the light source is a vertical cavity surface emitting laser.

In a second aspect, a depth detection receiving apparatus is provided, including: a receiving lens for receiving a floodlight signal returned through the first target object and a speckle light signal returned through the second target object; and the sensor is arranged below the receiving lens and used for converting the floodlight signal and the speckle light signal into electric signals, and the electric signals are used for determining the depth information of the first target object and the second target object.

In the embodiment of the application, receiving arrangement can receive the floodlight signal of first target object and the speckle light signal of second target object simultaneously, and receiving arrangement can acquire the depth information of nearer position and far position simultaneously promptly, and nearer position is the depth image that obtains through floodlight signal, and far position is the speckle image that obtains through speckle light signal to make the equipment that uses depth detection device can keep away the barrier or indoor map construction high-efficiently fast more, improve depth detection device's work efficiency.

In one possible implementation manner, the receiving apparatus further includes: and the processing unit is connected with the sensor and used for determining the depth information of the first target object and the second target object according to the electric signals.

In one possible implementation manner, the receiving apparatus further includes: and the optical filter is arranged above the sensor and used for transmitting the floodlight signal and the speckle light signal with preset wavelengths.

In the embodiment of the application, through setting up the light filter, can filter the light signal outside the signal light, like the environment light signal, reduce the influence to the degree of depth detection, improve the SNR, promote the accuracy that degree of depth information detected.

In one possible implementation, the determining depth information of the first target object and the second target object from the electrical signal includes: and simultaneously determining the depth information of the first target object and the second target object according to the flight time of the speckle light signal and the flight time of the floodlight signal.

In a third aspect, an electronic device is provided, including:

a depth detection transmitting apparatus as in any one of the possible implementations of the first aspect; and a depth detection receiving apparatus in any possible implementation manner of the second aspect.

In a fourth aspect, a method of depth detection is provided, comprising: acquiring a plurality of phase maps, wherein the plurality of phase maps comprise a first target object and a second target object; extracting speckles and pixels of each phase image; respectively calculating the flight time corresponding to the speckles and the pixels; determining depth information of the first target object and the second target object according to the flight time.

In a possible implementation manner, a distance between the first target object and an emission lens of a light source is within a first distance, light emitted by the light source forms a floodlight signal through the first target object, a distance between the second target object and the emission lens is beyond the first distance, light emitted by the light source forms a speckle light signal through the second target object, and the first distance is greater than 0.2 m.

Drawings

Fig. 1 is a schematic structural diagram of a Spot TOF depth detection transmitting apparatus according to the present application.

Fig. 2 is a schematic structural view of a Flood TOF depth detection transmitting apparatus according to the present invention.

Fig. 3 is a schematic structural diagram of a depth detection transmitting device according to the present application.

Fig. 4 is a schematic diagram of a detection principle of a depth detection emitting device according to the present application.

Fig. 5 is a schematic structural view of another depth detection transmitting apparatus of the present application.

Fig. 6 is a schematic diagram of the beam shaping process of the depth detection transmitter of the present application.

Fig. 7 is a schematic configuration diagram of a depth detection receiving apparatus according to the present application.

Fig. 8 is a schematic flow chart of the present application for determining depth information.

Fig. 9 is a schematic structural diagram of an electronic device according to the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

Three-dimensional depth detection is generally classified according to the difference of measurement principles: time of flight (TOF), Structured Light (SL), and binocular stereo. The time-of-flight method uses an active optical detection method, obtains the distance of a target object by detecting the time of flight (round trip) of an optical signal, and a time-of-flight depth detection device generally comprises a light source, an optical component, a sensor, a control circuit, a processing circuit and other units. The time-of-flight depth detection emission device can be classified into a Flood TOF and a Spot TOF according to the continuous state of the signal light in the object plane.

As shown in fig. 1 and fig. 2, there are a Spot TOF depth detection transmitting apparatus and a Flood TOF depth detection transmitting apparatus according to the embodiments of the present application. N beams of light emitted by a light source 101 in the Spot TOF deep detection emission device 100 pass through a collimating mirror or a projection lens 102 and are projected to a target object to form a speckle light signal, and the light projected to the target object is point light consisting of N speckles. The Flood TOF depth detection transmitting device 200 projects the light emitted by the light source 201 through the diffusion sheet 202 to the target object to form a Flood light signal, and the light projected to the target object is uniformly distributed surface light. The signal light projected to the detection target surface by the light source in the Flood TOF is relatively uniform floodlight after passing through the optical element, and the signal light reaching the detection target surface by the light source in the Spot TOF is speckle light, namely an array formed by a series of light spots, or called as Spot light. The Flood TOF has uniformly distributed emitted light, can obtain higher depth picture resolution, but has limited measuring distance, and if the distance is measured remotely, the emission power of the device needs to be improved, and the energy consumption is higher and the cost is higher. The Spot TOF supports a longer measurement distance, but due to the sparser light beams, the resolution is lower compared to the FloodTOF.

In application scenes of small electronic equipment (such as sweeping robots, VR glasses and smart phones) and the like, a depth detection device is required to provide a floodlight field with higher resolution in a short distance to acquire detailed environmental information for functions of obstacle avoidance, gesture recognition and the like; and only a speckle light field needs to be provided at a longer distance to acquire approximate environmental information for synchronous positioning and mapping (SLAM), navigation, occlusion detection, long-distance shooting and other functions. The existing TOF depth detection device with a single function cannot meet the requirements, or two sets of TOF depth detection devices are required to be used in the same electronic equipment, so that the integration and miniaturization of small electronic equipment are not facilitated.

In view of this, the present application provides a depth detection transmitting apparatus, which can take into account both the long-distance measurement and the high resolution of the Spot TOF and the Flood TOF, so that the transmitting apparatus can project different light fields to a plurality of target objects located at different distances from the transmitting apparatus. By utilizing one light path system and only needing one driving chip for driving, the device can emit both speckle light and floodlight.

As shown in fig. 3, a depth detection transmitter 300 according to an embodiment of the present application includes:

a light source 301 including a light emitting array of N light emitting units for emitting N beams of light;

an emission lens 302 for collimating the N beams of light;

wherein the emission lens 302 is configured to project N beams of light to a first target object to form a flood light signal and to project N beams of light to a second target object to form a speckle light signal, wherein the first target object is within a first distance from the emission lens 302 and the second target object is outside the first distance from the emission lens 302, the flood light signal and the speckle light signal are configured to obtain depth information of the first target object and the second target object, and the first distance is greater than 0.2m, preferably 0.3 m.

The detection principle of the depth detection emitting device of the present application is described below with reference to fig. 4.

The focus is a point where parallel light converges on the optical axis after passing through the lens, and before and after the focus, light rays which are closer to the focus are more converged, and light rays which are farther away from the focus are more diffused; depth of Field (DOF), i.e. the distance before and after the focus where a light ray starts to diffuse, but the degree of diffusion is within the allowable range. The depth of field is divided into a front depth of field and a rear depth of field, and is related to factors such as the focal length and the aperture of the lens.

The focal plane of lens 400 is a distance from the transmitting lens and b depth of field, where b is the front depth of field₁Depth of field b₂When the target object is at position a, i.e., the focal plane of lens 400, the light projected onto the target object will form a clear, uniformly distributed speckle on the target object surface, as shown at 4000, i.e., a speckle light signal.

Illustratively, the target object 401 is at position B, which is within a first distance from the lens 400, i.e., at a distance from the lens 400 (a-B)₁) The position inside the range is the virtual focus position of the lens 400, the light field formed by the light source 301 through the transmitting lens 302 is obtained by the dispersive connection of N speckle lights, so that the target object 401 is in a floodlight field as shown by 4001, the light field as shown by 4001 is continuous surface light, and the depth detection device can acquire a high-resolution Flood TOF image of the target object 402; the target object 402 is at position C, which is a distance from the lens 400 that is outside of the first distance, i.e., at the range lens 400 (a-b)₁) A position other than the above, where the position belongs to the focusing position of the lens 400, and the light field formed by the light source 301 through the transmitting lens 302 is composed of N speckles, so that the target object 402 is in the speckle light field as shown by 4002, and the light field shown by 4002 is uniformly distributed Spot light, so that the depth detection apparatus can acquire a Spot TOF image of the target object 402 located at a far position; the target object 403 is at position D, which is also at a distance from the lens 400 other than the first distance, and is also at the range lens 400 (a-b)₁) Other positions, which also belong to the focus position of the lens 400, the light field formed by the light source 301 via the emission lens 302 is also composed of N speckles, so that the target object 403 is also locatedIn the speckle light field as shown at 4002, the depth detection device can acquire a Spot TOF image of the slightly located target object 403.

That is, emission lens 302 is used to project N beams of light to a first distance, i.e., (a-b), from emission lens 302₁) The target object 401 within to form a flood light signal, projecting N beams of light to a first distance, i.e., (a-b), from the emission lens 302₁) An object 402 or an object 403 outside to form a speckle light signal.

It should be appreciated that when emission lens 302 is at a relatively large distance from the target, e.g., greater than 0.6m, the back depth of field of emission lens 302 may be considered approximately infinity, and thus, when the target object is at a location other than the first distance, it is in a uniform speckle light field.

In the embodiment, the target object is in a floodlight field within a certain distance from the transmitting device through the special transmitting lens without a complex mechanical structure, outside a certain distance, in the speckle light field, so that the transmitting device can simultaneously acquire the depth information of a plurality of target objects inside and outside the certain distance, in other words, the first distance is numerically equal to the distance between the transmitting lens and the focusing plane of the transmitting lens on the optical axis of the transmitting device minus the front depth of field of the transmitting lens, the application can design the depth of field of the transmitting lens, thereby realize a degree of depth detection emitter and only through one set of optical path system, need not switch the light path and just can launch two kinds of different light signals, have the advantage of Spot TOF and Flood TOF concurrently, simplified degree of depth detection device's light path, promoted degree of depth detection device's work efficiency.

Optionally, the light source 301 is a Vertical Cavity Surface Emitting Laser (VCSEL). The VCSEL is a semiconductor diode laser, the emitted laser beam generally leaves the device from the top surface in a substantially vertical manner, the VCSEL light source has many advantages of small size, large power, small beam divergence angle, stable operation, and the like, and is the preferred light source of the depth detection system, and the VCSEL is taken as an example for illustration in the embodiments of the present application. Specifically, the light source can be a single-chip multi-point light emitting VCSEL chip, a plurality of light emitting points are arranged in a two-dimensional matrix, and a plurality of laser signals are correspondingly emitted to form a matrix laser signal array.

Alternatively, the Light source 301 is an Edge Emitting Laser (EEL) or a Light Emitting Diode (LED).

It should be understood that the light source 301 may be one light source or a combination of the above light sources. The optical signal may be an optically modulated, processed or controlled optical signal carrying a spatial optical pattern, an optically modulated, processed or controlled optical signal illuminated in different regions, an optically modulated, processed or controlled optical signal illuminated periodically, or a combination thereof. The optical axis of the light source 301 is located at the geometrical center of the light emission plane and perpendicular to the light emission plane.

Optionally, the emission lens 302 employs a glass or plastic lens or a combination of glass/plastic. The collimating mirror can change the beam diameter and the divergence angle of the optical signal emitted by the light source 301, so that the beam is changed into a collimated parallel beam with more concentrated energy, and a fine high-density light spot is obtained. It should be understood that the emission lens 302 according to the embodiment of the present application may also be a single optical element or a combination of optical elements that can achieve the light beam collimation effect.

Optionally, the emission lens 302 includes a plurality of lenses arranged in front of and behind each other along the optical axis direction, the plurality of lenses are used for collimating the N light beams, the light incident surface of the lens closest to the light source 301 among the plurality of lenses is the light incident surface of the emission lens 302, and the light exiting surface of the lens farthest from the light source 301 among the plurality of lenses is the light exiting surface of the emission lens 302.

Optionally, the emission lens 302 is a collimating mirror.

Illustratively, the focal length of the collimating mirror is 1-5mm, preferably 2-4mm, the F-number of the collimating mirror is 1.0-2.0, and the chief ray angle is 0.05 ° -1 °. Alternatively, the collimator may be a single optical lens, or may be a combination of a plurality of optical lenses arranged in tandem along the optical axis direction, and a collimator formed by combining 2 to 5 optical lenses is preferably used.

In this embodiment, through the focus of configuration collimating mirror, can enlarge the range that the prospect is dark within for the range that degree of depth detection emitter can form floodlight field increases, can obtain the floodlight light signal and the speckle light signal of target object in the floodlight field of wider range, improves degree of depth detection device's detection efficiency, when being applied to the equipment that needs keep away the barrier (for example the robot of sweeping the floor), avoid the prospect range of dark within too little and lead to the equipment just detect the barrier and just took place the collision with the barrier, help the high efficiency of equipment to keep away the barrier.

Optionally, the emission lens 302 is a projection lens, and the angle of view of the projection lens is equal to the angle of view of the emission device.

Illustratively, the focal length of the projection lens is 1-4mm, the aperture is 1.0-2.2, and the principal light angle is 1 ° -5 °. Alternatively, the projection lens may be a single optical lens, or may be a combination of a plurality of optical lenses arranged in the front-back direction along the optical axis, preferably a projection lens formed by combining 2 to 5 optical lenses, and preferably a projection lens formed by combining 2 to 4 optical lenses.

In this embodiment, compared with the case of using a collimating mirror, the field angle of the projection lens, that is, the field angle of the emission device, is larger, so that the detection range of the depth detection device is increased, when more light sources are used, the parameters such as the focal length and the depth of field of the projection lens are set, and the speckle light beams and the linear light beams emitted from the emission lens are larger in field angle and more in number, so that the detection accuracy of the depth detection device is further improved.

Optionally, the speckle optical signal is a matrix of N speckles that are uniformly distributed.

In particular, the transmitting device 300 can project an optical matrix consisting of N uniformly distributed speckles toward the target object, the optical matrix being projected to the target object to generate a speckle optical signal at the surface of the target object.

Optionally, the speckle optical signal is a pattern of N speckles that are uniformly distributed.

Optionally, the speckle optical signal is a pattern of N speckles distributed randomly.

Specifically, the emitting device 300 may project structured light to the target object, the structured light being composed of speckles distributed uniformly or randomly, and the pattern of the structured light may be realized by controlling the light emitting unit through software design.

The transmitting device of this embodiment can use the structured light, regard the structured light that can design as an optical signal, make transmitting device only use one set of light path system, can be simultaneously to structured light and floodlight after the target object transmission modulation, make the target object be in floodlight light field within the first distance of distance emission camera lens, be in the light field that the structured light formed apart from the first distance of distance emission camera lens, help improving transmitting device's multifunctionality, extend depth detection device's application scene, improve depth detection's efficiency.

Fig. 5 is a schematic block diagram of another depth detection transmitter according to the present application.

Alternatively, as shown in fig. 5, the N light emitting units are composed of M rows of the light emitting units arranged in the first direction and K columns of the light emitting units arranged in the second direction, and the emitting device 300 further includes:

and a diffusion sheet 303, the diffusion sheet 303 having a first field angle in the first direction, for converting the N rays of light into M lines of linear light 500 having a first divergence angle in the first direction, each line of linear light 500 being formed by overlapping K lines of linear light with each other, the first field angle being equal to the first divergence angle.

Fig. 6 shows a beam shaping process of the depth detection transmitter of the present application. Specifically, each light emitting unit emits a laser beam having a divergence angle α; after being collimated by the emitting lens 302, the laser beam is converted into a collimated laser beam, and the divergence angle of the laser beam is reduced to beta; the collimated laser beam passes through a diffusion sheet 303 having a first field angle γ in the first direction, and is shaped into a beam having a first divergence angle θ in the first direction and a divergence angle β in the second direction, wherein the first field angle γ is equal to the first divergence angle θ, and since the first field angle γ is much larger than the divergence angle (α or β) of the beam, the laser beam emitted by each light emitting unit is converted into a beam having a divergence angle in the first direction much larger than the divergence angle in the second direction, and a linear spot is formed on a plane perpendicular to the beam, that is, the laser beam is converted into a linear beam.

Illustratively, the divergence angle of the laser beam emitted by the light source is 20 degrees, namely the divergence angles of the laser beam in the first direction and the second direction are 20 degrees, the divergence angle of the beam after collimation by the collimating mirror is 0.3 degrees, after passing through a wide-angle diffusion sheet with a 120-degree angle of view in the first direction, the beam is shaped into a linear beam with a 120-degree divergence angle in the first direction and a 0.3-degree divergence angle in the second direction, and a linear light spot is formed on the surface of the target object. Each of the M × N light beams is subjected to the beam shaping process, and the light sources corresponding to the M light emitting units form a line of linear light spots in the first direction, so that the light sources can project N lines of linear light parallel to the first direction to the target object.

In the embodiment, the diffusion sheet with the first field angle in the first direction is used for obtaining the linear light beams parallel to the first direction, the emitting device consisting of the light source, the collimating mirror and the diffusion sheet is simple in structure, floodlight can be projected to a target object beyond a target distance in a large angle range by the emitting device without using a rotary mechanical structure, a plurality of linear light beams are projected to the target object within the target distance, and different types of depth information of a plurality of target objects can be obtained simultaneously; in addition, the launching device does not need to be arranged at the top of the protruding equipment, so that the service life of the launching device is prolonged, and the equipment with the launching device can enter a low space; because the multiple linear lights emitted by the emitting device have the first divergence angle equal to the first field angle, the emitting device can be used for obstacle detection and avoidance, so that the electronic equipment can support two functions of map construction and obstacle avoidance only by using one emitting device, the cost is reduced, and the miniaturization, the lightness and the thinness of the equipment are facilitated.

Optionally, as shown in fig. 5, the transmitting device 300 further includes:

and an optical diffraction element 304, disposed between the emission lens and the diffusion sheet, for duplicating the N beams of light after passing through the emission lens to obtain N × P beams of light.

Optionally, the transmitting device 300 is applied to a device that needs the depth information for obstacle avoidance, positioning, or mapping.

Preferably, the transmitting device 300 is applied to a sweeping robot.

When the depth detection transmitting device of the embodiment is applied to the sweeping robot, the transmitting device has a wide field angle and does not have a rotary mechanical structure, and the transmitting device does not need to protrude out of the top of the equipment, so that the sweeping robot can not be blocked or collided due to the height of the transmitting device to cause faults or damages when sweeping at positions such as a bed bottom, the working efficiency of the sweeping robot is improved, and the service life of the sweeping robot is prolonged.

The present application further provides a depth detection receiving apparatus 700, as shown in fig. 7, including:

a receiving lens 701 for receiving a floodlight signal returned through the first target object and a speckle light signal returned through the second target object;

and the sensor 702 is arranged below the receiving lens 702 and is used for converting the floodlight signal and the speckle light signal into electric signals, and the electric signals are used for determining the depth information of the first target object and the second target object.

Specifically, the angle of view of the receiving lens 701 is equal to the first angle of view c of the diffusion sheet 303 in the emission device 300. The sensor 702 may be a single photosensor or a sensor array of multiple photosensors.

Optionally, the receiving apparatus 700 further includes:

and a processing unit 703, connected to the sensor 702, for determining depth information of the first target object and the second target object according to the electrical signal. It is to be understood that the processing unit 703 may be a processor, controller, etc. in an electronic device.

Optionally, the receiving apparatus 700 further includes:

the optical filter 704 is disposed above the sensor 702 and configured to transmit the floodlight signal and the speckle light signal with the preset wavelengths.

In this embodiment, the optical filter can filter optical signals other than signal light, such as ambient light signals, reduce the influence on depth detection, improve the signal-to-noise ratio, and improve the accuracy of depth information detection.

Fig. 8 is a schematic flow chart of determining depth information according to the present application.

S801, collecting a plurality of phase diagrams, wherein the plurality of phase diagrams comprise a first target object and a second target object;

s802, extracting speckles and pixels of each phase image;

s803, respectively calculating the flight time corresponding to the speckles and the pixels;

s804, determining the depth information of the first target object and the second target object according to the flight time.

Wherein S801-S802 are performed by the sensor 302 and S803-S804 are performed by the processing unit 703.

In this embodiment, the processing unit calculates the flight time corresponding to the speckles and the pixels by analyzing the phase shift of the speckles and the phase shift of the pixels in parallel, and can simultaneously acquire a short-distance Flood TOF image and a long-distance Spot TOF image, thereby determining the depth information of a plurality of target objects in a field range and improving the efficiency of depth detection.

Optionally, a distance between the first target object and the emission lens of the light source is within a first distance, light emitted by the light source forms a floodlight signal through the first target object, a distance between the second target object and the emission lens is beyond the first distance, light emitted by the light source forms a speckle light signal through the second target object, and the first distance is greater than 0.2 m.

An embodiment of the present application further provides an electronic device 900, including:

a depth detection transmitter 300 as in any of the embodiments of the present application; and the depth detection receiving device 700 in any embodiment of the present application.

By way of example and not limitation, the electronic device in the embodiments of the present application may be a portable or mobile computing device such as a terminal device, a mobile phone, a tablet computer, a laptop computer, a desktop computer, a game device, an in-vehicle electronic device, or a wearable smart device, and other electronic devices such as an electronic database, an automobile, an Automated Teller Machine (ATM), a sweeping robot, and the like. This wearable smart machine includes that the function is complete, the size is big, can not rely on the smart mobile phone to realize complete or partial function, for example: smart watches or smart glasses and the like, and only focus on a certain type of application function, and need to be used in cooperation with other devices such as smart phones, such as various smart bracelets for physical sign monitoring, smart jewelry and other devices.

It should be noted that, without conflict, the embodiments and/or technical features in the embodiments described in the present application may be arbitrarily combined with each other, and the technical solutions obtained after the combination also fall within the protection scope of the present application.

It is to be understood that the terminology used in the embodiments of the present application and the appended claims is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present application. For example, as used in the examples of this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

In the several embodiments provided in the present application, it should be understood that the disclosed system and apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A depth detection transmitter, the transmitter comprising:

the light source comprises a light emitting array consisting of N light emitting units and is used for emitting N beams of light;

and the transmitting lens is used for projecting the N beams of light to a first target object to form a floodlight signal and projecting the N beams of light to a second target object to form a speckle light signal, wherein the distance from the first target object to the transmitting lens is within a first distance, the distance from the second target object to the transmitting lens is beyond the first distance, the floodlight signal and the speckle light signal are used for acquiring the depth information of the first target object and the second target object, and the first distance is greater than 0.2 m.

2. The transmitting device of claim 1, wherein the first distance is 0.3 m.

3. The transmitting device of claim 1, wherein the transmitting lens is a collimating lens.

4. The transmitting device according to claim 3, wherein the focal length of the collimating mirror is 1-5 mm.

5. The transmitting device according to claim 3, wherein said collimating mirror has an F-number of 1.0-2.0.

6. The transmitting device according to claim 3, characterized in that the chief ray angle of the collimating mirror is 0.05 ° -1 °.

7. The emitting device of claim 3, wherein the collimating mirror comprises a plurality of lenses arranged in tandem along an optical axis of the emitting device, the number of lenses being 2-4.

8. The transmitting device of claim 1, wherein the transmitting lens is a projection lens, and a field angle of the projection lens is equal to a field angle of the transmitting device.

9. The apparatus of claim 8, wherein the focal length of the projection lens is 1-4 mm.

10. The transmitting device as claimed in claim 8, wherein the F-number of the projection lens is 1.0-2.2.

11. The transmitting device as claimed in claim 8, wherein the chief ray angle of the projection lens is 1 ° -5 °.

12. The emission device of claim 8, wherein the projection lens comprises a plurality of lenses arranged in tandem along an optical axis of the emission device, and the number of the lenses is 2-4.

13. The emitting device according to any one of claims 1 to 12, wherein the N light emitting cells are composed of M rows of the light emitting cells arranged in a first direction and K columns of the light emitting cells arranged in a second direction, the emitting device further comprising:

a diffusion sheet having a first field angle in the first direction for converting the N light beams into M lines of linear light having a first divergence angle in the first direction, each line of the linear light being formed by overlapping K light beams of the linear light, the first field angle being equal to the first divergence angle.

14. The transmitting device of any one of claims 1-13, further comprising:

15. The transmitting device according to any one of claims 1 to 14, wherein the transmitting device is applied to a device requiring the depth information for obstacle avoidance, positioning or mapping.

16. The emitting device of any of claims 1-15, wherein the light source is a vertical cavity surface emitting laser.

17. A depth detection receiving apparatus, characterized in that the receiving apparatus comprises:

a receiving lens for receiving a floodlight signal returned through the first target object and a speckle light signal returned through the second target object;

and the sensor is arranged below the receiving lens and used for converting the floodlight signal and the speckle light signal into electric signals, and the electric signals are used for determining the depth information of the first target object and the second target object.

18. The receiving apparatus according to claim 17, wherein the receiving apparatus further comprises:

and the processing unit is connected with the sensor and used for determining the depth information of the first target object and the second target object according to the electric signals.

19. The receiving apparatus according to claim 17 or 18, characterized in that the receiving apparatus further comprises:

and the optical filter is arranged above the sensor and used for transmitting the floodlight signal and the speckle light signal with preset wavelengths.

20. The receiving apparatus of claim 18, wherein the determining depth information of the first target object and the second target object from the electrical signal comprises:

and simultaneously determining the depth information of the first target object and the second target object according to the flight time of the speckle light signal and the flight time of the floodlight signal.

21. An electronic device, characterized in that the electronic device comprises:

the depth detection emitting device of any one of claims 1-16; and a depth detection receiving apparatus as claimed in any one of claims 17 to 20.

22. A method of depth detection, the method comprising:

acquiring a plurality of phase maps, wherein the plurality of phase maps comprise a first target object and a second target object;

extracting speckles and pixels of each phase image;

respectively calculating the flight time corresponding to the speckles and the pixels;

determining depth information of the first target object and the second target object according to the flight time.

23. The method of claim 22, wherein the first target object is within a first distance from an emission lens of a light source, wherein light from the light source forms a flood light signal via the first target object, wherein the second target object is outside the first distance from the emission lens, wherein light from the light source forms a speckle light signal via the second target object, and wherein the first distance is greater than 0.2 m.