CN118209961A - Light emission module, depth camera and electronic equipment - Google Patents

Abstract

The present application discloses a light emitting module, a depth camera and an electronic device. Along the light output path of the light emitting module, the light emitting module includes a light projection component, a light modulation component and a light reflection component in sequence. The light projection component is used to project a laser along a first direction. The light modulation component is used to modulate the laser projected by the light projection component. The light reflection component is used to change the transmission path of the laser modulated by the light modulation component, so that the transmission along the first direction is changed to the transmission along the second direction. The second direction is different from the first direction, and the laser projected by the light reflection component is a structured light pattern or a floodlight pattern. The present application can use the same light emitting module to take into account both short-range ranging and long-range ranging requirements. Moreover, the light reflection component can change the transmission path of the laser modulated by the light modulation component, so that the transmission along the first direction is changed to the transmission along the second direction, thereby enabling the light emitting module to be used as a periscope module, saving the thickness of the depth camera and the electronic device.

Description

Light emission module, depth camera and electronic equipment

Technical Field

The present application relates to the field of distance measurement technology, and in particular to a light emission module, a depth camera and an electronic device.

Background technique

In recent years, three-dimensional depth sensing devices have begun to enter people's eyes. As a new medium for obtaining external information, high-precision depth sensors are conducive to promoting the development of machine vision, enabling robots to understand the external world, and also promoting the development of human-computer interaction. Depth perception technology can be roughly divided into passive and active. Traditional binocular stereo vision ranging is a passive ranging method, which is greatly affected by ambient light and has a complex stereo matching process. Active ranging methods mainly include structured light coding ranging and time of flight (ToF) ranging. Structured light coding ranging is essentially laser triangulation ranging. As the distance increases, the ranging accuracy will drop sharply. ToF ranging is a ranging technology that measures the time difference between the transmitted signal and the signal reflected by the object, and calculates the distance between the object and the sensor through this time difference. Although the depth image resolution obtained by ToF ranging technology is relatively low, compared with structured light coding ranging technology, TOF ranging technology has a shorter response time, stronger anti-interference, higher refresh rate, smaller depth information calculation, and lower algorithm requirements. Therefore, TOF ranging technology has a broader application market.

At present, the TOF light transmitting module generally projects onto the object in the form of floodlight or speckle. The speckle or floodlight is reflected by the object and then received by the TOF light receiving module. Among them, the floodlight illumination method can enable the TOF ranging calculation to obtain detailed depth point cloud information within a short range, but as the illumination distance becomes farther, the energy of the illumination light drops sharply and is easily affected by ambient light, resulting in the inability to detect the depth information of distant objects. The laser speckle illumination method has a higher energy density and can be projected to a farther distance, allowing the TOF ranging calculation to obtain the point cloud information of distant objects, but due to the limited number of scattered spots, the corresponding point cloud is relatively sparse and lacks the point cloud details of the target object.

Summary of the invention

Embodiments of the present application provide a light emission module, a depth camera, and an electronic device.

Along the light output path of the light emitting module, the light emitting module includes a light projection component, a light modulation component and a light reflection component in sequence. The light projection component is used to project laser light in a first direction. The light modulation component is used to modulate the laser light projected by the light projection component. The light reflection component is used to change the transmission path of the laser light modulated by the light modulation component, so that the transmission along the first direction is changed to the transmission along the second direction. The second direction is different from the first direction, and the laser light projected by the light reflection component is a structured light pattern or a flood light pattern.

The depth camera of the embodiment of the present application includes a light emitting module and a light receiving module, and the light receiving module is used to receive the structured light pattern or the floodlight pattern reflected back by the object. Along the light output path of the light emitting module, the light emitting module includes a light projection component, a light modulation component and a light reflection component in sequence. The light projection component is used to project laser along a first direction. The light modulation component is used to modulate the laser projected by the light projection component. The light reflection component is used to change the transmission path of the laser modulated by the light modulation component, so that the transmission along the first direction is changed to the transmission along the second direction. The second direction is different from the first direction, and the laser projected through the light reflection component is a structured light pattern or a floodlight pattern.

The electronic device of the embodiment of the present application includes a main body and a depth camera, and the depth camera is combined with the main body. The depth camera includes a light emitting module and a light receiving module. The light receiving module is used to receive the structured light pattern or the floodlight pattern reflected back by an object. Along the light output path of the light emitting module, the light emitting module includes a light projection component, a light modulation component and a light reflection component in sequence. The light projection component is used to project a laser along a first direction. The light modulation component is used to modulate the laser projected by the light projection component. The light reflection component is used to change the transmission path of the laser modulated by the light modulation component, so that the transmission along the first direction is changed to the transmission along the second direction. The second direction is different from the first direction, and the laser projected through the light reflection component is a structured light pattern or a floodlight pattern.

The electronic device of the embodiment of the present application includes a body and a light emitting module, and the light emitting module is combined with the body. Along the light output light path of the light emitting module, the light emitting module includes a light projection component, a light modulation component and a light reflection component in sequence. The light projection component is used to project a laser along a first direction. The light modulation component is used to modulate the laser projected by the light projection component. The light reflection component is used to change the transmission path of the laser modulated by the light modulation component, so that the transmission along the first direction is changed to the transmission along the second direction. The second direction is different from the first direction, and the laser projected through the light reflection component is a structured light pattern or a floodlight pattern.

The light emitting module, depth camera and electronic device of the embodiment of the present application, the laser projected by the light reflecting component is a structured light pattern or a floodlight pattern, and in the close range, the floodlight illumination method can be used to obtain the depth point cloud information with rich details, and thus obtain a more accurate distance, and in the long range, the structured light illumination method can be used for long-distance ranging. That is, the same light emitting module can take into account both the needs of close-range ranging and long-distance ranging. In addition, because the light reflecting component can change the transmission path of the laser modulated by the light modulating component, so that the transmission along the first direction is changed to the transmission along the second direction, the light emitting module can be used as a periscope module, which can save the thickness of the depth camera and the electronic device, and meet people's pursuit of thin and light products nowadays.

Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and/or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

FIG1 is a schematic diagram of the structure of an optical emission module in some embodiments of the present application;

FIG2 is a schematic structural diagram of a first light source and a second light source in the light emitting module shown in FIG1 ;

FIG3 is a schematic diagram of the structure of the light emission module of other embodiments of the present application;

FIG4 is a schematic structural diagram of a first light source and a second light source in the light emitting module shown in FIG3 ;

FIG5 is a schematic diagram showing the principle of emitting laser by a light emitting module in certain embodiments of the present application;

FIG6 is a schematic diagram of the structure of a light emitting module according to some other embodiments of the present application;

FIG7 is a schematic diagram of the structure of the light emission module of some other embodiments of the present application;

FIG8 is a schematic diagram of the structure of a light emitting module in some other embodiments of the present application;

FIG9 is a schematic diagram of the structure of a depth camera according to some embodiments of the present application;

FIG10 is a schematic structural diagram of an electronic device according to some embodiments of the present application from one viewing angle;

FIG. 11 is a schematic structural diagram of an electronic device according to certain embodiments of the present application from another perspective.

Description of main component symbols:

Electronic equipment 1000;

Depth camera 100, light transmitting module 10, light receiving module 30, processor 50, body 200;

The light projection component 11, the first light source 111, the second light source 113, the light source 115, the driver 117, the first substrate 1111, the first light-emitting element 1113, the second substrate 1131, the second light-emitting element 1133, the light modulation component 13, the collimating element 131, the diffractive optical element 133, the driving element 135, and the light reflection component 15.

Detailed ways

The embodiments of the present application are further described below in conjunction with the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements or elements with the same or similar functions from beginning to end. In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the present application.

The TOF light emitting module is generally projected onto an object in the form of floodlight or speckle, and the speckle or floodlight is reflected by the object and received by the TOF light receiving module. Among them, the floodlight irradiation method can enable the TOF ranging calculation to obtain detailed depth point cloud information within a short range, but as the irradiation distance becomes farther, the energy of the irradiated light drops sharply, and it is easily affected by ambient light, resulting in the inability to detect the depth information of distant objects. The laser speckle irradiation method has a higher energy density and can be projected to a farther distance, so that the TOF ranging calculation obtains the point cloud information of distant objects, but due to the limited number of scattered spots, the corresponding point cloud is relatively sparse, lacking the point cloud details of the target object. In order to solve this problem, the embodiment of the present application provides a light emitting module 10 (shown in Figures 1, 3 and Figures 6 to 8), a depth camera 100 (shown in Figure 9) and an electronic device 1000 (shown in Figures 10 and 11).

Please refer to Figures 1, 3, and 6 to 8. Along the light path of the light emitting module 10, the light emitting module 10 includes a light projection component 11, a light modulation component 13, and a light reflection component 15 in sequence. The light projection component 11 is used to project laser light along a first direction X. The light modulation component 13 is used to modulate the laser light projected by the light projection component 11. The light reflection component 15 is used to change the transmission path of the laser light modulated by the light modulation component 13, so that the transmission along the first direction X is changed to the transmission along the second direction Z, and the second direction Z is different from the first direction X. The laser light projected by the light reflection component 15 is a structured light pattern or a flood light pattern.

The light emitting module 10 is a component for emitting laser. The light output path is the route that the laser emitted by the light emitting module 10 passes through when it is emitted from a starting point to a distance, and the laser passes through the light projection component 11, the light modulation component 13 and the light reflection component 15 in sequence, that is, the laser first passes through the light projection component 11, then passes through the light modulation component 13, and then passes through the light reflection component 15 before being emitted to the outside of the light emitting module 10.

It should be noted that the laser beams may be completely parallel to each other, or may not be completely parallel to each other. In other words, the laser beam may also have a certain divergence angle, and the "first direction X" or "second direction Z" in this application refers to the transmission direction of the central main beam of the laser beam. Specifically, the "first direction X" is the direction of the central beam of the laser beam from the light emitting component to the light reflecting component 15, and the "second direction Z" is the transmission direction of the central beam of the laser beam after the light reflecting component 15. The first direction X and the second direction Z are different, and specifically, the first direction X and the second direction Z intersect. More specifically, the angle between the first direction X and the second direction Z may be an acute angle, a right angle, or an obtuse angle. In the embodiment of the present application, the angle between the first direction X and the second direction Z is a right angle.

The light emitting module 10 of the embodiment of the present application projects a laser in a structured light pattern or a floodlight pattern through the light reflecting component 15. In a close range, the floodlight illumination method can be used to obtain detailed depth point cloud information, thereby obtaining a more accurate distance, and in a long range, the structured light illumination method can be used for long-distance ranging. That is, the same light emitting module 10 can take into account both the needs of close-range ranging and long-range ranging, saving equipment costs and space. In addition, since the light reflecting component 15 can change the transmission path of the laser modulated by the light modulating component 13, so that the transmission along the first direction X is changed to the transmission along the second direction Z, the light emitting module 10 can be used as a periscope module, which can save the thickness of the depth camera 100 and the electronic device 1000, meeting people's pursuit of thin and light products nowadays.

The light emitting module 10 is further described below with reference to the accompanying drawings.

Specifically, referring to FIG. 1 , FIG. 3 and FIG. 6 to FIG. 8 , the light modulation component 13 includes a collimating element 131 and a diffractive optical element 133 .

Referring to FIG. 1 , FIG. 3 and FIG. 6 , in some embodiments, the light projection component 11 may include a first light source 111 and a second light source 113. The first light source 111 is located on the focal plane of the collimating element 131, that is, the light emitting surface of the first light source 111 is located on the focal plane of the collimating element 131. The laser light projected by the first light source 111 is collimated by the collimating element 131, replicated by the diffractive optical element 133, and changed in transmission direction by the light reflecting component 15 to form a structured light pattern. The second light source 113 is located on the defocusing plane of the collimating element 131, that is, the light emitting surface of the second light source 113 is located at the virtual focus position of the collimating element 131. The laser light projected by the second light source 113 is collimated by the collimating element 131, replicated by the diffractive optical element 133, and changed in transmission direction by the light reflecting component 15 to form a flood light pattern. Therefore, when the first light source 111 is lit, the light emitting module 10 is in a structured light projection mode; when the first light source 111 is lit, the light emitting module 10 is in a flood light projection mode.

More specifically, please refer to FIG. 2 , the left figure is a schematic diagram of the structure of the first light source 111, and the right figure is a schematic diagram of the structure of the second light source 113. The first light source 111 can be a vertical cavity surface emitting laser (Vertical-Cavity Surface-Emitting Laser, VCSEL), a horizontal cavity surface emitting laser (Horizontal-Cavity Surface-Emitting Laser, HCSEL), or a wavelength in the infrared band. Specifically, different emission wavelengths can be selected according to system requirements, generally 850nm, 940nm, etc. The first light source 111 includes a first substrate 1111 and a plurality of first light-emitting elements 1113 disposed on the first substrate 1111 and randomly distributed. The second light source 113 can be a light-emitting diode (Light Emitting Diode, LED), VCSEL or HCSEL. The second light source 113 includes a second substrate 1131 and a plurality of second light-emitting elements 1133 disposed on the second substrate 1131. The plurality of second light-emitting elements 1133 may be distributed in an array on the second substrate 1131 or may be randomly distributed on the second substrate 1131. The wavelength of the laser emitted by the second light-emitting element 1133 is consistent with the wavelength of the laser emitted by the first light-emitting element 1113.

Please continue to refer to FIG. 2 . In some embodiments, the first light source 111 is different from the second light source 113 .

In one example, the number of first light-emitting elements 1113 is less than the number of second light-emitting elements 1133. For example, the number of first light-emitting elements 1113 in the first light source 111 shown in the left figure is 132, and the number of second light-emitting elements 1133 in the second light source 113 shown in the right figure is 140. Therefore, please refer to Figure 5. When the first light source 111 is turned on, the second light source 113 is not working. At this time, the lasers emitted by the 132 first light-emitting elements 1113 form a clear light spot pattern. After being collimated by the collimating element 131, the clear light spot pattern is replicated and diffused into a structured light spot pattern with a larger field of view by the diffractive optical element 133. Finally, the structured light spot pattern changes the transmission direction through the light reflecting component 15. When the second light source 113 is on, the first light source 111 is not working. At this time, because the second light source 113 is in a virtual focus position, the laser light emitted by the 140 second light-emitting elements 1133 is a blurred and diffused light spot pattern, and the light spots overlap each other to form a uniformly distributed flood light. The uniformly distributed flood light is collimated by the collimating element 131, and then replicated and diffused by the diffractive optical element 133 to form a flood light spot pattern with a larger field of view. Finally, the flood light spot pattern changes its transmission direction through the light reflecting component 15. Since the number of the second light-emitting elements 1133 is large, the flood light spot formed is more uniform.

In another example, the aperture of the first light emitting element 1113 is smaller than the aperture of the second light emitting element 1133. It should be noted that the first light emitting element 1113 and the second light emitting element 1133 are substantially circular. Since the aperture of the first light emitting element 1113 is smaller, a structured light spot can be formed. Since the aperture of the second light emitting element 1133 is larger, a more uniform flood light spot is formed.

In another example, the spacing between adjacent first light-emitting elements 1113 is greater than the spacing between adjacent second light-emitting elements 1133. The spacing between adjacent first light-emitting elements 1113 refers to the distance between the same position points of adjacent first light-emitting elements 1113, such as the distance between the center of one first light-emitting element 1113 to the center of another adjacent first light-emitting element 1113, as shown in D1 in FIG. 2, or the distance between the rightmost point of one first light-emitting element 1113 to the rightmost point of another adjacent first light-emitting element 1113. Similarly, the spacing between adjacent second light-emitting elements 1133 refers to the distance between the same position points of adjacent second light-emitting elements 1133, such as the distance between the center of one second light-emitting element 1133 to the center of another adjacent second light-emitting element 1133, as shown in D2 in FIG. 2, or the distance between the rightmost point of one second light-emitting element 1133 to the rightmost point of another adjacent second light-emitting element 1133. Wherein, D1>D2, thereby the laser emitted by the first light-emitting element 1113 can form a structured light spot, and the laser emitted by the second light-emitting element 1133 can form a uniform flood light spot.

In other embodiments, please refer to FIG. 4 , the first light source 111 is identical to the second light source 113. That is, the first substrate 1111 of the first light source 111 is identical to the second substrate 1131 of the second light source 113, and the first light-emitting element 1113 of the first light source 111 is identical to the second light-emitting element 1133 of the second light source 113, including the number, distribution, aperture, etc. are all identical. In other words, the specifications of the first light source 111 and the second light source 113 are identical. At this time, please refer to FIG. 1 and FIG. 3 , compared with the first light source 111, the second light source 113 is farther away from the collimating element 131. More specifically, when the first light source 111 and the second light source 113 are identical, the distance between the second light source 113 and the collimating element 131 (as shown in FIG. 3 ) is farther than when the first light source 111 and the second light source 113 are different, the distance between the second light source 113 and the collimating element 131 (as shown in FIG. 1 ), that is, L2>L1. Thus, the light emitting module 10 shown in FIG. 3 uses the first light source 111 and the second light source 113 of the same specification, and only designs the distance between the two light sources and the collimating element 131 to realize the projection of structured light and floodlight, thereby saving the selection cost.

In one embodiment, referring to FIG. 1 and FIG. 3 , the laser light projected by the first light source 111 is collimated by the collimating element 131 , replicated by the diffractive optical element 133 , and changed in transmission direction by the light reflecting component 15 to form a structured light pattern in the form of speckles.

In another embodiment, referring to FIG. 6 , the laser light projected by the first light source 111 is collimated by the collimating element 131 , replicated by the diffractive optical element 133 , and changed in transmission direction by the light reflecting component 15 to form a linear array structured light pattern.

It should be noted that, no matter whether a structured light pattern in the form of speckle or a structured light pattern in the form of a linear array is formed, the first light source 111 and the second light source 113 may be light sources of the same specifications as described above, or may be light sources of different specifications.

Referring to Fig. 7, in some embodiments, the light projection assembly 11 includes a light source 115 and a driver 117. The light source 115 is used to project laser light, the collimating element 131 is used to collimate the laser light projected from the light source 115, and the diffractive optical element 133 replicates the laser light emitted from the collimating element 131. The driver 117 is connected to the light source 115, and the driver 117 is used to drive the light source 115 to move on the optical axis of the collimating element 131, so as to selectively make the light source 115 located on the focal plane or the defocused plane of the collimating element 131, so as to form a structured light pattern or a flood light pattern, respectively.

The driver 117 may be a telescopic linear motor, a piezoelectric ceramic drive motor, or a rotary motor and a transmission structure, and the transmission structure is used to transmit the driving force of the drive motor to the light source 115. The driver 117 is used to drive the light source 115 to move on the optical axis of the collimating element 131, so that the light source 115 can be switched between the focal plane and the defocusing plane of the collimating element 131. Thus, when the light source 115 is located on the focal plane of the collimating element 131, the laser emitted from the light emitting module 10 is a structured light pattern, and according to the selection of the light source 115, it can be a structured light pattern in the form of speckle and a structured light pattern in the form of a linear array. When the light source 115 is located on the defocusing plane of the collimating element 131, the laser emitted from the light projection assembly 11 is a flood light pattern.

In addition, the driver 117 can be arranged along the optical axis of the collimating element 131, that is, distributed in the X direction (width direction) of the electronic device 1000, or distributed in the Y direction (length direction) of the electronic device 1000, thereby not occupying the space in the Z direction, which is more conducive to saving the thickness space of the electronic device 1000.

In the light emitting module 10 of the embodiment of the present application, the light projection component 11 only uses one light source 115, and then uses the driver 117 to drive the light source 115 to change the position of the light source 115, so that the laser emitted from the light emitting module 10 is a structured light pattern or a floodlight pattern, saving one light source 115.

Referring to FIG. 8 , in some embodiments, the light projection component 11 includes a light source 115, and the light source 115 is used to project laser light. The light modulation component 13 includes a collimating element 131, a diffractive optical element 133, and a driving element 135. The collimating element 131 is used to collimate the laser light projected from the light source 115. The diffractive optical element 133 is used to replicate the laser light emitted from the collimating element 131. The driving element 135 is connected to the collimating element 131, and the driving element 135 is used to drive the collimating element 131 to move on the optical axis of the collimating element 131, so as to selectively make the light source 115 located on the focal plane or the defocused plane of the collimating element 131, so as to form a structured light pattern or a flood light pattern, respectively.

The collimating element 131 includes but is not limited to a convex lens, a concave lens, a spherical mirror, an aspherical mirror, etc. Meanwhile, the collimating element 131 may include one or more lenses. For example, the collimating element 131 shown in FIG. 8 includes three lenses.

The driving element 135 can be a telescopic linear motor, a piezoelectric ceramic driving motor, or a rotating motor and a transmission structure, and the transmission structure is used to transmit the driving force of the driving motor to the collimating element 131. The driving element 135 is used to drive the collimating element 131 to move on the optical axis of the collimating element 131, so that the light source 115 can switch between the focal plane and the defocusing plane of the collimating element 131. For example, the driving element 135 shown in FIG8 drives one of the three lenses to move from position P1 to position P2. When the lens is at position P1, the light source 115 is located on the focal plane of the collimating element 131, and the laser emitted from the light emitting module 10 is a structured light pattern, and according to the selection of the light source 115, it can be a structured light pattern in the form of speckle and a structured light pattern in the form of a linear array; when the lens is at position P2, the light source 115 is located on the defocusing plane of the collimating element 131, and the laser emitted from the light projection component 11 is a flood pattern.

In addition, the driving element 135 can be arranged along the optical axis of the collimating element 131, that is, distributed in the X direction (width direction) of the electronic device 1000, or distributed in the Y direction (length direction) of the electronic device 1000. In this case, it does not occupy the space in the Z direction, which is more conducive to saving the thickness space of the electronic device 1000.

In the light emitting module 10 of the embodiment of the present application, the light projection component 11 also only uses one light source 115, and then uses the driving element 135 to drive the light source 115 to change the position of the light source 115, so that the laser emitted from the light emitting module 10 is a structured light pattern or a floodlight pattern, saving one light source 115.

9 , the depth camera 100 provided in the present application includes the light emitting module 10 and the light receiving module 30 described in any of the above embodiments. The light receiving module 30 is used to receive the structured light pattern or flood light pattern reflected by the object.

The light receiving module 30 is a TOF camera, which is used to receive the structured light pattern or floodlight pattern reflected by the object.

Furthermore, the depth camera 100 may further include a processor 50, which is connected to both the light receiving module 30 and the light emitting module 10. The processor 50 is used to obtain the distance between the depth camera 100 and the object according to the structured light pattern or flood light pattern received by the light receiving module 30.

Furthermore, in other examples, the processor 50 is used to control the light emitting module 10 and the light receiving module 30 to work to obtain the initial distance. When the initial distance is greater than the preset distance, the processor 50 is used to control the light emitting module 10 to project the structured light pattern and control the light receiving module 30 to receive the structured light pattern to obtain the final distance between the depth camera 100 and the object; and when the initial distance is less than the preset distance, the processor 50 is used to control the light emitting module 10 to project the floodlight pattern and control the light receiving module 30 to receive the floodlight pattern to obtain the final distance between the depth camera 100 and the object. As a result, the depth camera 100 can accurately measure the distance of distant objects as well as the distance of nearby objects, and has stronger adaptability. In the depth camera 100 of the embodiment of the present application, the laser projected by the light reflecting component 15 is a structured light pattern or a floodlight pattern. In the close range, the floodlight illumination method can be used to obtain the depth point cloud information with rich details, thereby obtaining a more accurate distance, and in the long range, the structured light illumination method can be used for long-distance ranging. That is, the same light emitting module 10 can meet both the requirements of short-range and long-range distance measurement, saving equipment cost and space. In addition, since the light reflecting component 15 can change the transmission path of the laser modulated by the light modulating component 13, so that the transmission along the first direction X is changed to the transmission along the second direction Z, the light emitting module 10 can be used as a periscope module, which can save the thickness of the depth camera 100 and the electronic device 1000, meeting people's pursuit of thin and light products.

Furthermore, in other examples, whether it is distance detection of a distant object or a close object, each time the distance is measured, the light emitting module 10 may first emit a floodlight pattern, and the light receiving module 30 may synchronously receive a phase-shifted image of the floodlight pattern reflected by the object or space; according to the difference in phase modulation of the phase-shifting method, a plurality of phase-shifted images with different phases are collected accordingly, and the processor 50 collects RAW data of the plurality of phase-shifted images output by the light receiving module 30, calculates the phase difference corresponding to each pixel in the image, filters out the depth information generated by unreliable pixels, and then obtains the floodlight depth map according to the depth calculation formula of the phase-shifting method; then, the light emitting module 1 0 emits a structured light pattern (such as a speckle pattern), and the light receiving module 30 synchronously receives a structured light phase shift image of the structured light pattern reflected by an object or space; according to the different phase modulations of the phase shift method, a plurality of speckle phase shift images with different phases are collected accordingly; the processor 50 collects the RAW data of the plurality of speckle phase shift images output by the light receiving module 30, calculates the phase difference corresponding to the pixel where the speckle is located in the image, filters out the depth information generated by the unreliable pixel, and then obtains the speckle depth map of the pixel where the speckle is located according to the depth calculation formula of the phase shift method; finally, the flood depth map and the speckle depth map obtained successively are fused to finally obtain the fused depth map information. The depth camera 100 of the embodiment of the present application fuses the flood depth map and the speckle depth map each time the distance is measured, so that the measured distance is more accurate.

10 and 11 , an electronic device 1000 according to an embodiment of the present application includes a body 200 and the depth camera 100 described in any of the above embodiments, and the depth camera 100 is combined with the body 200 .

Please refer to FIG. 10 and FIG. 11 . An electronic device 1000 according to another embodiment of the present application includes a body 200 and the light emitting module 10 described in any of the above embodiments. The light emitting module 10 is combined with the body 200 .

The electronic device 1000 includes but is not limited to a mobile phone, a tablet computer, a camera, a video camera, a personal digital assistant, a wearable device, an intelligent robot, an intelligent vehicle, etc. The wearable device includes a smart bracelet, a smart watch, and smart glasses.

Please refer to Figure 1. The electronic device 1000 of the embodiment of the present application, the laser projected by the light reflection component 15 is a structured light pattern or a floodlight pattern. In the close range, the floodlight illumination method can be used to obtain the depth point cloud information with rich details, and then obtain a more accurate distance. In the long range, the structured light illumination method can be used for long-distance ranging. That is, the same light emitting module 10 can take into account both the needs of close-range ranging and long-range ranging, saving equipment cost and space. In addition, because the light reflection component 15 can change the transmission path of the laser modulated by the light modulation component 13, so that the transmission along the first direction X is changed to the transmission along the second direction Z, the light emitting module 10 can be used as a periscope module, which can save the thickness of the depth camera 100 and the electronic device 1000, and meet people's pursuit of thin and light products.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a computer-readable storage medium can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable storage media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

A person of ordinary skill in the art will appreciate that all or part of the steps carried by the method for implementing the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims (11)

1. A light emitting module, characterized in that, along the light output path of the light emitting module, the light emitting module comprises a light projection component, a light modulation component and a light reflection component in sequence; wherein: The light projection assembly is used to project laser light along a first direction; The light modulation component is used to modulate the laser projected by the light projection component; The light reflecting component is used to change the transmission path of the laser modulated by the light modulating component, so that the transmission along the first direction is changed to the transmission along the second direction, and the second direction is different from the first direction. The laser projected by the light reflecting component is a structured light pattern or a floodlight pattern. 2. The light emitting module according to claim 1, wherein the light modulation component comprises a collimating element and a diffractive optical element; and the light projection component comprises: a first light source, wherein the first light source is located on the focal plane of the collimating element, and laser light projected by the first light source is collimated by the collimating element, replicated by the diffractive optical element, and changed in transmission direction by the light reflecting component to form the structured light pattern; and A second light source, the second light source is located on the defocusing plane of the collimating element, and the laser light projected by the second light source is collimated by the collimating element, replicated by the diffractive optical element, and changed in transmission direction by the light reflecting component to form the floodlight pattern. 3. The light emitting module according to claim 2, wherein the first light source comprises a plurality of first light emitting elements, the second light source comprises a plurality of second light emitting elements, The number of the first light-emitting elements is less than the number of the second light-emitting elements; and/or The aperture of the first light emitting element is smaller than the aperture of the second light emitting element; and/or The spacing between adjacent first light-emitting elements is greater than the spacing between adjacent second light-emitting elements. 4 . The light emitting module according to claim 2 , wherein the first light source is the same as the second light source, and compared with the first light source, the second light source is farther away from the collimating element. 5. The light emitting module according to claim 3 or 4 is characterized in that the laser projected by the first light source is collimated by the collimating element, replicated by the diffraction optical element, and changed in transmission direction by the light reflecting component to form a structured light pattern in the form of speckle or a structured light pattern in the form of a linear array. 6. The light emitting module according to claim 1, wherein the light modulation component comprises a collimating element and a diffractive optical element; and the light projection component comprises: a light source, the light source being used to project laser light, the collimating element being used to collimate the laser light projected from the light source, the diffractive optical element replicating the laser light emitted from the collimating element; and A driver is connected to the light source, and is used to drive the light source to move on the optical axis of the collimating element to selectively position the light source on the focal plane or on the defocusing plane of the collimating element to form the structured light pattern or the floodlight pattern, respectively. 7. The light emitting module according to claim 1, wherein the light projection component comprises a light source for projecting laser light; and the light modulation component comprises: A collimating element, the collimating element being used to collimate the laser light projected from the light source; a diffractive optical element for replicating the laser light emitted from the collimating element; and A driving element, wherein the driving element is connected to the collimating element, and the driving element is used to drive the collimating element to move on the optical axis of the collimating element to selectively make the light source located on the focal plane or the defocused plane of the collimating element to form the structured light pattern or the floodlight pattern, respectively. 8. A depth camera, comprising: The light emission module according to any one of claims 1 to 7; and A light receiving module is used to receive the structured light pattern or the floodlight pattern reflected by an object. 9. The depth camera according to claim 8, characterized in that the depth camera further comprises: A processor is connected to both the light receiving module and the light emitting module, and is used to obtain the distance between the depth camera and the object according to the structured light pattern or the floodlight pattern received by the light receiving module. 10. The depth camera according to claim 9 is characterized in that the processor is used to control the operation of the light emitting module and the light receiving module to obtain an initial distance. When the initial distance is greater than a preset distance, the processor is used to control the light emitting module to project the structured light pattern, and control the light receiving module to receive the structured light pattern to obtain a final distance between the depth camera and the object; when the initial distance is less than a preset distance, the processor is used to control the light emitting module to project the floodlight pattern, and control the light receiving module to receive the floodlight pattern to obtain a final distance between the depth camera and the object. 11. An electronic device, comprising: the entity; and The depth camera according to any one of claims 8 to 10, wherein the depth camera is combined with the body; or The light emission module described in any one of claims 1 to 7 is combined with the body.