CN209167538U - Time flight depth camera - Google Patents
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- CN209167538U CN209167538U CN201821928814.1U CN201821928814U CN209167538U CN 209167538 U CN209167538 U CN 209167538U CN 201821928814 U CN201821928814 U CN 201821928814U CN 209167538 U CN209167538 U CN 209167538U
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Abstract
The utility model provides a kind of time flight depth camera, connect the processing circuit for calculating the flight time between transmitting light beam and the reflected beams including the emitting mould train for emitting light beam, the acquisition mould group for acquiring the reflected beams and with emitting mould train, acquisition mould group.Wherein emitting mould train includes light source, time optical modulator and spatial light modulator, time optical modulator issues corresponding carrier wave light beam for controlling light source with a time carrier signal, and spatial light modulator is used to carrier wave light beam carrying out spatial modulation to launch outward to form non-floodlight carrier wave light beam；Acquisition mould group includes array pixel cells and lens unit, and lens unit is for receiving and at least partly non-floodlight carrier wave light beam being reflected back by object being imaged at least partly array pixel cells.Non- floodlight carrier wave light beam is formed to the modulation of light source by time optical modulator and spatial light modulator, to promote time flight depth camera to the anti-interference ability of environment light, and reduces power consumption.
Description
Technical field
The utility model belongs to field of computer technology, is to be related to a kind of time flight depth camera more specifically.
Background technique
Time fly (Time of flight, TOF) depth camera by measuring beam flight time in space come
The distance for calculating object is widely used in consumer electronics, unmanned frame since it has many advantages, such as that precision is high, measurement range is big
It sails, the fields such as AR/VR.
Traditional time flight depth camera system includes a light source and camera, and light source emits floodlight to object space
To provide illumination, camera is then imaged the flood beam being reflected back light beam, and system passes through again calculates light beam by being emitted to instead
The time required for receiving is penetrated to calculate the distance of object.When carrying out distance sensing using time flight depth camera, environment
Light interference influences whether the precision of measurement, such as when ambient light intensity is higher or even floods the floodlight of light source, it will be difficult to differentiate
The light beam of light source is so that there is biggish measurement error out.
In existing technology can by increase the electronic methods such as the optical means such as optical filter and setting subtraction circuit come
Background Xanthophyll cycle is carried out, is missed however, measurement caused by ambient light interference still inherently cannot be eliminated or be reduced to these methods
Difference.
Utility model content
The utility model is in order to solve to lack in the prior art a kind of time flight depth camera that environment resistant optical property is good
The problem of, a kind of time flight depth camera is provided.
To solve the above-mentioned problems, the technical solution adopted in the utility model is as described below:
A kind of time flight depth camera, including for emitting light beam emitting mould train, for acquiring adopting for the reflected beams
Collect mould group and connect the place for calculating the flight time between transmitting light beam and the reflected beams with emitting mould train, acquisition mould group
Manage circuit.Wherein emitting mould train includes light source, time optical modulator and spatial light modulator, and time optical modulator is for controlling
Light source issues corresponding carrier wave light beam with a time carrier signal, and spatial light modulator is used to carrier wave light beam carrying out space tune
System is launched outward with forming non-floodlight carrier wave light beam；Acquiring mould group includes array pixel cells and lens unit, lens unit
For receiving and at least partly non-floodlight carrier wave light beam being reflected back by object being imaged at least partly array pixel cells.
In one embodiment, the processing circuit is also used to calculate the distance of the object according to the flight time.
In one embodiment, the time carrier signal includes pulse signal, square-wave signal, one in sine wave signal
Kind.
In one embodiment, the spatial light modulator includes diffraction optical element, the non-floodlight carrier wave light beam packet
Include speckle carrier wave light beam or regular array spot carrier wave light beam.In the speckle carrier wave light beam or regular array spot carrier wave light beam
Spot will be imaged at least two pixel unit of the array pixel cells.The speckle carrier wave light beam or regular array
The distance between spot in spot carrier wave light beam is no more than the size of the spot.
In one embodiment, the spatial light modulator includes mask plate, and the non-floodlight carrier wave light beam includes two dimension
Coding pattern carrier wave light beam.
In one embodiment, the spatial light modulator includes MEMS scanner.MEMS scanner surface includes
Balzed grating,.
In one embodiment, the array pixel cells include one of CCD, CMOS, SPAD.
It in one embodiment, include multiple sub-pixel lists being made of at least two pixels in the array pixel cells
Member, each sub-pixel unit is for receiving and at least partly described non-floodlight carrier wave light beam being reflected back by object being imaged.It is described
Each pixel in sub-pixel unit is configured as being activated in different time to acquire the light of non-floodlight carrier wave light beam letter
Number, the processing circuit calculates the distance of the flight time and/or object based on the optical signal.
The utility model has the following beneficial effects: providing a kind of time flight depth camera, pass through time optical modulator
And spatial light modulator forms non-floodlight carrier wave light beam to the modulation of light source, to promote the time flight depth camera to ring
The anti-interference ability of border light, and reduce power consumption.
Detailed description of the invention
Fig. 1 is the time flight depth camera schematic diagram according to the application one embodiment.
Fig. 2 is the emitting mould train schematic diagram according to the application one embodiment.
Fig. 3 is the emitting mould train schematic diagram according to another embodiment of the application.
Fig. 4 is the array pixel cells schematic diagram according to the application one embodiment.
Fig. 5 is the flight time calculation method step schematic diagram according to the application one embodiment.
Specific embodiment
In order to keep the utility model embodiment technical problem to be solved, technical solution and beneficial effect more clear bright
White, with reference to the accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that described herein
Specific embodiment is only used to explain the utility model, is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.In addition, connection can be for fixing
Effect is also possible to act on for circuit communication.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of description the utility model embodiment and simplifies description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the utility model embodiment, the meaning of " plurality " is two or
Two or more, unless otherwise specifically defined.
The utility model provides a kind of time flight depth camera, with stronger environment resistant light ability, Ke Yili
The problem of solution, this programme is in addition to can solve ambient light interference, it also can solve other problems, such as the problem that power consumption is high
Deng.
Fig. 1 is the time flight depth camera schematic diagram according to the utility model one embodiment.Time flight depth phase
Machine 10 includes emitting mould train 11, acquisition mould group 12 and processing circuit 13, and wherein emitting mould train 11 provides transmitting light beam 30 to mesh
It marks in space to illuminate the object 20 in space, at least partly transmitting light beam 30 forms the reflected beams 40 after the reflection of object 20,
At least partly collected mould group 12 of the reflected beams 40 acquires, processing circuit 13 respectively with emitting mould train 11 and acquisition mould group 12
Connection, synchronized transmissions mould group 11 and the trigger signal for acquiring mould group 12 are issued and are collected to calculate light beam by emitting mould train 11
Mould group 12 receives required time, i.e. flight time t between transmitting light beam 30 and the reflected beams 40, further, object
The distance D of upper corresponding points can be calculated by following formula:
D=ct/2 (1)
Wherein, c is the light velocity.
Emitting mould train 11 includes light source 111, time optical modulator 112 and spatial light modulator 113.Light source 111 can be with
It is the light sources such as light emitting diode (LED), edge-emitting laser (EEL), vertical cavity surface emitting laser (VCSEL), is also possible to
The array of source of multiple light sources composition, the light beam that light source is emitted can be visible light, infrared light, ultraviolet light etc..
Time optical modulator 112 provides a time carrier signal to light source 111, is emitted accordingly with controlling light source 111
Carrier wave light beam.For example, in one embodiment, carrier signal is the pulse signal with certain frequency, and light source 111 is with the frequency
Emit pulsed light beam, can be used in direct time flight method (Direct TOF) measurement；In one embodiment, carrier signal
It is the square-wave signal or sinusoidal signal with certain wavelength, the amplitude of light source 111 is emitted accordingly by the carrier signal modulation
Square wave light beam or sine wave light beam, can be used for indirect flight Time Method (Indirect TOF) measurement in.It is understood that
It is that time optical modulator 112 can be independent control circuit and be also possible to processing circuit 13, for example processing circuit 13 passes through tune
The power of light source processed realizes the carrier modulation to light source amplitude.The frequency of carrier signal is set according to measurement distance, such as
1MHz~100MHz can be set into, measure distance at several meters to several hundred rice.
Spatial light modulator 113 receives the carrier wave light beam from light source 111, and carrier wave light beam is carried out spatial modulation, i.e.,
The distribution of carrier wave light beam in space is modulated to form the non-uniform non-floodlight carrier wave light beam of intensity distribution and launch outward.
Compared with traditional flood beam, since the intensity distribution of non-flood beam is uneven, in the identical situation of light source power, by force
Degree, which is distributed higher region, will have to the higher interference free performance of environment light；In addition, in the identical situation of projection field angle,
Due to the inhomogeneities of intensity distribution, base will reach identical environment light interference free performance, and floodlighting needs higher power consumption.
In some embodiments, the carrier wave light beam that spatial light modulator 113 is also used to receive expands, to expand
Field angle.
Processing circuit 13 can be independent special circuit, such as Special SOC chip, fpga chip, asic chip etc.,
Also it may include general processor, such as when the depth camera is integrated into such as mobile phone, TV, in computer intelligent terminal,
Processor in terminal can be used as at least part of the processing circuit 13.
In some embodiments, time flight depth camera 10 can also include the devices such as color camera, infrared camera, IMU
Function more abundant, such as the modeling of 3D texture, infrared face recognition, SLAM etc. may be implemented in part, the combination with these devices
Function.
Fig. 2 is the emitting mould train schematic diagram according to the utility model one embodiment.Emitting mould train 11 include light source 201,
Driving circuit 202, lens 203 and diffraction optical element (DOE) 204, Power x Time tune of the light source 201 in driving circuit 202
The light beam of the lower transmitting pulse of system, square wave or sine wave modulation, light beam are incident on DOE204 after the collimation of lens 203 or focusing,
DOE204 carries out spatial modulation, i.e. diffraction to incident light beam.In one embodiment, DOE204 divides incident light beam
Beam, and launch multiple light beams 301,302 and 303, such as tens of thousands of light beams into object space, every light beam is in object 20
Surface formed a spot.In one embodiment, DOE204 (will be referred to by the diffraction formation rule arrangement to incident beam
The angular variation of each spot is uniformly distributed, regularly arranged to be incident on 3D body surface, and arrangement can be reconstructed) array of spots.?
In one embodiment, DOE204 will form speckle pattern by diffraction to incident beam, i.e., spot arrangement have it is certain with
Machine.
Light source 201 can be single source and be also possible to array of source.In one embodiment, light source 201 is by rule
The array of source of multiple light sources composition, for example be made of the VCSEL light source of semiconductor substrate and multiple arrangements on substrate
VCSEL array chip.The array beams that DOE204 emits light source 201 replicate, the non-flood beam launched outward by
The array beams of multiple duplications form, it is possible thereby to expand the quantity of field angle and light beam.
In some embodiments, the spatial light modulator in emitting mould train 11 also may include mask plate, wrap on mask plate
Containing the two-dimensional pattern that incident beam is modulated into non-flood beam, such as can be by incident beam through spatial modulation by mask plate
Form two-dimensional encoded pattern beam.
In some embodiments, the spatial light modulator in emitting mould train 11 also may include microlens array, lenticule
Array is arranged by multiple lenticule units, and in one embodiment, multiple lenticule units receive the light from light source 201
Array beams corresponding with the arrangement of lenticule unit are generated after beam to launch outward；In one embodiment, light source 201 also comprising with
Corresponding multiple sub-light sources are arranged in microlens array, each lenticule unit receives the light beam of corresponding sub-light source simultaneously
Array beams are launched outward after collimation or focusing.Array beams can be random alignment form and be also possible to regularly arranged form.
Fig. 3 is the emitting mould train schematic diagram according to another embodiment of the utility model.Emitting mould train 11 includes light source
303, driving circuit 304, optical beam scanner 305, can also include lens unit (not shown), and light source 303 issues light beam
Emit after 305 reflections of optical beam scanner/diffraction to object space.Driving circuit 304 carries out timing algorithm for power modulation to light source 201
To emit pulse, square wave or the light beam of sine wave modulation, optical beam scanner 305 is by rotating along uniaxial or multiaxis to send out light beam
It is mapped to object space.Optical beam scanner includes MEMS (MEMS) scanner in one embodiment, due to high
Scan frequency and lesser volume, can make emitting mould train have lesser volume and higher performance.MEMS is swept
Retouching device can be scanned with the frequency of 1MHz~20MHz, therefore can provide enough spaces and temporal resolution.Pass through drive
The configuration of dynamic circuit 304 and optical beam scanner 305 can carry out space and time-modulation to the light beam that light source 303 is launched
To generate multiple patterns beam exit, such as regular speckle patterns, candy strip, the space pattern of Sine distribution etc..
In one embodiment, light source 303 is laser light source, its surface of MEMS scanner 305 includes balzed grating, thus
Striped can be generated in a predetermined direction, and more dense candy strip can produce by scanning in MEMS scanner 305, by
The resolution ratio of depth image can be improved in this.
In some embodiments, optical beam scanner 305 is also possible to liquid crystal light modulator, nano chips modulator etc..
Fig. 1 is returned to, acquisition mould group 12 includes array pixel cells 121, lens unit 122, and lens unit 122 receives and will
It is imaged on at least partly described array pixel cells 121 by at least partly non-floodlight carrier wave light beam that object is reflected back.Array
Pixel unit 121 can be charge coupled cell (CCD), complementary metal oxide semiconductor (CMOS), avalanche diode (AD),
The array pixel cells of the compositions such as single-photon avalanche diode (SPAD), array size represent the resolution ratio of the depth camera,
Such as 320x240 etc..Generally, what is connect with array pixel cells 121 further includes by signal amplifier, time to digital converter device
(TDC), the reading circuit (not shown) of one of devices such as analog-digital converter (ADC) or a variety of compositions.
Fig. 4 is the array pixel cells schematic diagram according to the utility model one embodiment.Array pixel cells 40 include
Multiple pixel units 401, for receiving the light beam being reflected back by object, and by light energy or photon numbers be converted into electric signal by
Reading circuit 50 exports.In this embodiment it is assumed that the speckle pattern being made of multiple spots 60 being reflected back by object, leads to
The setting to lens, emitting mould train etc. is crossed, spot can be configured to suitable size to be imaged on array pixel cells.Than
In the present embodiment, the size of spot about occupies 4 pixel regions.It is understood that the size of spot also can be set into
The pixel region of single pixel, two pixels or other quantity, such array pixel cells 40 are divided according to incident light beam
At multiple sub-pixel unit regions.
In this embodiment it is assumed that individually stigmatic image is on the sub-pixel unit that tetra- pixels of A, B, C, D form, speckle
For spot amplitude in pattern by sine wave or square-wave frequency modulation, the period of modulation is T.A, tetra- pixels of B, C, D are configured to single
Activated on the different time in cycle time, for example, respectively 0~T/2, T/2~T, T/4~3T/4, in 3T/4~5T/4 time
It is activated to acquire light beam, respectively obtains optical signal value I1, I2, I3 and I4.Due to it is corresponding in four pixels be same
Spot, when spot is sufficiently small, the corresponding object of spot may be considered a point, that is, think the depth value phase in four pixels
Together, it is based on this, processing circuit can be according to four-stepped switching policy, and the distance value of spot is (when including flight in tetra- pixels of A, B, C, D
Between) will be calculated by following formula:
D=CTatan2 (I1-I3, I4-I2)/(4 π) (2)
It is understood that the size of spot can carry out designing adjustment accordingly for multistep phase shift.
In some embodiments, spot is configured to the size of 2 pixel units, such as at ellipticity.Spot amplitude quilt
Impulse modulation, pulse period T, one in 2 pixel units is activated with emitting mould train impulsive synchronization, and in 0~T/2
Interior reception light beam, another receives light beam in T/2~T time, generates electric signal I1, I2 respectively.Then 2 pixels are corresponding
The depth value (include flight time) of target object can be calculated by following formula:
In some embodiments, spot is configured to the size of the above pixel unit of at least three.Spot amplitude is by pulse tune
It makes, pulse period T, at least three in multiple pixel units acquires background light signal I0 within 0~T/3 time respectively, in T/
3~2T/3 acquires optical signal I1, acquires optical signal I2 in 2T/3~T.Or 0~T/3 time interior acquisition optical signal I1, T/3~
2T/3 acquires optical signal I2, and 2T/3~T acquires background light signal I0, can calculate the distance value of target object accordingly
The above is only how being carried out apart from calculating using speckle pattern to better illustrate, and that enumerates several possible adjusts
System and be applied equally to apart from depth calculation mode, other possible modulation systems and distance calculation formula it is proposed that it is non-
Flood light pattern.
In order to increase the resolution ratio of depth image, in some embodiments, the distance between adjacent spots be should not be too large, excellent
Selection of land, the distance between adjacent spots along a direction are configured to be no more than 1 times of spot itself size in the direction, such as
Spot lateral dimension is M, adjacent spots transversely between be divided into N, then N < M, preferably, N is configured to the 50% of M.
This scheme by the way that the multiple pixels fallen into same blob are carried out with timing control and approximate calculation depth value,
For the calculating of traditional single pixel, computational efficiency is increased dramatically.And for flood light pattern, due to single
The range of spot is smaller, and the multiple pixels dropped into single spot can be identified that (flood light pattern can not be positioned at phase
Consistent multiple pixels), calculated depth value confidence level is higher.
It is understood that be illustrated so that spot is formed by non-floodlight carrier wave light beam as an example in the embodiment above
, above scheme is equally applicable to other non-floodlight carrier wave light beams, such as striped, two-dimensional encoded pattern etc..
Fig. 5 is the flight time calculation method step schematic diagram according to the application one embodiment.The flight time calculates
Method is to be executed according to above-mentioned time flight depth camera by forms such as processing circuit, software, software and hardware combinings.In 511 steps
In, non-floodlight carrier wave light beam, emitting mould train such as Fig. 2, Fig. 3 and above-mentioned each embodiment institute are launched outward using emitting mould train
Show, the non-floodlight carrier wave light beam emitted includes the carrier light of the non-floodlight forms such as speckle, regular spot, two-dimensional encoded, striped
Beam；In 512 steps, at least partly described non-floodlight carrier wave light beam being reflected back by object, transmitting are acquired using acquisition mould group
Mould group launches the object after light beam in illumination target space, and is reflected by object, and what is be reflected back is at least partly described non-general
Light carrier light beam is received by collected mould group, acquires mould group as shown in Fig. 4 and the various embodiments described above；In step 513, calculate
Flight time between the non-floodlight carrier wave beam emissions and reflection passes through the side such as phase, high-speed shutter by processing circuit
Formula record and calculate the non-floodlight carrier wave light beam of transmitting and the light beam that is reflected back between flight time, specific calculation
It is detailed in the description of front, such as 2 phases, 3 phases and 4 phase calculation modes.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is only limited to these instructions.For those skilled in the art of the present invention
For, without departing from the concept of the premise utility, several equivalent substitute or obvious modifications, and performance can also be made
Or purposes is identical, all shall be regarded as belonging to the protection scope of the utility model.
Claims (12)
1. a kind of time flight depth camera characterized by comprising
Emitting mould train, for emitting light beam, comprising: light source, time optical modulator and spatial light modulator, the time light tune
Device processed issues corresponding carrier wave light beam for controlling the light source with a time carrier signal, and the spatial light modulator is used for
The carrier wave light beam is carried out spatial modulation to launch outward to form non-floodlight carrier wave light beam；
Mould group is acquired, for acquiring the reflected beams, comprising: array pixel cells and lens unit, the lens unit are used for
It receives and at least partly described non-floodlight carrier wave light beam being reflected back by object is imaged on at least partly described pixelated array list
In member；
Processing circuit is connect with the emitting mould train and the acquisition mould group, for calculating the transmitting light beam and described anti-
Flight time between irradiating light beam.
2. time flight depth camera according to claim 1, which is characterized in that the processing circuit is also used to according to institute
State the distance that the flight time calculates the object.
3. time flight depth camera according to claim 1, which is characterized in that the time carrier signal includes pulse
One of signal, square-wave signal, sine wave signal.
4. time flight depth camera according to claim 1, which is characterized in that the spatial light modulator includes diffraction
Optical element or microlens array, the non-floodlight carrier wave light beam include speckle carrier wave light beam or regular array spot carrier light
Beam.
5. time flight depth camera according to claim 4, which is characterized in that the speckle carrier wave light beam or regular battle array
Spot in column spot carrier wave light beam will be imaged at least two pixel unit of the array pixel cells.
6. time flight depth camera according to claim 4, which is characterized in that the speckle carrier wave light beam or regular battle array
The distance between spot in column spot carrier wave light beam is no more than the size of the spot.
7. time flight depth camera according to claim 1, which is characterized in that the spatial light modulator includes exposure mask
Plate, the non-floodlight carrier wave light beam include two-dimensional encoded pattern carrier wave light beam.
8. time flight depth camera according to claim 1, which is characterized in that the spatial light modulator includes MEMS
Scanner.
9. time flight depth camera according to claim 8, which is characterized in that MEMS scanner surface includes dodging
Credit grating.
10. time flight depth camera according to claim 1, which is characterized in that the array pixel cells include
One of CCD, CMOS, SPAD.
11. time flight depth camera according to claim 1, which is characterized in that include in the array pixel cells
Multiple sub-pixel units being made of at least two pixels, each sub-pixel unit are used to receive and be imaged and be reflected back by object
At least partly described non-floodlight carrier wave light beam.
12. time flight depth camera according to claim 11, which is characterized in that each in the sub-pixel unit
Pixel is configured as being activated in different time to acquire the optical signal of the non-floodlight carrier wave light beam, and the processing circuit is based on
The optical signal calculates the distance of the flight time and/or object.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343070A (en) * | 2018-11-21 | 2019-02-15 | 深圳奥比中光科技有限公司 | Time flight depth camera |
| CN110596725A (en) * | 2019-09-19 | 2019-12-20 | 深圳奥锐达科技有限公司 | Time-of-flight measurement method and system based on interpolation |
| WO2021128587A1 (en) * | 2019-12-28 | 2021-07-01 | 深圳奥比中光科技有限公司 | Adjustable depth measuring device and measuring method |
| WO2021169531A1 (en) * | 2020-02-25 | 2021-09-02 | 奥比中光科技集团股份有限公司 | Tof depth measurement apparatus, method for controlling tof depth measurement apparatus, and electronic device |
| KR20210144247A (en) * | 2020-05-22 | 2021-11-30 | 엘지이노텍 주식회사 | Camera module |
| CN113805187A (en) * | 2020-05-27 | 2021-12-17 | 深圳阜时科技有限公司 | Time of flight TOF devices and electronics |
| CN114355384A (en) * | 2020-07-07 | 2022-04-15 | 柳州阜民科技有限公司 | Time-of-flight TOF system and electronic device |
| CN114779487A (en) * | 2022-04-28 | 2022-07-22 | 深圳市安思疆科技有限公司 | Optical device and optical system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343070A (en) * | 2018-11-21 | 2019-02-15 | 深圳奥比中光科技有限公司 | Time flight depth camera |
| CN110596725A (en) * | 2019-09-19 | 2019-12-20 | 深圳奥锐达科技有限公司 | Time-of-flight measurement method and system based on interpolation |
| CN110596725B (en) * | 2019-09-19 | 2022-03-04 | 深圳奥锐达科技有限公司 | Time-of-flight measurement method and system based on interpolation |
| WO2021128587A1 (en) * | 2019-12-28 | 2021-07-01 | 深圳奥比中光科技有限公司 | Adjustable depth measuring device and measuring method |
| WO2021169531A1 (en) * | 2020-02-25 | 2021-09-02 | 奥比中光科技集团股份有限公司 | Tof depth measurement apparatus, method for controlling tof depth measurement apparatus, and electronic device |
| KR20210144247A (en) * | 2020-05-22 | 2021-11-30 | 엘지이노텍 주식회사 | Camera module |
| KR102754179B1 (en) | 2020-05-22 | 2025-01-14 | 엘지이노텍 주식회사 | Camera module |
| CN113805187A (en) * | 2020-05-27 | 2021-12-17 | 深圳阜时科技有限公司 | Time of flight TOF devices and electronics |
| CN114355384A (en) * | 2020-07-07 | 2022-04-15 | 柳州阜民科技有限公司 | Time-of-flight TOF system and electronic device |
| CN114355384B (en) * | 2020-07-07 | 2024-01-02 | 柳州阜民科技有限公司 | Time-of-flight TOF system and electronic device |
| CN114779487A (en) * | 2022-04-28 | 2022-07-22 | 深圳市安思疆科技有限公司 | Optical device and optical system |
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