阅读说明：本技术 三维感测装置 (Three-dimensional sensing device ) 是由 陈贻光 陈信文 李静伟 陈家纬 丁盛杰 于 2019-01-08 设计创作，主要内容包括：本发明涉及一种三维感测装置,包括：第一摄像头、第二摄像头、驱动部件以及图像处理器,所述第一摄像头位置固定,所述第二摄像头与所述驱动部件连接,所述图像处理器电性连接于所述驱动部件、所述第一摄像头及第二摄像头；所述驱动部件能根据待测物体的景深驱动所述第二摄像头相对第一摄像头运动,从而第一摄像头及第二摄像头分别拍摄位于第一摄像头及第二摄像头重叠视场角范围内的物体的图像,所述图像处理器对第一摄像头及第二摄像头分别拍摄的图像进行处理以感测识别所述待测物体的三维影像。(The invention relates to a three-dimensional sensing device comprising: the camera comprises a first camera, a second camera, a driving part and an image processor, wherein the first camera is fixed in position, the second camera is connected with the driving part, and the image processor is electrically connected with the driving part, the first camera and the second camera; the driving part can drive the second camera to move relative to the first camera according to the depth of field of the object to be detected, so that the first camera and the second camera respectively shoot images of the object located in the range of the overlapped field angle of the first camera and the second camera, and the image processor processes the images respectively shot by the first camera and the second camera to sense and recognize the three-dimensional image of the object to be detected.)

1. A three-dimensional sensing device, comprising: first camera, second camera, driver part and image processor, its characterized in that: the first camera is fixed in position, the second camera is connected with the driving part, and the image processor is electrically connected with the driving part, the first camera and the second camera; the driving part can drive the second camera to move relative to the first camera according to the depth of field of the object to be detected, so that the first camera and the second camera respectively shoot images of the object to be detected within the range of the overlapped field angle of the first camera and the second camera, and the image processor processes the images respectively shot by the first camera and the second camera to sense and identify the three-dimensional image of the object to be detected.

2. The three-dimensional sensing device according to claim 1, further comprising a distance sensing unit electrically connected to the image processor, the distance sensing unit being configured to sense a vertical distance from a horizontal connection line of the first camera and the second camera to a feature point on the object to be measured and transmit the sensed vertical distance to the image processor.

3. The three-dimensional sensing device according to claim 2, wherein the three-dimensional sensing device further comprises a base and a main circuit board disposed on the base, the main circuit board having a first electrical connector disposed thereon, the image processor being disposed on the main circuit board, the first camera being disposed on the main circuit board via the first electrical connector.

4. The three-dimensional sensing device according to claim 3, further comprising a rigid-flex board partially disposed on the base, wherein the rigid-flex board comprises a rigid board, a flexible board extending from one end of the rigid board, and a second electrical connector connected to one end of the flexible board, the second electrical connector is fixed to the main circuit board, and the second camera is fixed and electrically connected to the rigid board.

5. The three-dimensional sensing device according to claim 4, wherein the driving part is provided on the base, the driving part includes a driving body, a driving shaft connected to the driving body, and a moving block connected to the driving shaft, the driving body can drive the moving block to move along the driving shaft, and the second camera is fixed to the moving block.

6. The three-dimensional sensing device according to claim 5, wherein the base includes a first protrusion and a rail portion spaced apart from the first protrusion, the first camera is disposed on the first protrusion, the motion block is disposed on the rail portion, and the driving body can drive the motion block to move along the rail portion.

7. The three-dimensional sensing device according to claim 6, wherein the guide rail portion includes a base plate connected to the base, and a first flat plate provided on the base plate, both ends of the first flat plate in the width direction are respectively located outside both ends of the base plate in the width direction, and the base, the base plate, and the first flat plate together form two parallel sliding grooves.

8. The three-dimensional sensing device according to claim 7, wherein said motion block comprises a second plate and two opposite L-shaped connecting arms perpendicularly connected to said second plate, said L-shaped connecting arms engaging said rail portion to slide along said slide slot.

9. The three-dimensional sensing device according to claim 8, wherein a fixing block is protruded from a surface of one of the L-shaped connecting arms facing away from the other L-shaped connecting arm, the fixing block is provided with a fixing hole, and the driving shaft passes through the fixing hole so that the driving body drives the moving block to move.

10. The three-dimensional sensing device according to claim 3, further comprising an outer frame covering the base, and a transparent cover covering the upper end of the outer frame to seal the first and second cameras.

Technical Field

The invention relates to a three-dimensional sensing device.

Background

With the continuous improvement of the technological level, people continuously learn various knowledge from organisms to perform bionic research; scientists invent three-dimensional camera shooting by simulating the capture and processing of human eyes to signals, and with the continuous development of three-dimensional imaging technology, people have more and more great requirements on equipment with three-dimensional camera shooting functions, for example, the realization of three-dimensional camera shooting by utilizing portable mobile terminals such as mobile phones, tablet computers, notebook computers and the like becomes a current research hotspot, terminal equipment equipped with rear double cameras or front double cameras in the prior art is mature, not only is the picture shot by the double cameras clearer and the image quality better, but also the double cameras can support depth-of-field shooting, realize background blurring and highlight shooting objects; the functions of face recognition, scanning, unlocking, man-machine interaction games and the like can be realized, but the distance between the two existing double cameras is relatively fixed, so that three-dimensional sensing in a preset distance range can be realized.

Disclosure of Invention

A three-dimensional sensing device, comprising: the camera comprises a first camera, a second camera, a driving part and an image processor, wherein the first camera is fixed in position, the second camera is connected with the driving part, and the image processor is electrically connected with the driving part, the first camera and the second camera; the driving part can drive the second camera to move relative to the first camera according to the depth of field of the object to be detected, so that the first camera and the second camera respectively shoot images of the object located in the range of the overlapped field angle of the first camera and the second camera, and the image processor processes the images respectively shot by the first camera and the second camera to sense and recognize the three-dimensional image of the object to be detected.

Compared with the prior art, the three-dimensional sensing device provided by the invention comprises a first camera, a second camera, a driving part and an image processor, wherein the driving part can drive the second camera to move relative to the first camera according to the depth of field of an object to be detected so as to change the distance between the second camera and the first camera, and the image processor can obtain a three-dimensional image of the object to be detected according to the depth of field of the object to be detected and images, which are respectively shot by the first camera and the second camera, of the first camera and the second camera within the overlapped field angle range of the first camera and the second camera so as to enlarge the depth of field range sensed by the three-dimensional sensing device and realize 3D sensing/identification in a deeper range.

Drawings

Fig. 1 is a structural diagram of a three-dimensional sensing device provided by the present invention.

Fig. 2 is a structural diagram of the three-dimensional sensor device provided in fig. 1 after the outer frame and the transparent cover are removed.

Fig. 3 is an exploded view of the three-dimensional sensing device provided in fig. 1.

Fig. 4 is a schematic view of the first camera and the second camera of the three-dimensional sensing device shown in fig. 1.

Fig. 5 is a functional block diagram of the three-dimensional sensing device provided in fig. 1.

Fig. 6 is a schematic diagram of the operation of the three-dimensional sensing device provided in fig. 1.

Description of the main elements

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

The three-dimensional sensing device provided by the present invention will be further described in detail with reference to the accompanying drawings and embodiments.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 5, a three-dimensional sensing device 100 according to the present invention is shown. The three-dimensional sensing device 100 includes a first camera 50, a second camera 60, a driving part 20, and an image processor 70.

The first camera 50 is fixed in position, and the second camera 60 is connected to the driving member 20. Referring to fig. 4, the field angle of the first camera 50 is V1, the field angle of the second camera 60 is V2, and the field angle V1 overlaps with the field angle V2 to form a field angle range V3. The angle of view V1 may be the same as or different from the angle of view V2.

The driving component 20 can drive the second camera 60 to move relative to the first camera 50, so that the second camera 60 and the first camera 50 respectively shoot images of the object to be sensed within the range of the overlapping field angle V3 at different angles, and then a three-dimensional image of the object to be sensed can be better synthesized, and of course, the second camera 60 is moved to better focus on the object to be sensed.

The image processor 70 is electrically connected to the driving part 20, the first camera 50 and the second camera 60. The driving component 20 can drive the second camera 60 to move relative to the first camera 50 according to the depth of field of the object to be sensed, so that the first camera 50 and the second camera 60 respectively capture images of the object to be sensed within the overlapping field angle range V3, and the image processor 70 performs image processing on the images captured by the first camera 50 and the second camera 60 and the depth of field to sense and identify a three-dimensional image of the object to be sensed at the depth of field position thereof.

In this embodiment, the three-dimensional sensing device 100 further includes a base 10, a main circuit board 30, a rigid-flex board 40, and a distance sensing unit 110.

The base 10 is substantially rectangular, and includes a first protrusion 12 and a guide portion 14 spaced apart from the first protrusion 12, and the first camera 50 is disposed on the first protrusion 12.

The guide rail portion 14 includes a base plate 140 connected to the base 10 and a first flat plate 142 disposed on the base plate 140, two ends of the first flat plate 142 in the width direction are respectively located outside two ends of the base plate 140 in the width direction, and the base 10, the base plate 140, and the first flat plate 142 together form two parallel sliding grooves 144.

The driving part 20 is disposed on the base 10, and the driving part 20 includes a driving body 22, a driving shaft 24 connected to the driving body 22, and a moving block 26 connected to the driving shaft 24.

The motion block 26 is disposed on the rail portion 14, and the driving body 22 can drive the motion block 26 to move along the rail portion 14. in the present embodiment, the motion block 26 includes a second flat plate 260 and two opposite L-shaped connecting arms 262 perpendicularly connected to the second flat plate 260, and the two opposite L-shaped connecting arms 262 form accommodating portions 264, and the accommodating portions 264 are matched with the sliding grooves 144 of the rail portion 14, so that the motion block 26 can slide along the sliding grooves 144.

The motion block 26 further has a connecting block 266 protruding from a surface of one L-shaped connecting arm 262 facing away from the accommodating portion 264, the connecting block 266 is provided with a through hole 268, and the extending direction of the through hole 268 is the same as the extending direction of the sliding groove 144.

The driving body 22 is disposed on the base 10 and abuts against the first protrusion 12, and the driving shaft 24 penetrates through the through hole 268 to drive the moving block 26 to move along the driving shaft 24 and the sliding groove 144.

The main circuit board 30 is fixed to the surface of the first bump 12. The first camera 50 is fixed and electrically connected to the main circuit board 30. Specifically, the first electrical connector 32 is disposed on the main circuit board 30, the image processor 70 (not shown) is disposed on the main circuit board 30 to be electrically connected to the first camera 50, the second camera 60 and the distance sensing unit 110, and the first camera 50 is electrically disposed on the main circuit board 30 through the first electrical connector 32.

The rigid-flex board 40 includes a rigid board 42, a flexible board 44 extending from one end of the rigid board 42, and a second electrical connector 46 connected to one end of the flexible board 44. The hard plate 42 is disposed on the surface of the moving block 26. The second camera 60 is fixed and electrically connected to the hard board 42. The second electrical connector is electrically connected to the main circuit board 30 through a third electrical connector 48 on the surface of the main circuit board 30, and the length of the flexible board 44 is greater than the distance that the second camera 60 can move relative to the first camera 50.

In the present embodiment, the distance between the optical axis of the first camera 50 and the optical axis of the second camera 60 is S1, and the driving member 20 can drive the second camera 60 to move within a predetermined range on the extension line of S1, and the predetermined range can be determined according to actual requirements.

For example, the distance sensing unit 110 extracts a feature point on the image of the object to be sensed, the feature point may be a center point of the face or a nose tip, and then senses a vertical distance (depth of field) L from the horizontal line connecting the first camera 50 and the second camera 60.

The image processor 70 can receive the distance between the object to be sensed and the three-dimensional sensing device 100 and can receive the images respectively captured by the first camera 50 and the second camera 60, and the image processor 70 can sense the three-dimensional images of the object in different depth ranges according to the depth of field of the object to be sensed and the images respectively captured by the first camera 50 and the second camera 60 within the overlapping range V3. In the prior art, the three-dimensional image finally obtained by using the dual-camera imaging has been outlined, and a method that can synthesize the three-dimensional image by using two images and the depth of field can be used here.

In this embodiment, the three-dimensional sensing device further includes an outer frame 80 and a transparent cover 90, and the outer frame 80 is disposed around the base 10. The transparent cover 90 covers the upper end of the outer frame 80 to seal the first camera 50 and the second camera 60.

The three-dimensional sensing device 100 can sense a human face or an arm of a human, sense the human face for human face recognition, and sense the arm of the human for human-computer interaction, wherein the working principle of the three-dimensional sensing device 100 is that when an object to be detected needs to be sensed and recognized, the object to be detected is positioned in front of the three-dimensional sensing device 100, and the overlapped field angle between the field angle V1 and the field angle V2 is within a range of V3. in FIG. 6, schematic objects A, B, C are all positioned within a range of the overlapped field angle V3 and have different depths of field, wherein the depths of field of the objects A, B, C are L1, L2, L3, and L1 < L3 < L2 respectively.

When the second camera 60 is not moved, that is, the first camera 50 of the three-dimensional sensing device 100 is at the initial position O1, and the second camera 60 is at the initial position O2, the three-dimensional sensing device 100 is used for sensing an object a with an overlapping field angle V3 and a depth of field in a certain range, and in fig. 6, only the object a with a depth of field L1 can be sensed when the second camera 60 is not moved.

Here, if an object B having a depth of field of L2 is to be sensed, first the depth of field L2 is sensed by the distance sensing unit 110, and second the second camera 60 needs to be moved by the driving part 20.

Specifically, the distance sensing unit 110 extracts a feature point on the object image to be sensed, and defines the feature point of the face of the object B as B, the vertical connection line between the feature point B and the horizontal connection line O1O2 of the first camera 50 and the second camera 60 is BD, the distance is L2, the intersection point between the feature point B and the horizontal connection line O1O2 is D, and the intersection point D is the center point of the distance between the first camera 50 and the second camera, since the first camera 50 is fixed, the distance between the first camera 50 and the intersection point D is fixed, so the driving member 20 can control the second camera 60 to move from O2 to O 'according to the distance between the intersection point D and the first camera 50'₂Until the distance from the second camera 60 to the intersection point O is equal to the distance from the first camera 50, i.e., O'₂D＝O1D。

Again, the first camera 50 and the second camera 60 respectively capture images within the range of the overlapping field angle V3, and then the image processor 70 can identify the three-dimensional image of the object according to the images within the range of the overlapping field angle V3 captured by the first camera 50 and the second camera 60 respectively and according to the depth of field L3.

This is also true if the object C at the third depth of field L3 is to be sensed.

The three-dimensional sensing device 100 can be used for face recognition, for example, a plurality of people who need face recognition all stand in front of the three-dimensional sensing device 100, their depth of field from the three-dimensional sensing device 100 is different, and the three-dimensional sensing device 100 can sequentially recognize faces in a certain range in front of the three-dimensional sensing device as long as they are all located in the overlapped viewing angle range of the two cameras. In this way, human movement is not required, but the movement of the second camera 60 is controlled to realize face recognition. That is, when the second camera moves away from the first camera 50, the depth of field range sensed by the three-dimensional sensing device 100 is larger than the depth of field range sensed when the second camera does not move, so that the face recognition in a deeper range is realized.

In summary, the three-dimensional sensing device 100 provided by the present invention includes a first camera 50, a second camera 60, a driving component 20 and an image processor 70, wherein the driving component 20 can drive the second camera 60 to move relative to the first camera 50 according to the depth of field to adjust the distance between the second camera 60 and the first camera 50, and the image processor 70 can obtain three-dimensional images of objects in different depth of field ranges according to the distance D that the second camera 60 moves and the images within the overlapping range V3 captured by the first camera 50 and the second camera 60, respectively, so as to enlarge the depth of field range sensed by the three-dimensional sensing device 100 and achieve 3D sensing/recognition in a deeper range.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.