CN-224231977-U - Underwater depth camera

CN224231977UCN 224231977 UCN224231977 UCN 224231977UCN-224231977-U

Abstract

The underwater depth camera comprises an emitting module, a receiving module, a driving IC and a shell, wherein the emitting module is used for emitting polarized structure light, the receiving module comprises a receiving lens, a narrow-band polarized filter, a SPAD sensor and a driving IC, the receiving lens is used for collecting reflected light, the narrow-band polarized filter is located on a light path of the receiving lens and used for enabling light of a specific wave band to pass through, the SPAD sensor is used for receiving the light passing through the narrow-band polarized filter, the driving IC can simultaneously open and close the emitting module and the receiving module, and the shell is hermetically packaged and a light-transmitting window is reserved on the light paths of the emitting module and the receiving module. The utility model effectively improves the accuracy of underwater modeling and obstacle avoidance and the suitability of the underwater modeling and obstacle avoidance to different application scenes.

Inventors

HUANG RUIBIN
LV FANGLU
ZHU LI
WANG BO

Assignees

深圳市光鉴科技有限公司
重庆光鉴傲深科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250427

Claims (10)

1. An underwater depth camera is characterized by comprising a transmitting module, a receiving module, a driving IC and a shell, wherein, The emitting module is used for emitting polarized structured light; the receiving module comprises: The receiving lens is used for collecting reflected light; The narrow-band polarizing filter is positioned on the light path of the receiving lens and is used for enabling light of a specific wave band to pass through; The SPAD sensor is used for receiving the light passing through the narrow-band polarized filter; The driving IC can simultaneously open and close the transmitting module and the receiving module; The shell is hermetically packaged, and a light-transmitting window is reserved on the light paths of the transmitting module and the receiving module.
2. The underwater depth camera of claim 1, further comprising a processor configured to calculate a depth map using parallax from signals received by the SPAD sensor.
3. The underwater depth camera of claim 1, wherein the light transmission window in front of the transmit module and the light transmission window in front of the receive module are spaced apart.
4. The underwater depth camera of claim 1, wherein the narrow-band polarizing filter has a metal wire grid on a side near the receiving lens, which can filter light rays and transmit light with a specific polarization direction.
5. The underwater depth camera of claim 1, wherein a side of the narrow-band polarizing filter, which is close to the SPAD sensor, is coated with a multi-layer dielectric film, so that light rays with a specific wavelength are transmitted, and light rays with other wavelengths are blocked.
6. The underwater depth camera of claim 1, wherein the emission module comprises a laser, a collimator lens, a microlens array, a projection lens; The laser is a blue-green light wave band laser diode; the collimating mirror is positioned on the emergent light path of the laser; The micro lens array is positioned between the collimating lens and the projection lens and is used for forming speckles; And the object plane of the projection lens is conjugate with the focal plane of the micro lens array, and the speckle pattern of the focal plane is projected out to form the speckle pattern.
7. The underwater depth camera of claim 5, further comprising a prism between the collimator lens and the microlens array, wherein a slant surface is coated with a metal film or a highly reflective dielectric film for changing a direction of an optical path.
8. The underwater depth camera of claim 5, wherein one side of the microlens array is planar and the other side contains microlenses arranged randomly and the average pitch of the microlenses is smaller than the diameter, and the microlens boundaries overlap.
9. The underwater depth camera of claim 5, wherein the collimating lens comprises a first free-form surface lens and a second free-form surface lens; The first free-form surface lens is used for shaping the light beam emitted by the laser into a rectangular light spot; the second free-form surface lens is used for adjusting the direction of the light beam into parallel light.
10. The underwater depth camera of claim 1, wherein the housing employs a honeycomb-shaped inner support structure.

Description

Underwater depth camera Technical Field The utility model relates to the technical field of depth cameras, in particular to an underwater depth camera. Background In underwater unmanned equipment such as swimming pool cleaning robots and submarines, an ultrasonic sensor is generally used for realizing environmental perception and obstacle avoidance. Ultrasonic sensors, although widely used, have some limitations. Comprising the following steps: Environmental factors the measurement accuracy of the ultrasonic sensor may be affected by temperature, environmental noise, etc. The soft materials influence that the soft materials such as fabrics, pasture and water, jellyfish and the like in water and tiny objects have slight refraction deviation on sound waves, and obvious reflection cannot be formed, so that a receiver is difficult to detect a target. Measurement accuracy-the measurement accuracy of ultrasonic sensors is typically in the order of centimeters and may not be accurate enough for applications requiring higher accuracy. The beam angle of the ultrasonic sensor is large, the directivity is poor, which may cause instability of ranging. The foregoing background is only for the purpose of providing an understanding of the inventive concepts and technical aspects of the present utility model and is not necessarily prior art to the present application and is not intended to be used as an aid in the evaluation of the novelty and creativity of the present application in the event that no clear evidence indicates that such is already disclosed at the filing date of the present application. Disclosure of utility model Therefore, the utility model provides the underwater depth camera which uses the blue light structured light as the light source, has the advantages of high environmental adaptability, capability of measuring flexible objects, high measurement precision and stable underwater penetration distance, and can be applied to underwater unmanned equipment such as swimming pool cleaning robots, underwater vehicles and the like to effectively improve the underwater modeling and obstacle avoidance precision and the suitability for different application scenes. The utility model provides an underwater depth camera, which is characterized by comprising a transmitting module, a receiving module, a driving IC and a shell, wherein, The emitting module is used for emitting polarized structured light; the receiving module comprises: The receiving lens is used for collecting reflected light; The narrow-band polarizing filter is positioned on the light path of the receiving lens and is used for enabling light of a specific wave band to pass through; The SPAD sensor is used for receiving the light passing through the narrow-band polarized filter; The driving IC can simultaneously open and close the transmitting module and the receiving module; The shell is hermetically packaged, and a light-transmitting window is reserved on the light paths of the transmitting module and the receiving module. Optionally, the underwater depth camera is characterized by further comprising a processor, wherein the processor is used for calculating a depth map by utilizing parallax according to signals received by the SPAD sensor. Optionally, the underwater depth camera is characterized in that a light-transmitting window in front of the transmitting module and a light-transmitting window in front of the receiving module are separated. Optionally, the underwater depth camera is characterized in that a metal wire grid is arranged on one side of the narrow-band polarizing filter, which is close to the receiving lens, and the narrow-band polarizing filter can filter light rays and enable light rays with a specific polarization direction to pass through. Optionally, the underwater depth camera is characterized in that a multilayer dielectric film is plated on one side of the narrow-band polarizing filter, which is close to the SPAD sensor, so that light rays with specific wavelengths penetrate, and light rays with other wavelengths are cut off. Optionally, the underwater depth camera is characterized in that the transmitting module comprises a laser, a collimating mirror, a micro lens array and a projection lens; The laser is a blue-green light wave band laser diode; the collimating mirror is positioned on the emergent light path of the laser; The micro lens array is positioned between the collimating lens and the projection lens and is used for forming speckles; And the object plane of the projection lens is conjugate with the focal plane of the micro lens array, and the speckle pattern of the focal plane is projected out to form the speckle pattern. Optionally, the underwater depth camera is characterized by further comprising a prism, wherein the prism is positioned between the collimating mirror and the micro lens array, and the inclined plane is plated with a metal film or a high-reflection dielectric film and is used for changing the di