WO2018195831A1

WO2018195831A1 - Control method, control apparatus and optic inspection device

Info

Publication number: WO2018195831A1
Application number: PCT/CN2017/082066
Authority: WO
Inventors: 赵小虎
Original assignee: 深圳市柔宇科技有限公司
Priority date: 2017-04-26
Filing date: 2017-04-26
Publication date: 2018-11-01
Also published as: CN108521825B; CN108521825A

Abstract

A control method, a control apparatus (10) and an optic inspection device (100). The optic inspection device (100) comprises an imaging apparatus (20), wherein the imaging apparatus (20) comprises a camera module (20a) having an adjustable tilting angle; the camera module (20a) comprises an image sensor (21) and a lens module (22); and the image sensor (21) is arranged on an image side of the lens module (22). The control method is used for the optic inspection device (100), and comprises the following steps: tilting a camera module (20a) at a certain angle relative to an object to be inspected (S11); partitioning a photosensitive pixel array of an image sensor (21) into a plurality of scanning units (S12); scanning data output by the plurality of scanning units to obtain image data having different depth information (S13); and processing the image data to form a depth image (S14).

Description

Control method, control device and optical detection device

Technical field

The present invention relates to the field of optical detection technologies, and in particular, to a control method, a control device, and an optical detection device.

Background technique

The existing AOI (Automatic Optic Inspection) device has only one focal plane. If you want to obtain 3D image data, you need a Z-axis motor to drive the AOI device to move, so that the focal plane moves up and down, and multiple scans are required. The algorithm superimposes image data of different focal planes to obtain 3D image data. On the one hand, this method is limited by the Z-axis accuracy and the accuracy of the motor, and cannot accurately control the movement of the AOI device; on the other hand, it is necessary to scan back and forth multiple times, and cannot scan at high speed.

Summary of the invention

The present invention aims to at least solve one of the technical problems existing in the related art. To this end, embodiments of the present invention are required to provide a control method, a control device, and an optical detecting device.

The control method of the embodiment of the present invention is used for an optical detecting device, the optical detecting device includes an imaging device, and the imaging device includes a camera module with an adjustable tilt angle, and the camera module includes an image sensor and a lens module. The image sensor is disposed on an image side of the lens module, and the control method includes the following steps:

Tilting the camera module at an angle relative to the object to be detected;

Forming the photosensitive pixel array of the image sensor into a plurality of scanning units;

Scanning data output by the plurality of scanning units to obtain image data having different depth information; and

The image data is processed to form a depth image.

The control method of the embodiment of the present invention can obtain image data of different Z-axis heights by performing one scan by tilting the camera module at a certain angle with respect to the object to be detected, and finally the superposition process can form a 3D image.

In some embodiments, the photosensitive pixel array includes a multi-level pixel, and the step of tilting the image sensor by a certain angle specifically includes:

Estimating the height of the object to be tested; and

The camera module is tilted at an angle such that a difference between a height difference of the multi-level pixels and a height of the object to be detected is within a set range.

In some embodiments, the photosensitive pixel array includes a multi-level pixel, and the step of partitioning the photosensitive pixel array of the image sensor into a plurality of scanning units specifically includes:

The photosensitive pixel array is partitioned such that adjacent predetermined order pixels form one of the scanning units.

In some embodiments, the predetermined order satisfies the condition: S = 4K, where S represents the order of the predetermined order, K ≥ 1, and K is an integer.

A control device according to an embodiment of the present invention is used for an optical detecting device, the optical detecting device comprising an imaging device and a driving device, the imaging device comprising a camera module with an adjustable tilt angle, the camera module comprising an image sensor and a lens a module, the image sensor is disposed on an image side of the lens module, and the control device includes:

a control module, the control module is configured to control the driving device to drive the camera module to tilt at a certain angle with respect to the object to be detected;

a partitioning module, configured to partition the photosensitive pixel array of the image sensor into a plurality of scanning units;

a scanning module, configured to scan data output by the plurality of scanning units to obtain image data having different depth information; and

A processing module for processing the image data to form a depth image.

The control device of the embodiment of the present invention can obtain image data of different Z-axis heights by performing one scan by tilting the camera module at a certain angle with respect to the object to be detected, and finally the superimposition process can form a 3D image.

In some embodiments, the photosensitive pixel array includes multi-level pixels, and the control module includes:

An estimating unit, configured to estimate a height of the object to be detected; and

a control unit, configured to control the driving device to drive the camera module to be inclined by a certain angle such that a difference between a height difference of the multi-level pixel and a height of the object to be detected is set Within the range.

In some embodiments, the photosensitive pixel array includes multi-level pixels, and the partitioning module includes:

a partitioning unit for partitioning the photosensitive pixel array such that adjacent predetermined order pixels form one of the scanning units.

An optical detecting device according to an embodiment of the present invention includes:

An imaging device and a driving device, the imaging device comprising a camera module with an adjustable tilt angle, the camera module comprising an image sensor and a lens module, the image sensor being disposed on an image side of the lens module, The image sensor includes an array of photosensitive pixels, the photosensitive pixel array being partitioned to form a plurality of scanning units; and

a control device, the control device is configured to control the driving device to drive the camera module to tilt at a certain angle with respect to the object to be detected, and scan data output by the plurality of scanning units to obtain image data having different depth information, And for processing the image data to form a depth image.

The optical detecting device of the embodiment of the present invention tilts the camera module by a certain angle with respect to the object to be detected The degree is such that image data of different Z-axis heights can be obtained by performing one scan, and finally the superimposition process can form a 3D image.

In some embodiments, the photosensitive pixel array includes multi-level pixels, and the camera module is tilted at an angle such that a difference between a height difference of the multi-level pixels and a height of the object to be detected Within the setting range.

In some embodiments, the photosensitive pixel array includes multi-level pixels, and adjacent predetermined-order pixels form one of the scanning units.

An imaging device and a driving device, the imaging device includes a camera module with an adjustable tilt angle, the camera module includes an image sensor and a lens module, and the image sensor is disposed on an image side of the lens module;

a memory for storing instructions; and

a processor for executing the instructions to:

Controlling the driving device to drive the camera module to tilt at a certain angle with respect to the object to be detected;

The image data is processed to form a depth image.

The optical detecting device of the embodiment of the present invention can obtain image data of different Z-axis heights by performing one scan by tilting the camera module at a certain angle with respect to the object to be detected, and finally the superimposing process can form a 3D image.

In some embodiments, the photosensitive pixel array includes multi-level pixels, and the processor is further configured to:

Estimating the height of the object to be tested; and

Controlling the driving device to drive the camera module to be inclined at an angle such that a difference between a height difference of the multi-level pixels and a height of the object to be detected is within a set range.

Additional aspects and advantages of the embodiments of the invention will be set forth in part in the description.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the appended claims

FIG. 1 is a schematic flow chart of a control method according to an embodiment of the present invention.

2 is a schematic diagram of functional blocks of a control device according to an embodiment of the present invention.

3 is a schematic diagram of functional modules of an optical detecting device according to an embodiment of the present invention.

4 is a schematic diagram of a scene of an optical detecting device according to an embodiment of the present invention.

FIG. 5 is a schematic structural view of a photosensitive pixel array according to an embodiment of the present invention.

6 is a flow chart showing a control method according to another embodiment of the present invention.

FIG. 7 is a schematic flow chart of a control method according to still another embodiment of the present invention.

FIG. 8 is a schematic diagram of functional blocks of an optical detecting apparatus according to another embodiment of the present invention.

Description of main components and symbols:

Control device 10, control module 11, estimation unit 112, control unit 114, partition module 12, partition unit 122, scanning module 13, processing module 14, imaging device 20, camera module 20a, image sensor 21, photosensitive pixel array 212, The scanning unit 212a, the pixel 2122, the lens module 22, the lens 221, the lens 222, the memory 30, the processor 40, the driving device 50, the optical detecting device 100, the object to be detected 200, and the stage 300.

detailed description

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the embodiments of the invention and are not to be construed as limiting.

Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include one or more of the described features either explicitly or implicitly. In the description of the embodiments of the present invention, the meaning of "a plurality" is two or more unless specifically defined otherwise.

In the description of the embodiments of the present invention, it should be noted that the terms "installation", "connected", and "connected" should be understood broadly, and may be a fixed connection, for example, or They are detachable or integrally connected; they can be mechanically connected, they can be electrically connected or can communicate with each other; they can be connected directly or indirectly through an intermediate medium, which can be internal or two components of two components. Interaction relationship. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood on a case-by-case basis.

The following disclosure provides many different embodiments or examples for implementing different embodiments of the present invention. structure. In order to simplify the disclosure of embodiments of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. In addition, the embodiments of the present invention may repeat reference numerals and/or reference letters in different examples, which are for the purpose of simplicity and clarity, and do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. . Moreover, embodiments of the present invention provide examples of various specific processes and materials, but one of ordinary skill in the art will recognize the use of other processes and/or the use of other materials.

Referring to FIG. 1, a control method according to an embodiment of the present invention is used for an optical detecting apparatus. The optical detecting device includes an imaging device. The imaging device includes a camera module with an adjustable tilt angle. The camera module includes an image sensor and a lens module. The image sensor is disposed on the image side of the lens module. The control method includes the following steps:

S11: tilting the camera module at a certain angle with respect to the object to be detected;

S12: partitioning the photosensitive pixel array of the image sensor into a plurality of scanning units;

S13: Scan data output by the plurality of scanning units to obtain image data having different depth information; and

S14: Processing the image data to form a depth image.

Referring to FIGS. 2-5, the control device 10 of the embodiment of the present invention is used in the optical detecting apparatus 100 of the embodiment of the present invention. The optical detecting apparatus 100 includes an imaging device 20 and a driving device 50. The imaging device 20 includes a camera module 20a whose tilt angle is adjustable. The camera module 20a includes an image sensor 21 and a lens module 22. The image sensor 21 is disposed on the image side of the lens module 22. The control device 10 includes a control module 11, a partitioning module 12, a scanning module 13, and a processing module 14. The control method of the embodiment of the present invention can be realized by the control device 10 of the embodiment of the present invention. For example, S11 can be implemented by control module 11, S12 can be implemented by partition module 12, S13 can be implemented by scan module 13, and S14 can be implemented by processing module 14.

That is to say, the control module 11 can be used to control the driving device 50 to drive the camera module 20a to be inclined at an angle relative to the object to be detected 200. The partition module 12 can be used to partition the photosensitive pixel array 212 of the image sensor 21 into a plurality of scanning units 212a. The scanning module 13 can be used to scan data output by the plurality of scanning units 212a to obtain image data having different depth information. Processing module 14 can be used to process image data to form a depth image.

The control method and the control device 10 of the embodiment of the present invention can obtain image data of different Z-axis heights by performing one scan by tilting the camera module 20a at a certain angle with respect to the object to be detected 200, and finally superimposing processing can form 3D. image.

In one example, the optical inspection device 100 is an AOI (Automatic Optic Inspection) device. The optical detecting apparatus 100 includes an optical portion and an image processing portion. The optical detecting apparatus 100 obtains an image to be detected through an optical portion; analyzes, processes, and judges through the image processing portion. The image processing section can be calculated and judged by software using various calculation methods.

In one example, the image sensor 21 may be a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor).

The image sensor 21 of the embodiment of the present invention illustrates the working principle by taking a 12K*256 TDI CCD currently on the market as an example. The object to be tested 200 is a foreign matter in the encapsulation film in a TFE (thin film encapsulation) process. The optical detecting device 100 is for detecting the foreign matter and finally forming a 3D image.

The image sensor 21 is disposed on the image side of the lens module 22. The lens module 22 includes a lens 221 and a lens 222 disposed between the lens 221 and the object to be detected 200. Lens 222 is used to concentrate light onto image sensor 21, which is used to convert an optical signal into a digital electrical signal.

It can be understood that in some embodiments, the driving device 50 is coupled to the image sensor 21 and the lens module 22. The control module 11 is configured to control the driving device 50 to drive the image sensor 21 and the lens module 22 to be tilted at an angle relative to the object to be detected 200 to complete S11. Specifically, the drive device 50 can be a motor. Of course, in some embodiments, S11 can also be an artificial operation, that is, artificially tilting the camera module 20a at an angle relative to the object to be detected 200. The photosensitive pixel array 212 is then structured to form a plurality of scanning units 212a. As such, different Z-axis heights of the object to be detected 200 will be focused on the same scanning unit 212a on the image sensor 21. Image data of different Z-axis heights can be obtained by one scan, and finally image data of the plurality of scanning units 212a is combined to form a depth image.

It should be noted that S12 can be partitioned by the manufacturer when manufacturing the image sensor 21, and it is not necessary to perform this step each time the optical detecting device 100 is used to detect the object to be detected 200.

Of course, the control method, the control device 10, and the optical detecting device 100 of the embodiments of the present invention are not limited to the above-mentioned fields, and can also be used in the fields of industrial biological quality detection, fingerprint comparison, multimedia technology, and the like.

Referring to FIG. 6, in some embodiments, the photosensitive pixel array includes multi-level pixels. S11 specifically includes:

S112: estimating the height of the object to be detected; and

S114: The camera module is tilted at an angle such that a difference between a height difference of the multi-level pixels and a height of the object to be detected is within a set range.

Referring again to FIGS. 2, 4, and 5, in some embodiments, the photosensitive pixel array 212 includes multi-level pixels 2122. The control module 11 includes an estimation unit 112 and a control unit 114. S112 may be implemented by estimation unit 112, which may be implemented by control unit 114.

That is to say, the estimating unit 112 can be used to estimate the height of the object to be detected 200. The control unit 114 can be used to control the driving device 50 to drive the camera module 20a to be inclined at an angle such that the difference between the height difference of the multi-level pixel 2122 and the height of the object to be detected 200 is within a set range.

As such, the depth image of the object to be detected 200 is more intuitive and accurate.

Preferably, the height difference of the multi-level pixels 2122 is equal to or approximately equal to the height of the object to be detected 200.

Specifically, in the example of the embodiment of the present invention, the optical axis of the lens module 22 is perpendicular to the image sensor 21. That is to say, the tilt angle of the lens module 22 coincides with the tilt angle of the image sensor 21, and the tilt angle of the image sensor 21 is the tilt angle of the camera module 20a. The height of the analyte 200 is generally in the range of 1-10 mg. For example, the height h1 of the object to be detected 200 may be 8 megameters. Thus, the angle α of the inclination of the camera module 20a or the angle α of the inclination of the image sensor 21 should be such that the height difference h2 of the multi-level pixels 2122 is 8 or 8 The difference is within the set range. The image sensor 21 of the embodiment of the present invention is a photosensitive pixel array 212 of 12K*256, that is, the number of columns of the pixel 2122 is 12K, and the order or the number of rows is 256. Correspondingly, the length L of the image sensor 21 is 6.2 cm. The width W is 1.3 mm. That is to say, the angle α of the inclination of the image sensor 21 should be such that the height difference h2 between the first order and the 256th order pixels 2122 is 8 m or the difference with 8 m is within the set range, Sin α = h 2 / W. In this way, the angle α at which the camera module 20a is tilted or the angle α at which the image sensor 21 is tilted can be determined.

It can be understood that the object to be detected 200 of the embodiment of the present invention is placed on the stage 300 to maintain the balance and stability of the object to be detected 200, and the image sensor 21 is allowed to collect image data to form a stable and clear image. The height of the object to be detected 200 is the distance between the tip of the object to be detected 200 to the bottom surface of the object to be detected 200 or the surface of the stage 300 carrying the object to be detected 200.

Referring to FIG. 7, in some embodiments, the photosensitive pixel array includes multi-level pixels. S12 specifically includes:

S122: The photosensitive pixel array is partitioned such that adjacent predetermined order pixels form one scanning unit.

Referring again to FIGS. 2 and 5, in some embodiments, the photosensitive pixel array 212 includes multi-level pixels 2122. The partition module 12 includes a partition unit 122. S122 can be implemented by partition unit 122.

That is, the partition unit 122 can be used to partition the photosensitive pixel array 212 such that adjacent predetermined order pixels 2122 form one scanning unit 212a.

In this way, the scanning speed is faster.

Specifically, the general image sensor includes 128-order, 256-order or 512-order or higher-order pixels 2122. When the order S of the predetermined order is a multiple of 4, the multi-order pixel 2122 can be divided into an integer number of scanning units 212a. Moreover, when at least the 4th order pixel 2122 forms one scanning unit 212a, the scanned image data can form a clear image, the imaging quality is high, and the scanning speed can be improved.

Referring again to FIGS. 3-5, the optical detecting apparatus 100 of the embodiment of the present invention includes an imaging device 20, a driving device 50, and a control device 10. The imaging device 20 includes a camera module 20a whose tilt angle is adjustable. The camera module 20a includes an image sensor 21 and a lens module 22. The image sensor 21 is disposed on the image side of the lens module 22. Image sensor 21 includes a photosensitive pixel array 212. The photosensitive pixel array 212 is partitioned to form a plurality of scanning units 212a. Control The device 10 is configured to control the driving device 50 to drive the camera module 20a to tilt at a certain angle with respect to the object to be detected 200, scan the data output by the plurality of scanning units 212a to obtain image data having different depth information, and process the image data to form Depth image.

The optical detecting apparatus 100 of the embodiment of the present invention can obtain image data of different Z-axis heights by performing one scan by tilting the camera module 20a at a certain angle with respect to the object to be detected 200. Finally, the superimposing process can form a 3D image.

It should be noted that the above explanation of the embodiment of the control method and control device 10 is also applicable to the optical detecting device 100 of the embodiment of the present invention, and will not be developed in detail herein.

In some embodiments, the photosensitive pixel array 212 includes multi-level pixels 2122. The camera module 20a is inclined at an angle such that the difference between the height difference of the multi-level pixel 2122 and the height of the object to be detected 200 is within a set range.

In some embodiments, the photosensitive pixel array 212 includes multi-level pixels 2122. Adjacent predetermined order pixels 2122 form a scanning unit 212a.

Referring to FIG. 4, FIG. 5 and FIG. 8, an optical detecting apparatus 100 according to an embodiment of the present invention includes an imaging device 20, a driving device 50, a memory 30, and a processor 40. The imaging device 20 includes a camera module 20a whose tilt angle is adjustable. The camera module 20a includes an image sensor 21 and a lens module 22. The image sensor 21 is disposed on the image side of the lens module 22. The memory 30 is used to store instructions. The processor 40 is configured to execute instructions to: control the driving device 50 to drive the camera module 20a to be tilted at an angle relative to the object to be detected 200; partition the photosensitive pixel array 212 of the image sensor 21 into a plurality of scanning units 212a; scan multiple The data output by the scanning unit 212a is used to obtain image data having different depth information; and the image data is processed to form a depth image.

It will be appreciated that the memory 30 is used to store instructions and data. The processor 40 is configured to process instructions, perform operations, Control time and process data, etc. For example, the processor 40 can generate corresponding operational control signals according to the function of the instructions, and send them to the corresponding components, thereby controlling the components to operate according to the requirements of the instructions.

In some embodiments, the photosensitive pixel array 212 includes multi-level pixels 2122. The processor 40 is further configured to:

Estimating the height of the object to be tested 200; and

The control driving device 50 drives the camera module 20a to be inclined at an angle such that the difference between the height difference of the multi-level pixel 2122 and the height of the object to be detected 200 is within a set range.

In some embodiments, the photosensitive pixel array 212 includes multi-level pixels 2122. The processor 40 is further configured to partition the photosensitive pixel array 212 such that adjacent predetermined order pixels 2122 form one scanning unit 212a.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example" or "some examples", etc. Particular features, structures, materials or features described in the embodiments or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts 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 particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, in which the functions may be performed in a substantially simultaneous manner or in an opposite order depending on the functions involved, in the order shown or discussed. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, For the execution of systems, devices or devices (such as computer-based systems, systems including processing modules, or the like) Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device in conjunction with an instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the embodiments of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

One of ordinary skill in the art can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium. When executed, one or a combination of the steps of the method embodiments is included.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A control method for an optical detecting device, wherein the optical detecting device comprises an imaging device, the imaging device comprising a camera module with an adjustable tilt angle, the camera module comprising an image sensor and a lens module The image sensor is disposed on an image side of the lens module, and the control method includes the following steps:

Tilting the camera module at an angle relative to the object to be detected;

Forming the photosensitive pixel array of the image sensor into a plurality of scanning units;

Scanning data output by the plurality of scanning units to obtain image data having different depth information; and

The image data is processed to form a depth image.
The control method according to claim 1, wherein the photosensitive pixel array comprises a plurality of pixels, and the step of tilting the image sensor by a certain angle comprises:

Estimating the height of the object to be tested; and

The camera module is tilted at an angle such that a difference between a height difference of the multi-level pixels and a height of the object to be detected is within a set range.
The control method according to claim 1, wherein the photosensitive pixel array comprises a plurality of pixels, and the step of partitioning the photosensitive pixel array of the image sensor into a plurality of scanning units comprises:

The photosensitive pixel array is partitioned such that adjacent predetermined order pixels form one of the scanning units.
The control method according to claim 3, wherein said predetermined order satisfies a condition: S = 4K, wherein S represents an order of said predetermined order, K ≥ 1, and K is an integer.
A control device for an optical detecting device, wherein the optical detecting device comprises an imaging device and a driving device, the imaging device comprising a camera module with an adjustable tilt angle, the camera module comprising an image sensor and a lens module, the image sensor is disposed on an image side of the lens module, and the control device includes:

a control module, the control module is configured to control the driving device to drive the camera module to tilt at a certain angle with respect to the object to be detected;

a partitioning module, configured to partition the photosensitive pixel array of the image sensor into a plurality of scanning units;

a scanning module, configured to scan data output by the plurality of scanning units to obtain different Image data of depth information; and

A processing module for processing the image data to form a depth image.
The control device according to claim 5, wherein the photosensitive pixel array comprises a multi-level pixel, and the control module comprises:

An estimating unit, configured to estimate a height of the object to be detected; and

a control unit, configured to control the driving device to drive the camera module to be inclined by a certain angle such that a difference between a height difference of the multi-level pixel and a height of the object to be detected is set Within the range.
The control device according to claim 5, wherein the photosensitive pixel array comprises a multi-level pixel, and the partitioning module comprises:

a partitioning unit for partitioning the photosensitive pixel array such that adjacent predetermined order pixels form one of the scanning units.
The control apparatus according to claim 7, wherein said predetermined order satisfies a condition: S = 4K, wherein S represents an order of said predetermined order, K ≥ 1, and K is an integer.
An optical detecting device, comprising:

An imaging device and a driving device, the imaging device comprising a camera module with an adjustable tilt angle, the camera module comprising an image sensor and a lens module, the image sensor being disposed on an image side of the lens module, The image sensor includes an array of photosensitive pixels, the photosensitive pixel array being partitioned to form a plurality of scanning units; and

a control device, the control device is configured to control the driving device to scan the camera module to scan the data output by the plurality of scanning units at an angle relative to the object to be detected to obtain image data having different depth information, and use the same The image data is processed to form a depth image.
The optical detecting device according to claim 9, wherein the photosensitive pixel array comprises a multi-level pixel, and the camera module is inclined at an angle such that a height difference of the multi-level pixel and the object to be detected The difference between the heights is within the set range.
The optical detecting apparatus according to claim 9, wherein said photosensitive pixel array comprises multi-level pixels, and adjacent predetermined order pixels form one of said scanning units.
The optical detecting apparatus according to claim 11, wherein said predetermined order satisfies a condition: S = 4K, wherein S represents an order of said predetermined order, K ≥ 1, and K is an integer.
An optical detecting device, comprising:

An imaging device and a driving device, the imaging device includes a camera module with an adjustable tilt angle, the camera module includes an image sensor and a lens module, and the image sensor is disposed on an image side of the lens module;

a memory for storing instructions; and

a processor for executing the instructions to:

Controlling the driving device to drive the camera module to tilt at a certain angle with respect to the object to be detected;

Forming the photosensitive pixel array of the image sensor into a plurality of scanning units;

Scanning data output by the plurality of scanning units to obtain image data having different depth information; and

The image data is processed to form a depth image.
The optical detecting apparatus according to claim 13, wherein said photosensitive pixel array comprises multi-level pixels, and said processor is further configured to:

Estimating the height of the object to be tested; and

Controlling the driving device to drive the camera module to be inclined at an angle such that a difference between a height difference of the multi-level pixels and a height of the object to be detected is within a set range.
The optical detecting apparatus according to claim 13, wherein said photosensitive pixel array comprises multi-level pixels, and said processor is further configured to:

The photosensitive pixel array is partitioned such that adjacent predetermined order pixels form one of the scanning units.
The optical detecting apparatus according to claim 15, wherein said predetermined order satisfies a condition: S = 4K, wherein S represents an order of said predetermined order, K ≥ 1, and K is an integer.