CN109490904B - Time-of-flight sensor and detection method thereof - Google Patents
Time-of-flight sensor and detection method thereof Download PDFInfo
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Abstract
The invention relates to a time-of-flight sensor and a detection method thereof, wherein the detection method of the time-of-flight sensor comprises the following steps: pre-detecting a space to be detected to acquire pre-detected image information; judging whether an object exists in a range with a distance smaller than a preset distance from the sensor according to the pre-detection image information; and adjusting the light intensity of the detection light in the flight time detection process according to the judgment result. The method can avoid damage to human eyes in the detection process, and can reduce the calculation power and the overall power consumption of the system.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a time-of-flight sensor and a detection method thereof.
Background
The Time Of Flight (TOF) method measures the three-dimensional structure or three-dimensional profile Of an object to be measured by using the Time interval between transmission and reception Of a pulse signal from a measuring instrument or the phase generated when a laser beam travels back and forth to the object to be measured once. The TOF measuring instrument can simultaneously obtain a gray image and a distance image, and is widely applied to the fields of somatosensory control, behavior analysis, monitoring, automatic driving, artificial intelligence, machine vision, automatic 3D modeling and the like.
Time-of-flight (TOF) sensors generally include: the device comprises a light source module and a photosensitive module; the light source module is used for emitting pulse detection light with a specific waveband and a specific frequency, the detection light is reflected on the surface of a detected object, and the reflected light is received by the photosensitive module; and the photosensitive module calculates the distance information of the object to be measured according to the time difference or the phase difference between the transmitting light wave and the receiving light wave.
Because the light source adopted by the flight time sensor is usually an LED or a laser diode, and the like, the flight time sensor can continuously emit pulse detection light in the working process, and the detection distance is in positive correlation with the detection light intensity. When a long distance is required to be detected, detection light with high power can be emitted, and if a person is present on a detection site, the light emitting direction of the sensor is right at the eyes of the person, the person can be injured.
Disclosure of Invention
The invention aims to provide a flight time sensor and a detection method thereof, which avoid the damage to personnel or other organisms in the detection process and improve the comprehensive performance of the system.
In order to solve the above problem, the present invention provides a detection method of a time-of-flight sensor, including: pre-detecting a space to be detected to acquire pre-detected image information; judging whether an object exists in a range with a distance smaller than a preset distance from the sensor according to the pre-detection image information; and adjusting the light intensity of the detection light in the flight time detection process according to the judgment result.
Optionally, during the pre-detection, only the sensing data at the local position of the pixel array is acquired as the pre-detection image information.
Optionally, the local position includes: at least one corner location and/or a local pixel area through the center of the pixel array.
Optionally, the pre-detection adopts a time-of-flight detection method, and sends out a pre-detection light, and a detectable range corresponding to a pulse light intensity of the pre-detection light is smaller than or equal to the preset distance.
Optionally, the pre-detection is performed by at least one of RGB image detection, infrared detection, and ultrasonic detection.
Optionally, adjusting the detected light intensity in the flight time detection process according to the determination result includes: when an object exists, detecting by using first detection light; when no object exists, the second detection light is used for detection, and the pulse light intensity of the second detection light is larger than that of the first detection light.
Optionally, the method further includes: when an object exists in a range with a distance smaller than a preset distance from the sensor, further judging whether the object is a living being; according to the judgment result, adjusting the detection light intensity in the flight time detection process comprises the following steps: when a living being exists, detecting by first detection light; when no living being exists, the second detection light is used for detection, and the pulse light intensity of the second detection light is larger than that of the first detection light.
Optionally, the method for determining whether the object is a living being includes: acquiring sensing data acquired by pixels at all positions of a pixel array in a pre-detection stage, and identifying the outline and/or motion state of an object to judge whether the object is a living being; alternatively, the method of determining whether the object is a living being includes: and further acquiring RGB image information, infrared image information or distance information in the space to be detected, and performing image recognition on the RGB image or the infrared image to judge whether the object is a living body.
The technical scheme of the invention also provides a flight time sensor, which comprises: the light source module is used for emitting detection light with controllable light intensity; a pre-detection module; the control module is connected with the pre-detection module and the light source module and used for: pre-detecting a space to be detected, and acquiring pre-detection image information through a pre-detection module; judging whether an object exists in a range with a distance smaller than a preset distance from the sensor according to the pre-detection image information; and adjusting the light intensity of the detection light emitted by the light source module in the flight time detection process according to the judgment result.
Optionally, the control module is configured to, during the pre-detection, only acquire sensing data at a local position of the pixel array of the pre-detection module as the pre-detection image information.
Optionally, the pixel array local position includes: at least one corner location and/or a local pixel area through the center of the pixel array.
Optionally, the control module is configured to control the light source module to emit a pre-detection light in a pre-detection process, where a detectable range corresponding to a pulse light intensity of the pre-detection light is smaller than or equal to the preset distance.
Optionally, the control module is configured to control the light source module to emit a first detection light for detection when an object exists; and when no object exists, controlling the light source module to emit second detection light for detection, wherein the pulse light intensity of the second detection light is greater than that of the first detection light.
Optionally, the control module is further configured to further determine whether the object is a living being when the object exists; according to the judged result, in the time-of-flight detection process, adjusting the detection light intensity emitted by the light source module comprises: when organisms exist, the light source module is controlled to emit first detection light for detection; and when no living beings exist, controlling the light source module to emit second detection light for detection, wherein the pulse light intensity of the second detection light is greater than that of the first detection light.
Optionally, when determining whether the object is a living being, the control module is configured to acquire sensing data acquired by pixels at all positions of the pixel array in a pre-detection stage, and perform object contour and/or motion state identification to determine whether the object is a living being; or, the time-of-flight sensor further includes an auxiliary detection module, the auxiliary detection module includes at least one of an RGB image sensor, an infrared sensor, and a distance sensor, the control module is connected to the auxiliary detection module, and is configured to further acquire RGB image information and/or infrared image information in the space to be detected through the auxiliary detection module when determining whether the object is a living being, and determine whether the object is a living being by performing image recognition on the RGB image or the infrared image.
According to the time-of-flight sensor and the detection method thereof, the pre-detection is carried out before the time-of-flight detection is carried out to judge whether an object exists in the near position, the light intensity of the detection light in the time-of-flight detection process is adjusted according to the judgment result, the damage of the object in the near position by the strong detection light is avoided, and meanwhile, the calculation power and the overall power consumption of the system can be reduced.
Drawings
FIG. 1 is a schematic flow chart of a method for detecting a time-of-flight sensor according to an embodiment of the present invention;
FIGS. 2A-2F are schematic diagrams of a selection of local positions of several pixel arrays according to embodiments of the present invention;
FIG. 3 is a schematic flow chart of a method for detecting a time-of-flight sensor according to another embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for detecting a time-of-flight sensor according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of a time-of-flight sensor according to an embodiment of the present invention.
Detailed Description
The following describes in detail a specific embodiment of the time-of-flight sensor and the detection method thereof according to the present invention with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a time-of-flight sensor detection method according to an embodiment of the present invention.
In this embodiment, the method for detecting a time-of-flight sensor includes steps S101 to S103.
Step S101 includes: and pre-detecting the space to be detected to acquire pre-detected image information.
The flight time sensor formally detects the detection space, performs pre-detection to preliminarily judge the condition in the detection field of view and judge whether an object exists in the space to be detected.
Since the time-of-flight sensor needs to emit pulse detection light for time-distance detection, the pulse intensity of the pulse detection light used in the time-of-flight detection process is usually very high in order to make the time-of-flight sensor have a large distance measurement range and detection accuracy. At this time, if a person or other living things exists in the detection space, the person or other living things are easily damaged under strong detection light, such as eyes.
Therefore, in the embodiment of the present invention, before the time-of-flight detection is performed, the pre-detection is performed first, and the pre-detection image information is acquired so as to determine whether an object exists in the field of view.
In order to facilitate the sensor to rapidly enter the time-of-flight detection phase after being started, the time of the pre-detection phase is short, and may be, for example, 1ms to 1 s. In this stage, the pre-detection image information may be acquired by emitting a pre-detection light and acquiring a reflected light of the pre-detection light. Since the time of the pre-detection stage is short, in order to obtain richer pre-detection image information, the pulse frequency of the pre-detection light can be increased, so as to obtain more frames of pre-detection image information in a short time.
Further, since the intensity of the detection light decreases with an increase in the emission distance, when the intensity of the detection light is large, it is common to cause damage only to people or other objects in a close range to the sensor. And the intensity of the detection light used for detection in a short distance is also low. In an embodiment of the invention, a detectable range corresponding to the pulse light intensity of the pre-detection light is smaller than or equal to a preset distance. The preset distance may be set according to a safety distance of a maximum light intensity of the detection light that needs to be employed in the time-of-flight detection process. When the safety distance is exceeded, the detection light with the maximum light intensity cannot damage the eyes of the person, and the like, so that only the safety distance range needs to be pre-detected. Because the light intensity of the pre-detection light is less, even if at the in-process of pre-detection, personnel or other easily injured objects exist in the preset range, also can not receive the injury of the pre-detection light. In a particular embodiment of the invention, said preset distance is equal to or close to said safety distance. For example, when the safety distance is 5m, the preset distance may be 3m to 7 m.
In the pre-detection stage, the acquired pre-detection image information only needs to be capable of judging whether an object exists or moves, so that the sensing data only needs to be processed, an image after data synthesis does not need to be output, and the image processing time can be shortened. Further, in order to improve the efficiency of sensing data processing, in an embodiment of the present invention, only sensing data at a local position of a pixel array is acquired as pre-detection image information at the time of pre-detection, so that the data processing amount can be reduced and the efficiency can be improved.
Please refer to fig. 2A to 2F, which are schematic diagrams illustrating selection of local positions of several pixel arrays according to an embodiment of the present invention.
The local position of the pixel array comprises: a local pixel area at the location of at least one corner and/or through the center of the pixel array.
As shown in fig. 2A and 2B, the selected local positions are pixel regions along the horizontal and vertical symmetry axes of the pixel array, respectively, and the width of the pixel region may include several pixel cell widths.
As shown in fig. 2C, the selected local positions are pixel regions at four corner positions of the pixel array.
As shown in fig. 2D, the selected local positions include pixel regions at corner positions of opposite corners and along a vertical symmetry axis.
As shown in fig. 2E, the selected local location includes a region of pixels along a diagonal of the pixel array.
As shown in fig. 2F, the selected local location includes a number of annular pixel regions distributed around a center point of the pixel array.
In other specific embodiments, the pixel array local position selection may also be a combination of any two or more of the above examples.
The above only gives a selection example of several pixel array positions, and in other embodiments, the adjustment may be performed according to different detection scenes of the sensor.
In other specific embodiments, the pre-detection may further employ at least one of RGB image detection, infrared detection, and ultrasonic detection. For example, a dedicated distance sensor such as an infrared sensor, an ultrasonic sensor, or the like is used, or a dedicated human body sensor such as an infrared pyroelectric temperature sensor, a millimeter wave radar, or the like is used; even if the non-flight time detection method is adopted for pre-detection, an algorithm can be set to only respond to objects with more than a certain number of pixels aiming at different sensors, so that the calculation power and the overall power consumption of the system are reduced.
In this embodiment, the pre-detection is also a time-of-flight detection method based on a time-of-flight sensor, and no additional sensor device is required, so that no additional cost is incurred.
Step S102 includes: and judging whether an object exists in a range with a distance smaller than a preset distance from the sensor according to the pre-detection image information.
The distance information of each position in the image information can be obtained by processing the obtained sensing data, and when the distance between an object and the sensor is smaller than the preset distance, the object can be judged to exist in the range of the distance between the object and the sensor being smaller than the preset distance. In other embodiments, other algorithms may be used to make the determination.
In other specific embodiments, the preset distance may include a plurality of preset sub-distances, and whether an object exists in a range between the preset sub-distances is determined. For example, the preset distances include a first sub-distance d1, a second sub-distance d2 and a third sub-distance d3, and whether an object exists in the range from 0 to d1, whether an object exists in the range from d1 to d2 and whether an object exists in the range from d3 to d4 are judged according to the preview image information.
Step S103 includes: and adjusting the light intensity of the detection light in the flight time detection process according to the judgment result.
And after the pre-detection stage is finished, the sensor enters a flight time detection stage, and the detection light intensity in the flight time detection process is detected according to the detection result of the pre-detection stage.
When an object exists in a range with a distance smaller than a preset distance from the sensor, the first detection light is used for detecting. The pulse light intensity of the first detection light is low, and damage to objects within a preset distance range is avoided. In one embodiment, the pulse intensity of the first detection light is the same as or close to the pulse intensity of the pre-detection light.
In another specific embodiment, when the preset distance includes a plurality of preset sub-distances, if no object exists in each sub-distance range, the detection light with the maximum intensity may be adopted to obtain the maximum detection range and the maximum detection accuracy. If an object exists in a certain sub-distance range, the detection light intensity can be properly adjusted according to the distance of the sub-distance range. For example, the predetermined distance range includes three sub-distance ranges, 0 to d1, d1 to d2 and d2 to d3, and the corresponding first sub-detection light also includes three sub-detection lights. If an object exists in the range of 0-d 1, the object is closer to the sensor, and the light intensity Q1 of the first sub-detection light pulse is detected; if an object exists in the range of d 1-d 2, detecting the light intensity Q2 of the light pulse by using a second sub-detection light pulse; if an object exists in the range of d 2-d 3, a third photon detection light is adopted, and the pulse light intensity is Q3; q1 < Q2 < Q3. The method can improve the range of the detection light and the detection precision of the sensor under the condition of not damaging the object as much as possible.
When no object exists in the range of which the distance between the sensor and the second detection light is less than a preset distance, the second detection light is used for detecting, and when no object exists in the range of the preset distance, the second detection light does not worry about damage to other objects due to the fact that the detection light intensity is large. Therefore, the pulse light intensity of the second detection light is large, so that the detection range can cover the whole space to be detected. In this embodiment, the pulse intensity of the second detection light is greater than the pulse intensity of the first detection light.
Due to the object detected within the preset distance, it may be an inanimate object that is not strongly affected by light, such as furniture, decorations, and the like. In the actual detection process, the detection light intensity can be prevented from being weakened by the non-living bodies which are not influenced by the light intensity through further object identification.
Referring to fig. 3, a flow chart of a detection method of the time-of-flight sensor according to another embodiment of the invention is shown.
The detection process of the specific embodiment comprises the following steps:
step S101 and step S102 are the same as those in the foregoing embodiments, and are not described herein again. When it is determined in step S102 that no object exists within the preset distance range, step S302 is executed to adjust the intensity of the detection light during the flight time detection according to the determination result.
When an object exists in a range where the distance between the sensor and the object is less than a preset distance, step S301 is executed: and judging whether the object is a living being.
The method for judging whether the object is a living being comprises the following steps: and acquiring sensing data acquired by pixels at all positions of the pixel array in a pre-detection stage, and identifying the outline and/or the motion state of the object to judge whether the object is a living body. In order to accurately identify the object contour and/or motion state, it is necessary to acquire and process complete sensing data acquired by pixel units at all positions of the pixel array in the pre-detection stage on the basis of step S101. Obtaining the object outline in the single-frame image through the distance information corresponding to the sensing data at each position; the motion state of the object can also be obtained through the change of the distance information of the object in the multi-frame image. Whether the object is a living being or not can be judged by identifying the outline of the object; the object can also be judged to be a living thing by identifying the motion state of the object when the object moves.
In another embodiment, the method for determining whether the object is a living being may further include: and further acquiring complete RGB image information or infrared image information in the space to be detected, and performing image recognition on the RGB image or the infrared image to judge whether the object is a living body. The auxiliary RBG image or infrared image acquisition device can be used for further acquiring RGB image information or infrared image information in the space to be detected so as to judge whether the object is a living body.
Step S302: and adjusting the light intensity of the detection light in the flight time detection process according to the judgment result.
Specifically, the method comprises the following steps: when a living being exists, detecting by first detection light; when no living being exists, the second detection light is used for detection, and the pulse light intensity of the second detection light is larger than that of the first detection light.
When the distance between the sensor and the living beings is smaller than a preset distance, the first detection light is used for detecting. The pulse light intensity of the first detection light is low, and damage to organisms within a preset distance range is avoided. In one embodiment, the pulse intensity of the first detection light is the same as or close to the pulse intensity of the pre-detection light.
In another specific embodiment, when the preset distance includes a plurality of preset sub-distances, if no object exists in each sub-distance range, the detection light with the maximum intensity may be adopted to obtain the maximum detection range and the maximum detection accuracy. If an object exists in a certain sub-distance range, the detection light intensity can be properly adjusted according to the distance of the sub-distance range. For example, the predetermined distance range includes three sub-distance ranges, 0 to d1, d1 to d2 and d2 to d3, and the corresponding first sub-detection light also includes three sub-detection lights. If an object exists in the range of 0-d 1, the object is close to the sensor, and the light intensity Q1 of the first sub-detection light pulse is detected; if an object exists in the range of d 1-d 2, detecting the light intensity Q2 of the light pulse by using a second sub-detection light pulse; if an object exists in the range of d 2-d 3, a third photon detection light is adopted, and the pulse light intensity is Q3; q1 < Q2 < Q3. The method can improve the range of the detection light and the detection precision of the sensor under the condition of not causing harm to organisms as far as possible.
When no object exists in the range of the distance between the sensor and the sensor, which is less than a preset distance, or the existing object is not a living body, the second detection light is used for detecting, and when no object exists in the range of the preset distance, the second detection light does not worry that the other objects are damaged due to the fact that the detection light intensity is large. Therefore, the pulse light intensity of the second detection light is large, so that the detection range can cover the whole space to be detected. In this embodiment, the pulse intensity of the second detection light is greater than the pulse intensity of the first detection light.
In the process of detecting the flight time, if an object appears within the preset distance range, the pulse light intensity of the detection light can be adjusted according to the method for adjusting the detection light intensity in the above embodiment.
Fig. 4 is a schematic flow chart illustrating a detection method of a time-of-flight sensor according to an embodiment of the invention.
In this embodiment, the detecting of the time-of-flight sensor includes the following steps:
step S401: a close-up mode. Under the short-distance mode, detect light with a lower light intensity and carry out the preliminary examination to the condition in the preliminary judgement detection field of vision, whether the object exists in the space of waiting to detect with the judgement. And acquiring sensing data within a preset distance range. For a way of acquiring sensing data, please refer to the above detailed description, which is not repeated herein.
In step S402, data processing is performed. The sensing data acquired in step S401 is processed to obtain distance information, so as to facilitate determination of whether there is an object near in step S403, where near is within a preset distance range.
If an object is near, continuing to execute a near mode for detection, wherein the light intensity of the detection light is small; if there is no object in the vicinity, step S404 may be executed: the strong light mode detects with a stronger detection light to improve the detection range and the detection accuracy.
In the above-mentioned specific embodiment, the detection method of the time-of-flight sensor performs pre-detection before performing the time-of-flight detection to determine whether an object exists in the near area, and adjusts the intensity of the detection light in the time-of-flight detection process according to the determination result, thereby avoiding the near object from being damaged by the strong detection light.
The invention further provides a flight time sensor.
Fig. 5 is a schematic block diagram of a time-of-flight sensor according to an embodiment of the present invention.
The time-of-flight sensor includes: a light source module 501, a pre-detection module 502 and a control module 503.
The light source module 501 is used for emitting detection light with controllable light intensity, and may include an LED light source, a light emitting diode, a semiconductor laser, and the like.
The pre-detection module 502 may include at least one of a time-of-flight detection unit, an RGB image sensing unit, an infrared sensing unit, and a distance sensing unit, and may perform at least one of time-of-flight detection, RGB image detection, infrared detection, and ultrasonic detection. If the pre-detection module 502 does not include a time-of-flight detection unit, the time-of-flight sensor further includes another time-of-flight detection module.
In this embodiment, the pre-detection module 502 includes a time-of-flight detection unit, which is used as a pre-detection unit for pre-detection and a time-of-flight sensing unit for the whole time-of-flight sensor. The pre-detection module 502 includes a pixel array, which is generally rectangular, including CMOS transistors or other light sensitive elements arranged in an array.
A control module 503, connected to the pre-detection module 502 and the light source module 501, for: pre-detecting a space to be detected, and acquiring pre-detection image information through the pre-detection module 502; judging whether an object exists in a range with a distance smaller than a preset distance from the sensor according to the pre-detection image information; according to the judgment result, the intensity of the detection light emitted by the light source module 501 is adjusted in the subsequent detection process.
In order to facilitate the sensor to rapidly enter the time-of-flight detection phase after being started, the time of the pre-detection phase is short, and may be, for example, 1ms to 1 s. In this stage, the control module 503 may control the light source module 501 to emit a pre-detection light and to acquire a reflected light of the pre-detection light to acquire the pre-detection image information. Since the time of the pre-detection stage is short, in order to obtain richer pre-detection image information, the pulse frequency of the pre-detection light can be increased, so as to obtain more frames of pre-detection image information in a short time. In an embodiment of the invention, a detectable range corresponding to the pulse light intensity of the pre-detection light is smaller than or equal to a preset distance. The preset distance may be set according to a safety distance of a maximum light intensity of the detection light that needs to be employed in the time-of-flight detection process.
In the pre-detection stage, the acquired pre-detection image information only needs to be capable of judging whether an object exists or moves, so that the sensing data only needs to be processed, an image after data synthesis does not need to be output, and the image processing time can be shortened. Further, in order to improve the efficiency of the sensing data processing, in an embodiment of the present invention, at the time of the pre-detection, the control module 503 acquires only the sensing data at the local position of the pixel array of the pre-detection module 502 as the pre-detection image information, thereby reducing the data processing amount and improving the efficiency. In a specific embodiment, the control module 503 is only configured to obtain, during the pre-detection process, sensing data at least one corner position of the pixel array of the pre-detection module 502 and/or at a local pixel region passing through the center of the pixel array as the pre-detection image information.
The control module 503 is further configured to control the light source module 501 to emit a first detection light for detection when an object exists; when no object exists, the light source module 501 is controlled to emit a second detection light for detection, where the pulse light intensity of the second detection light is greater than the pulse light intensity of the first detection light.
When an object exists in a range with a distance smaller than a preset distance from the sensor, the first detection light is used for detecting. The pulse light intensity of the first detection light is low, and damage to objects within a preset distance range is avoided. In one embodiment, the pulse intensity of the first detection light is the same as or close to the pulse intensity of the pre-detection light. In another specific embodiment, when the preset distance includes a plurality of preset sub-distances, if no object exists in each sub-distance range, the detection light with the maximum intensity may be adopted to obtain the maximum detection range and the maximum detection accuracy. If an object exists in a certain sub-distance range, the detection light intensity can be properly adjusted according to the distance of the sub-distance range.
When no object exists in the range of which the distance between the sensor and the second detection light is less than a preset distance, the second detection light is used for detecting, and when no object exists in the range of the preset distance, the second detection light does not worry about damage to other objects due to the fact that the detection light intensity is large. Therefore, the pulse light intensity of the second detection light is large, so that the detection range can cover the whole space to be detected. In this embodiment, the pulse intensity of the second detection light is greater than the pulse intensity of the first detection light.
The control module 503 is further configured to further determine whether the object is a living being when the object exists; according to the judgment result, selecting proper light intensity for detection, specifically comprising: when a living being exists, the light source module 503 is controlled to emit a first detection light for detection; when no living beings exist, the light source module 501 is controlled to emit second detection light for detection, and the pulse light intensity of the second detection light is greater than that of the first detection light.
When determining whether the object is a living being, the control module 503 is configured to obtain sensing data obtained by the pixels at all positions of the pixel array in the pre-detection stage, and perform object contour and/or motion state identification to determine whether the object is a living being.
The time-of-flight sensor may further include an auxiliary detection module, where the auxiliary detection module includes an RGB sensor and/or an infrared sensor, and the control module 503 is connected to the auxiliary detection module, and is configured to further acquire RGB image information and/or infrared image information in a space to be detected through the auxiliary detection module 503 when determining whether the object is a living body, and determine whether the object is a living body by performing image recognition on the RGB image or the infrared image.
In the flight time detection process, the control module 503 is further configured to control the light source module 501 to adjust the intensity of the detection light when an object is detected to be present in the space to be detected.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A method of detecting a time-of-flight sensor, comprising:
before flight time detection is carried out, a flight time sensor is adopted to carry out pre-detection on a space to be detected to obtain pre-detection image information, and when the pre-detection is carried out, only sensing data at the local position of a pixel array is obtained to serve as the pre-detection image information;
judging whether an object exists in a range of which the distance between the object and the flight time sensor is less than a preset distance or not according to the pre-detection image information;
according to the judged result, adjust the detection light intensity in the time of flight detection process, include: when an object exists, detecting by using first detection light; when no object exists, the second detection light is used for detection, and the pulse light intensity of the second detection light is larger than that of the first detection light.
2. The method of claim 1, wherein the local position comprises: at least one corner location and/or a local pixel area through the center of the pixel array.
3. The method of detecting a time-of-flight sensor of claim 1, further comprising: when an object exists in a range with a distance smaller than a preset distance from the sensor, further judging whether the object is a living being; according to the judgment result, adjusting the detection light intensity in the flight time detection process comprises the following steps: when a living being exists, detecting by first detection light; when no living being exists, the second detection light is used for detection, and the pulse light intensity of the second detection light is larger than that of the first detection light.
4. The method of claim 3, wherein the determining whether the object is a living being comprises: acquiring sensing data acquired by pixels at all positions of a pixel array in a pre-detection stage, and identifying the outline and/or motion state of an object to judge whether the object is a living being; alternatively, the method of determining whether the object is a living being includes: and further acquiring RGB image information, infrared image information or distance information in the space to be detected, and performing image recognition on the RGB image or the infrared image to judge whether the object is a living body.
5. A time-of-flight sensor, comprising:
the light source module is used for emitting detection light with controllable light intensity;
the system comprises a pre-detection module, a detection module and a control module, wherein the pre-detection module comprises a flight time detection unit which is used as a pre-detection unit for pre-detection and a flight time sensing unit of the whole flight time sensor;
the control module is connected with the pre-detection module and the light source module and used for: the method comprises the steps that a space to be detected is subjected to pre-detection, pre-detection image information is obtained through a pre-detection module, and only sensing data at the local position of a pixel array is obtained to serve as the pre-detection image information when the pre-detection is carried out, the control module is further used for controlling a light source module to emit pre-detection light in the pre-detection process, the detectable range corresponding to the pulse light intensity of the pre-detection light is smaller than or equal to a preset distance, and the preset distance is set according to the safety distance of the maximum light intensity of the detection light required to be adopted in the flight time detection process; judging whether an object exists in a range of which the distance between the object and the flight time sensor is less than a preset distance or not according to the pre-detection image information; according to the judged result, in the time of flight detection process, adjust the detection light intensity that light source module sent, include: the control module is used for controlling the light source module to emit first detection light to detect when an object exists; and when no object exists, controlling the light source module to emit second detection light for detection, wherein the pulse light intensity of the second detection light is greater than that of the first detection light.
6. The time-of-flight sensor of claim 5, wherein the pixel array local position comprises: at least one corner location and/or a local pixel area through the center of the pixel array.
7. The time-of-flight sensor of claim 5, wherein the control module is further configured to determine whether the object is a living being if the object is present; according to the judged result, in the time-of-flight detection process, adjusting the detection light intensity emitted by the light source module comprises: when organisms exist, the light source module is controlled to emit first detection light for detection; and when no living beings exist, controlling the light source module to emit second detection light for detection, wherein the pulse light intensity of the second detection light is greater than that of the first detection light.
8. The time-of-flight sensor according to claim 7, wherein when determining whether the object is a living being, the control module is configured to obtain sensing data obtained by pixels at all positions of the pixel array in a pre-detection stage, and perform object contour and/or motion state recognition to determine whether the object is a living being; or, the time-of-flight sensor further includes an auxiliary detection module, the auxiliary detection module includes at least one of an RGB image sensor, an infrared sensor, and a distance sensor, the control module is connected to the auxiliary detection module, and is configured to further acquire RGB image information and/or infrared image information in the space to be detected through the auxiliary detection module when determining whether the object is a living being, and determine whether the object is a living being by performing image recognition on the RGB image or the infrared image.
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| CN110346780A (en) * | 2019-07-31 | 2019-10-18 | 炬佑智能科技(苏州)有限公司 | Flight time sensing cameras and its local detection accuracy method of adjustment |
| CN111352120B (en) * | 2020-03-25 | 2022-09-09 | 炬佑智能科技(苏州)有限公司 | Flight time ranging system and ranging method thereof |
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