WO2019047841A1 - Method and apparatus for eliminating mutual interference between 3d visual devices - Google Patents

Method and apparatus for eliminating mutual interference between 3d visual devices Download PDF

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Publication number
WO2019047841A1
WO2019047841A1 PCT/CN2018/104093 CN2018104093W WO2019047841A1 WO 2019047841 A1 WO2019047841 A1 WO 2019047841A1 CN 2018104093 W CN2018104093 W CN 2018104093W WO 2019047841 A1 WO2019047841 A1 WO 2019047841A1
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infrared signal
frequency band
visual
range
infrared
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PCT/CN2018/104093
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French (fr)
Chinese (zh)
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高艳朋
张粦钢
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信利光电股份有限公司
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/246—Calibration of cameras

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  • the present invention relates to the field of 3D vision control technologies, and more particularly to a method and apparatus for solving mutual interference between 3D vision devices.
  • the TOF system is a light radar system that emits light pulses from the emitter to the target.
  • the receiver determines the distance of the target by calculating the light pulse from the emitter to the target and returning to the receiver in pixel format.
  • the TOF system can simultaneously acquire the entire scene and determine the 3D range image. Create 3D images using measured target coordinates for robotics, manufacturing, medical technology, and digital photography.
  • the structured light is calculated by the refraction of the laser and the algorithm to calculate the position and depth information of the target, thereby restoring the entire three-dimensional space; by emitting a speckle of a specific pattern or a laser infrared pattern of the dot matrix, when the target reflects the pattern, the camera captures These reflected patterns calculate the size of the above speckles or points, and compare the original speckles or the size of the points to determine the distance between the target and the camera.
  • the present invention provides a method and device for solving mutual interference between 3D vision devices, and solves the problem that 3D visual mutual interference occurs when multiple 3D visual devices are simultaneously operated under certain circumstances in the prior art.
  • the problem is a method and device for solving mutual interference between 3D vision devices, and solves the problem that 3D visual mutual interference occurs when multiple 3D visual devices are simultaneously operated under certain circumstances in the prior art.
  • the present invention provides the following technical solutions:
  • a method for solving mutual interference between 3D visual devices comprising:
  • the 3D visual device is controlled to receive the transmitted infrared signal and perform an analysis process.
  • the acquiring the infrared signal comprises:
  • the frequency band information of the infrared signal in the set region is acquired by the 3D visual device.
  • the controlling the 3D visual device to emit an infrared signal different from the infrared signal according to the infrared signal comprises:
  • a signal frequency band that controls an infrared signal emitted by the 3D vision device is within a range of the infrared signal frequency band.
  • the signal frequency band for controlling the infrared signal emitted by the 3D visual device includes:
  • the present invention also provides an apparatus for solving mutual interference between 3D vision devices, the apparatus comprising:
  • An acquisition module configured to acquire an infrared signal
  • the first control module is configured to control, according to the infrared signal, the infrared signal that is different from the infrared signal by the 3D visual device;
  • a second control module configured to control the 3D visual device to receive the transmitted infrared signal, and perform an analysis process.
  • the acquiring module is specifically configured to:
  • frequency band information of the infrared signal in the set area is acquired.
  • the first control module comprises:
  • a first processing unit configured to determine, according to the frequency band information of the infrared signal, an infrared signal frequency band range different from the infrared signal frequency band information
  • the second processing unit is configured to control a signal frequency band of the infrared signal emitted by the 3D visual device within a range of the infrared signal frequency band.
  • the second processing unit is specifically configured to:
  • the method for solving the mutual interference between the 3D visual devices provided by the present invention includes: acquiring an infrared signal; and controlling the 3D visual device to emit an infrared signal different from the infrared signal according to the infrared signal. Controlling the 3D vision device to receive the transmitted infrared signal and performing an analysis process.
  • the infrared signal in the surrounding environment is acquired and detected, and then the 3D visual device is controlled to emit an infrared signal different from the infrared signal in the surrounding environment, and the 3D visual device is controlled only. Receiving the infrared signal emitted by itself, it solves the problem that interference occurs when multiple 3D vision devices are used.
  • FIG. 1 is a schematic flowchart of a method for solving mutual interference between 3D visual devices according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of selecting a frequency band of an infrared signal by a 3D visual device according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of an apparatus for solving mutual interference between 3D visual devices according to an embodiment of the present invention.
  • FIG. 1 is a schematic flowchart diagram of a method for solving mutual interference between 3D visual devices according to an embodiment of the present invention.
  • the method includes:
  • the 3D visual device when a plurality of 3D visual devices are used within a certain range, a certain interference problem may be caused. Therefore, when the 3D visual device is turned on, the infrared signals in the set region are collected by the 3D visual device. Band information used to determine the frequency band of the infrared signal in the surrounding environment.
  • S102 Control the 3D vision device to emit an infrared signal different from the infrared signal according to the infrared signal.
  • the signal frequency band that controls the infrared signal emitted by the 3D visual device is within the infrared signal frequency band.
  • S103 Control the 3D visual device to receive the transmitted infrared signal, and perform analysis processing.
  • the 3D visual device controls the 3D visual device to receive the infrared signal emitted by itself, the infrared signal in the surrounding environment is not received, thereby ensuring that the 3D visual device is not interfered by the infrared signal emitted by other 3D visual devices.
  • the infrared signal of the surrounding environment is acquired and detected, and then the 3D visual device is controlled to emit an infrared signal different from the infrared signal in the surrounding environment, and the 3D is controlled.
  • the visual device only receives the infrared signal emitted by itself, which also solves the problem that interference occurs when multiple 3D visual devices are used.
  • FIG. 2 is a schematic flowchart of selecting a frequency band of an infrared signal by a 3D visual device according to an embodiment of the present invention.
  • the signal frequency band for controlling the infrared signal emitted by the 3D visual device includes:
  • the infrared signal frequency range does not include an infrared signal frequency band in a surrounding environment.
  • S202 Determine any one of the infrared signal frequency bands as the target infrared signal frequency band in the frequency range of the infrared signal.
  • an infrared signal frequency band is randomly determined within the frequency range of the infrared signal or an infrared signal frequency band is determined as a target infrared signal frequency band according to the setting requirement.
  • the manner of determining the target infrared signal frequency band is not limited.
  • S203 Control the 3D visual device to emit an infrared signal of the target infrared signal frequency band.
  • the present invention further provides a device for solving mutual interference between 3D visual devices.
  • FIG. 3 is a schematic diagram for solving mutual interference between 3D visual devices according to an embodiment of the present invention. Schematic diagram of the structure of the device.
  • the device includes an acquisition module 31, a first control module 32, and a second control module 33.
  • the obtaining module 31 is configured to acquire an infrared signal.
  • the first control module 32 is configured to control, according to the infrared signal, the infrared signal that is different from the infrared signal by the 3D visual device;
  • the second control module 33 is configured to control the 3D visual device to receive the transmitted infrared signal and perform an analysis process.
  • the obtaining module 31 is specifically configured to:
  • frequency band information of the infrared signal in the set area is acquired.
  • the first control module 32 includes: a first processing unit and a second processing unit.
  • the first processing unit is configured to determine, according to the frequency band information of the infrared signal, an infrared signal frequency band range different from the infrared signal frequency band information;
  • the second processing unit is configured to control a signal frequency band of the infrared signal emitted by the 3D visual device within a range of the infrared signal frequency band.
  • the second processing unit is specifically configured to:
  • the present invention provides a method for solving mutual interference between 3D vision devices, by acquiring and detecting infrared signals in a surrounding environment before using the 3D vision device, and subsequently controlling the 3D visual device to transmit.
  • the infrared signal different from the infrared signal in the surrounding environment is controlled, and the 3D visual device is controlled to receive only the infrared signal emitted by itself, thereby solving the problem that interference occurs when a plurality of 3D visual devices are used.

Abstract

Disclosed in the present invention are a method and apparatus for eliminating mutual interference between 3D visual devices, the method comprising: obtaining an infrared signal; controlling the 3D visual devices to emit infrared signals different from the infrared signal according to the infrared signal; and controlling the 3D visual devices to receive the emitted infrared signals and carry out analysis processing. With the described method, infrared signals in a surrounding environment are first obtained and detected before being used in the 3D visual devices; the 3D visual devices are then controlled to emit infrared signals different from the infrared signal in the surrounding environment and to only receive the infrared signal emitted thereby, thereby solving the problem of interference occurring when multiple 3D visual devices are used.

Description

一种解决3D视觉设备之间相互干扰的方法及装置Method and device for solving mutual interference between 3D vision devices
本申请要求于2017年09月05日提交中国专利局、申请号为201710792347.8、发明名称为“一种解决3D视觉设备之间相互干扰的方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims priority to Chinese Patent Application No. 201710792347.8, entitled "A Method and Apparatus for Resolving Mutual Interference between 3D Vision Devices", filed on September 5, 2017, the entire contents of which are hereby incorporated by reference. This is incorporated herein by reference.
技术领域Technical field
本发明涉及3D视觉控制技术领域，更具体地说，尤其涉及一种解决3D视觉设备之间相互干扰的方法及装置。The present invention relates to the field of 3D vision control technologies, and more particularly to a method and apparatus for solving mutual interference between 3D vision devices.
背景技术Background technique
随着科学技术的不断发展，各种各样的智能终端设备已广泛应用于人们的日常生活以及工作中。而3D视觉作为一个全新的技术领域，已应用于各种消费级产品中，并且随着硬件、算法以及软件的不断更新，3D视觉的精度和实用性得到了大幅度的提升，尤其是TOF(Time of Flight，光飞行时间)方案和结构光方案的快速成熟，使得具备3D视觉功能的产品大规模涌入人们的日常生活以及工作中。With the continuous development of science and technology, a variety of intelligent terminal devices have been widely used in people's daily lives and work. As a new technology field, 3D Vision has been applied in various consumer products, and with the continuous updating of hardware, algorithms and software, the accuracy and practicality of 3D vision have been greatly improved, especially TOF ( The rapid maturity of the Time of Flight and Light Plane schemes has enabled products with 3D visual capabilities to flood into people's daily lives and work.
其中，TOF系统是一种光雷达系统，从发射极向目标发射光脉冲，接收器通过计算光脉冲从发射器到目标，再以像素格式返回接收器的运行时间来确定目标的距离。TOF系统可以同时获得整个场景，确定3D范围影像。利用测量得到的目标坐标创建3D影像，用于机器人、制造、医疗技术以及数码摄影灯领域。Among them, the TOF system is a light radar system that emits light pulses from the emitter to the target. The receiver determines the distance of the target by calculating the light pulse from the emitter to the target and returning to the receiver in pixel format. The TOF system can simultaneously acquire the entire scene and determine the 3D range image. Create 3D images using measured target coordinates for robotics, manufacturing, medical technology, and digital photography.
结构光是通过激光的折射以及算法计算出目标的位置和深度信息，进而复原整个三维空间；通过发射特定图形的散斑或者点阵的激光红外图案，当目标反射这些图案时，通过摄像头捕捉到这些反射回来的图案，计算上面散斑或者点的大小，跟原始散斑或者点的尺寸做对比分析，进而测算出目标到摄像头之间的距离。The structured light is calculated by the refraction of the laser and the algorithm to calculate the position and depth information of the target, thereby restoring the entire three-dimensional space; by emitting a speckle of a specific pattern or a laser infrared pattern of the dot matrix, when the target reflects the pattern, the camera captures These reflected patterns calculate the size of the above speckles or points, and compare the original speckles or the size of the points to determine the distance between the target and the camera.
但是，当在一定环境下，多个3D视觉设备同时运行时，会出现3D视觉相互干扰的问题。However, when multiple 3D vision devices are running at the same time under certain circumstances, the problem of 3D visual mutual interference may occur.
发明内容Summary of the invention
为解决上述问题，本发明提供了一种解决3D视觉设备之间相互干扰的方法及装置，解决了现有技术中在一定环境下，多个3D视觉设备同时运行时，会出现3D视觉相互干扰的问题。In order to solve the above problems, the present invention provides a method and device for solving mutual interference between 3D vision devices, and solves the problem that 3D visual mutual interference occurs when multiple 3D visual devices are simultaneously operated under certain circumstances in the prior art. The problem.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种解决3D视觉设备之间相互干扰的方法，所述方法包括：A method for solving mutual interference between 3D visual devices, the method comprising:
获取红外信号；Obtaining an infrared signal;
依据所述红外信号，控制所述3D视觉设备发射出与所述红外信号不同的红外信号；Controlling, by the infrared signal, the 3D visual device to emit an infrared signal different from the infrared signal;
控制所述3D视觉设备接收发射出去的红外信号，并进行分析处理。The 3D visual device is controlled to receive the transmitted infrared signal and perform an analysis process.
优选的，在上述方法中，所述获取红外信号包括：Preferably, in the above method, the acquiring the infrared signal comprises:
当所述3D视觉设备开启时，通过所述3D视觉设备采集设定区域内的红外信号的频段信息。When the 3D visual device is turned on, the frequency band information of the infrared signal in the set region is acquired by the 3D visual device.
优选的，在上述方法中，，所述依据所述红外信号，控制所述3D视觉设备发射出与所述红外信号不同的红外信号包括：Preferably, in the above method, the controlling the 3D visual device to emit an infrared signal different from the infrared signal according to the infrared signal comprises:
依据所述红外信号的频段信息，确定与所述红外信号频段信息不同的红外信号频段范围；Determining, according to the frequency band information of the infrared signal, a range of frequency bands of the infrared signal different from the frequency band information of the infrared signal;
控制所述3D视觉设备发射出的红外信号的信号频段在所述红外信号频段范围内。A signal frequency band that controls an infrared signal emitted by the 3D vision device is within a range of the infrared signal frequency band.
优选的，在上述方法中，，所述控制所述3D视觉设备发射出的红外信号的信号频段在所述红外信号频段范围内包括：Preferably, in the above method, the signal frequency band for controlling the infrared signal emitted by the 3D visual device includes:
依据所述红外信号频段范围；According to the infrared signal frequency band range;
在所述红外信号频段范围内确定任意一个红外信号频段作为目标红外信号频段；Determining any one of the infrared signal frequency bands as the target infrared signal frequency band in the frequency range of the infrared signal;
控制所述3D视觉设备发射出所述目标红外信号频段的红外信号。Controlling the 3D vision device to emit an infrared signal of the target infrared signal band.
本发明还提供了一种解决3D视觉设备之间相互干扰的装置，所述装置包括：The present invention also provides an apparatus for solving mutual interference between 3D vision devices, the apparatus comprising:
获取模块，所述获取模块用于获取红外信号；An acquisition module, configured to acquire an infrared signal;
第一控制模块，所述第一控制模块用于依据所述红外信号，控制所述3D视觉设备发射出与所述红外信号不同的红外信号；a first control module, wherein the first control module is configured to control, according to the infrared signal, the infrared signal that is different from the infrared signal by the 3D visual device;
第二控制模块，所述第二控制模块用于控制所述3D视觉设备接收发射出去的红外信号，并进行分析处理。And a second control module, configured to control the 3D visual device to receive the transmitted infrared signal, and perform an analysis process.
优选的，在上述装置中，所述获取模块具体用于：Preferably, in the above device, the acquiring module is specifically configured to:
当所述3D视觉设备开启时，采集设定区域内的红外信号的频段信息。When the 3D vision device is turned on, frequency band information of the infrared signal in the set area is acquired.
优选的，在上述装置中，所述第一控制模块包括：Preferably, in the above device, the first control module comprises:
第一处理单元，所述第一处理单元用于依据所述红外信号的频段信息，确定与所述红外信号频段信息不同的红外信号频段范围；a first processing unit, configured to determine, according to the frequency band information of the infrared signal, an infrared signal frequency band range different from the infrared signal frequency band information;
第二处理单元，所述第二处理单元用于控制所述3D视觉设备发射出的红外信号的信号频段在所述红外信号频段范围内。a second processing unit, wherein the second processing unit is configured to control a signal frequency band of the infrared signal emitted by the 3D visual device within a range of the infrared signal frequency band.
优选的，在上述装置中，所述第二处理单元具体用于：Preferably, in the above device, the second processing unit is specifically configured to:
依据所述红外信号频段范围；According to the infrared signal frequency band range;
在所述红外信号频段范围内确定任意一个红外信号频段作为目标红外信号频段；Determining any one of the infrared signal frequency bands as the target infrared signal frequency band in the frequency range of the infrared signal;
控制所述3D视觉设备发射出所述目标红外信号频段的红外信号。Controlling the 3D vision device to emit an infrared signal of the target infrared signal band.
通过上述描述可知，本发明提供的一种解决3D视觉设备之间相互干扰的方法包括：获取红外信号；依据所述红外信号，控制所述3D视觉设备发射出与所述红外信号不同的红外信号；控制所述3D视觉设备接收发射出去的红外信号，并进行分析处理。The method for solving the mutual interference between the 3D visual devices provided by the present invention includes: acquiring an infrared signal; and controlling the 3D visual device to emit an infrared signal different from the infrared signal according to the infrared signal. Controlling the 3D vision device to receive the transmitted infrared signal and performing an analysis process.
也就是说，在3D视觉设备使用之前，先对周边环境中的红外信号进行 获取检测，随之控制该3D视觉设备发射出与周边环境中红外信号不同的红外信号，并且控制该3D视觉设备只接收自身发射出去的红外信号，也就解决了当多个3D视觉设备使用时会产生干扰的问题。That is to say, before the 3D visual device is used, the infrared signal in the surrounding environment is acquired and detected, and then the 3D visual device is controlled to emit an infrared signal different from the infrared signal in the surrounding environment, and the 3D visual device is controlled only. Receiving the infrared signal emitted by itself, it solves the problem that interference occurs when multiple 3D vision devices are used.
附图说明DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can obtain other drawings according to the provided drawings without any creative work.
图1为本发明实施例提供的一种解决3D视觉设备之间相互干扰的方法的流程示意图；1 is a schematic flowchart of a method for solving mutual interference between 3D visual devices according to an embodiment of the present invention;
图2为本发明实施例提供的一种3D视觉设备选择红外信号频段的流程示意图；2 is a schematic flowchart of selecting a frequency band of an infrared signal by a 3D visual device according to an embodiment of the present invention;
图3为本发明实施例提供的一种解决3D视觉设备之间相互干扰的装置的结构示意图。FIG. 3 is a schematic structural diagram of an apparatus for solving mutual interference between 3D visual devices according to an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。The present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
参考图1，图1为本发明实施例提供的一种解决3D视觉设备之间相互干扰的方法的流程示意图。Referring to FIG. 1, FIG. 1 is a schematic flowchart diagram of a method for solving mutual interference between 3D visual devices according to an embodiment of the present invention.
所述方法包括：The method includes:
S101：获取红外信号。S101: Acquire an infrared signal.
具体的，由于当多个3D视觉设备在一定范围内使用时，会造成一定的干扰问题，因此，当所述3D视觉设备开启时，通过所述3D视觉设备采集设定区域内的红外信号的频段信息，用以确定周边环境中的红外信号频段。Specifically, when a plurality of 3D visual devices are used within a certain range, a certain interference problem may be caused. Therefore, when the 3D visual device is turned on, the infrared signals in the set region are collected by the 3D visual device. Band information used to determine the frequency band of the infrared signal in the surrounding environment.
S102：依据所述红外信号，控制所述3D视觉设备发射出与所述红外信号不同的红外信号。S102: Control the 3D vision device to emit an infrared signal different from the infrared signal according to the infrared signal.
具体的，到检测到周边的红外信号频段后，依据所述红外信号的频段信息，确定与所述红外信号频段信息不同的红外信号频段范围；也就是说，该频段范围内的红外信号，在该周边环境中并没有出现；那么控制所述3D视觉设备发射出的红外信号的信号频段在所述红外信号频段范围内。Specifically, after detecting the surrounding infrared signal frequency band, determining, according to the frequency band information of the infrared signal, determining a frequency range of the infrared signal that is different from the frequency information of the infrared signal; that is, the infrared signal in the frequency range is The surrounding environment does not appear; then the signal frequency band that controls the infrared signal emitted by the 3D visual device is within the infrared signal frequency band.
S103：控制所述3D视觉设备接收发射出去的红外信号，并进行分析处理。S103: Control the 3D visual device to receive the transmitted infrared signal, and perform analysis processing.
具体的，通过控制3D视觉设备接收自身发射出去的红外信号，不接收周边环境中的红外信号，进而保证3D视觉设备不会被其它3D视觉设备发射出的红外信号干扰。Specifically, by controlling the 3D visual device to receive the infrared signal emitted by itself, the infrared signal in the surrounding environment is not received, thereby ensuring that the 3D visual device is not interfered by the infrared signal emitted by other 3D visual devices.
在本发明实施例中，在3D视觉设备使用之前，通过对周边环境中的红外信号进行获取检测，随之控制该3D视觉设备发射出与周边环境中红外信号不同的红外信号，并且控制该3D视觉设备只接收自身发射出去的红外信号，也就解决了当多个3D视觉设备使用时会产生干扰的问题。In the embodiment of the present invention, before the 3D visual device is used, the infrared signal of the surrounding environment is acquired and detected, and then the 3D visual device is controlled to emit an infrared signal different from the infrared signal in the surrounding environment, and the 3D is controlled. The visual device only receives the infrared signal emitted by itself, which also solves the problem that interference occurs when multiple 3D visual devices are used.
基于本发明上述实施例，在本发明另一实施例中，参考图2，图2为本发明实施例提供的一种3D视觉设备选择红外信号频段的流程示意图。Based on the foregoing embodiment of the present invention, in another embodiment of the present invention, referring to FIG. 2, FIG. 2 is a schematic flowchart of selecting a frequency band of an infrared signal by a 3D visual device according to an embodiment of the present invention.
其中，所述控制所述3D视觉设备发射出的红外信号的信号频段在所述红外信号频段范围内包括：The signal frequency band for controlling the infrared signal emitted by the 3D visual device includes:
S201：依据所述红外信号频段范围。S201: According to the infrared signal frequency band range.
具体的，所述红外信号频段范围不包括周边环境中的红外信号频段。Specifically, the infrared signal frequency range does not include an infrared signal frequency band in a surrounding environment.
S202：在所述红外信号频段范围内确定任意一个红外信号频段作为目标红外信号频段。S202: Determine any one of the infrared signal frequency bands as the target infrared signal frequency band in the frequency range of the infrared signal.
具体的，在所述红外信号频段范围内随机确定出一个红外信号频段或依据设定要求确定出一个红外信号频段作为目标红外信号频段。Specifically, an infrared signal frequency band is randomly determined within the frequency range of the infrared signal or an infrared signal frequency band is determined as a target infrared signal frequency band according to the setting requirement.
需要说明的是，确定所述目标红外信号频段的方式并不作限定。It should be noted that the manner of determining the target infrared signal frequency band is not limited.
S203：控制所述3D视觉设备发射出所述目标红外信号频段的红外信号。S203: Control the 3D visual device to emit an infrared signal of the target infrared signal frequency band.
基于本发明上述全部实施例，本发明还提供了一种解决3D视觉设备之间相互干扰的装置，参考图3，图3为本发明实施例提供的一种解决3D视觉设备之间相互干扰的装置的结构示意图。Based on all the above embodiments of the present invention, the present invention further provides a device for solving mutual interference between 3D visual devices. Referring to FIG. 3, FIG. 3 is a schematic diagram for solving mutual interference between 3D visual devices according to an embodiment of the present invention. Schematic diagram of the structure of the device.
所述装置包括：获取模块31、第一控制模块32以及第二控制模块33。The device includes an acquisition module 31, a first control module 32, and a second control module 33.
其中，所述获取模块31用于获取红外信号；The obtaining module 31 is configured to acquire an infrared signal.
所述第一控制模块32用于依据所述红外信号，控制所述3D视觉设备发射出与所述红外信号不同的红外信号；The first control module 32 is configured to control, according to the infrared signal, the infrared signal that is different from the infrared signal by the 3D visual device;
所述第二控制模块33用于控制所述3D视觉设备接收发射出去的红外信号，并进行分析处理。The second control module 33 is configured to control the 3D visual device to receive the transmitted infrared signal and perform an analysis process.
基于本发明上述实施例，所述获取模块31具体用于：Based on the foregoing embodiment of the present invention, the obtaining module 31 is specifically configured to:
当所述3D视觉设备开启时，采集设定区域内的红外信号的频段信息。When the 3D vision device is turned on, frequency band information of the infrared signal in the set area is acquired.
基于本发明上述实施例，所述第一控制模块32包括：第一处理单元以及第二处理单元。Based on the above embodiment of the present invention, the first control module 32 includes: a first processing unit and a second processing unit.
其中，所述第一处理单元用于依据所述红外信号的频段信息，确定与所述红外信号频段信息不同的红外信号频段范围；The first processing unit is configured to determine, according to the frequency band information of the infrared signal, an infrared signal frequency band range different from the infrared signal frequency band information;
所述第二处理单元用于控制所述3D视觉设备发射出的红外信号的信号 频段在所述红外信号频段范围内。The second processing unit is configured to control a signal frequency band of the infrared signal emitted by the 3D visual device within a range of the infrared signal frequency band.
基于本发明上述实施例，所述第二处理单元具体用于：Based on the foregoing embodiment of the present invention, the second processing unit is specifically configured to:
依据所述红外信号频段范围；According to the infrared signal frequency band range;
在所述红外信号频段范围内确定任意一个红外信号频段作为目标红外信号频段；Determining any one of the infrared signal frequency bands as the target infrared signal frequency band in the frequency range of the infrared signal;
控制所述3D视觉设备发射出所述目标红外信号频段的红外信号。Controlling the 3D vision device to emit an infrared signal of the target infrared signal band.
需要说明的是，本发明实施例中提供的一种解决3D视觉设备之间相互干扰的装置的具体原理相同于上述一种解决3D视觉设备之间相互干扰的方法原理，在此不再赘述。It should be noted that the specific principle of the device for solving the mutual interference between the 3D visual devices provided by the embodiment of the present invention is the same as the method for solving the mutual interference between the 3D visual devices, and details are not described herein again.
通过上述描述可知，本发明提供的一种解决3D视觉设备之间相互干扰的方法，通过在3D视觉设备使用之前，通过对周边环境中的红外信号进行获取检测，随之控制该3D视觉设备发射出与周边环境中红外信号不同的红外信号，并且控制该3D视觉设备只接收自身发射出去的红外信号，也就解决了当多个3D视觉设备使用时会产生干扰的问题。It can be seen from the above description that the present invention provides a method for solving mutual interference between 3D vision devices, by acquiring and detecting infrared signals in a surrounding environment before using the 3D vision device, and subsequently controlling the 3D visual device to transmit. The infrared signal different from the infrared signal in the surrounding environment is controlled, and the 3D visual device is controlled to receive only the infrared signal emitted by itself, thereby solving the problem that interference occurs when a plurality of 3D visual devices are used.
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but the scope of the invention is to be accorded

Claims (8)

  1. 一种解决3D视觉设备之间相互干扰的方法，其特征在于，所述方法包括：A method for solving mutual interference between 3D visual devices, characterized in that the method comprises:
    获取红外信号；Obtaining an infrared signal;
    依据所述红外信号，控制所述3D视觉设备发射出与所述红外信号不同的红外信号；Controlling, by the infrared signal, the 3D visual device to emit an infrared signal different from the infrared signal;
    控制所述3D视觉设备接收发射出去的红外信号，并进行分析处理。The 3D visual device is controlled to receive the transmitted infrared signal and perform an analysis process.
  2. 根据权利要求1所述的方法，其特征在于，所述获取红外信号包括：The method of claim 1 wherein said obtaining an infrared signal comprises:
    当所述3D视觉设备开启时，通过所述3D视觉设备采集设定区域内的红外信号的频段信息。When the 3D visual device is turned on, the frequency band information of the infrared signal in the set region is acquired by the 3D visual device.
  3. 根据权利要求2所述的方法，其特征在于，所述依据所述红外信号，控制所述3D视觉设备发射出与所述红外信号不同的红外信号包括：The method according to claim 2, wherein the controlling the 3D visual device to emit an infrared signal different from the infrared signal according to the infrared signal comprises:
    依据所述红外信号的频段信息，确定与所述红外信号频段信息不同的红外信号频段范围；Determining, according to the frequency band information of the infrared signal, a range of frequency bands of the infrared signal different from the frequency band information of the infrared signal;
    控制所述3D视觉设备发射出的红外信号的信号频段在所述红外信号频段范围内。A signal frequency band that controls an infrared signal emitted by the 3D vision device is within a range of the infrared signal frequency band.
  4. 根据权利要求3所述的方法，其特征在于，所述控制所述3D视觉设备发射出的红外信号的信号频段在所述红外信号频段范围内包括：The method according to claim 3, wherein the signal frequency band for controlling the infrared signal emitted by the 3D visual device comprises:
    依据所述红外信号频段范围；According to the infrared signal frequency band range;
    在所述红外信号频段范围内确定任意一个红外信号频段作为目标红外信号频段；Determining any one of the infrared signal frequency bands as the target infrared signal frequency band in the frequency range of the infrared signal;
    控制所述3D视觉设备发射出所述目标红外信号频段的红外信号。Controlling the 3D vision device to emit an infrared signal of the target infrared signal band.
  5. 一种解决3D视觉设备之间相互干扰的装置，其特征在于，所述装置包括：A device for solving mutual interference between 3D visual devices, characterized in that the device comprises:
    获取模块，所述获取模块用于获取红外信号；An acquisition module, configured to acquire an infrared signal;
    第一控制模块，所述第一控制模块用于依据所述红外信号，控制所述3D视觉设备发射出与所述红外信号不同的红外信号；a first control module, wherein the first control module is configured to control, according to the infrared signal, the infrared signal that is different from the infrared signal by the 3D visual device;
    第二控制模块，所述第二控制模块用于控制所述3D视觉设备接收发射出去的红外信号，并进行分析处理。And a second control module, configured to control the 3D visual device to receive the transmitted infrared signal, and perform an analysis process.
  6. 根据权利要求5所述的装置，其特征在于，所述获取模块具体用于：The device according to claim 5, wherein the obtaining module is specifically configured to:
    当所述3D视觉设备开启时，采集设定区域内的红外信号的频段信息。When the 3D vision device is turned on, frequency band information of the infrared signal in the set area is acquired.
  7. 根据权利要求5所述的装置，其特征在于，所述第一控制模块包括：The apparatus according to claim 5, wherein the first control module comprises:
    第一处理单元，所述第一处理单元用于依据所述红外信号的频段信息，确定与所述红外信号频段信息不同的红外信号频段范围；a first processing unit, configured to determine, according to the frequency band information of the infrared signal, an infrared signal frequency band range different from the infrared signal frequency band information;
    第二处理单元，所述第二处理单元用于控制所述3D视觉设备发射出的红外信号的信号频段在所述红外信号频段范围内。a second processing unit, wherein the second processing unit is configured to control a signal frequency band of the infrared signal emitted by the 3D visual device within a range of the infrared signal frequency band.
  8. 根据权利要求7所述的装置，其特征在于，所述第二处理单元具体用于：The device according to claim 7, wherein the second processing unit is specifically configured to:
    依据所述红外信号频段范围；According to the infrared signal frequency band range;
    在所述红外信号频段范围内确定任意一个红外信号频段作为目标红外信号频段；Determining any one of the infrared signal frequency bands as the target infrared signal frequency band in the frequency range of the infrared signal;
    控制所述3D视觉设备发射出所述目标红外信号频段的红外信号。Controlling the 3D vision device to emit an infrared signal of the target infrared signal band.
PCT/CN2018/104093 2017-09-05 2018-09-05 Method and apparatus for eliminating mutual interference between 3d visual devices WO2019047841A1 (en)

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