WO2020248896A1

WO2020248896A1 - Adjustment method, terminal, and computer-readable storage medium

Info

Publication number: WO2020248896A1
Application number: PCT/CN2020/094445
Authority: WO
Inventors: 吕向楠
Original assignee: Oppo广东移动通信有限公司
Priority date: 2019-06-10
Filing date: 2020-06-04
Publication date: 2020-12-17
Also published as: CN110266394A; CN110266394B

Abstract

An adjustment method, a terminal (10), and a non-volatile computer-readable storage medium (200). The method comprises: obtaining infrared interference energy of a current scene; if the infrared interference energy is less than a first predetermined value, emitting a laser light at a first optical power; and if the infrared interference energy is greater than a second predetermined value, emitting a laser light at a second optical power, wherein the first predetermined value is less than the second predetermined value, and the second optical power is greater than the first optical power.

Description

Adjustment method, terminal and computer readable storage medium

Priority information

This application requests the priority and rights of the patent application with the patent application number 201910496583.4 filed with the State Intellectual Property Office of China on June 10, 2019, and the full text is incorporated herein by reference.

Technical field

This application relates to the field of three-dimensional imaging technology, and more specifically, to an adjustment method, a terminal, and a computer-readable storage medium.

Background technique

A depth camera can be set on electronic devices such as mobile phones to obtain the depth of the target object. The specific method is to control the depth camera to emit laser light to the target object, and then the depth camera receives the laser light reflected by the target object, and compares the received laser pattern with reference The difference of the pattern is used to obtain the depth image of the target object.

Summary of the invention

The embodiments of the present application provide an adjustment method, a terminal, and a computer-readable storage medium.

The adjustment method of the embodiment of the present application includes: obtaining the infrared interference energy of the current scene; when the infrared interference energy is less than a first predetermined value, emitting laser light at a first optical power; and when the infrared interference energy is greater than a second predetermined value When the laser is emitted at a second optical power, the first predetermined value is smaller than the second predetermined value, and the second optical power is greater than the first optical power.

The terminal packet processor and optical transmitter of the embodiment of the present application. The processor is used to obtain the infrared interference energy of the current scene. The optical transmitter is used to emit laser light at a first optical power when the infrared interference energy is less than a first predetermined value, and emit laser light at a second optical power when the infrared interference energy is greater than a second predetermined value, so The first predetermined value is less than or equal to the second predetermined value, and the second optical power is greater than the first optical power.

A non-volatile computer-readable storage medium containing computer-readable instructions according to an embodiment of the present application, when the computer-readable instructions are executed by a processor, cause the processor to perform the following adjustment steps: Obtain the infrared of the current scene Interference energy; when the infrared interference energy is less than a first predetermined value, the laser is emitted with a first optical power; and when the infrared interference energy is greater than a second predetermined value, the laser is emitted with a second optical power, the first The predetermined value is less than the second predetermined value, and the second optical power is greater than the first optical power.

The adjustment method, terminal, and computer-readable storage medium of the embodiments of the present application obtain the infrared interference energy of the current scene, and use the first optical power less than the second optical power when the infrared interference capability is less (less than the first predetermined value). Laser emission can reduce power consumption while ensuring the accuracy of depth image acquisition; when infrared interference energy is large (greater than the second predetermined value), laser emission is emitted at a second optical power greater than the first optical power to increase the emission The ratio of laser and infrared interference energy increases the signal-to-noise ratio, thereby improving the accuracy of depth image acquisition.

The additional aspects and advantages of the embodiments of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the embodiments of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

FIG. 1 is a schematic structural diagram of a terminal according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a system architecture of a terminal according to an embodiment of the present application;

FIG. 3 is a schematic flowchart of an adjustment method according to an embodiment of the present application;

4 is a timing diagram of laser projection and image acquisition by the depth camera of the embodiment of the present application;

5a and 5b are schematic diagrams of scenes of the adjustment method of the embodiment of the present application;

6A and 6B are schematic flowcharts of the adjustment method of the embodiment of the present application;

FIG. 7 is a schematic flowchart of an adjustment method according to an embodiment of the present application;

FIG. 8 is a timing diagram of laser projection and image acquisition by the depth camera of the embodiment of the present application;

9 to 11 are schematic flowcharts of the adjustment method of the embodiment of the present application; and

FIG. 12 is a schematic diagram of interaction between a non-volatile computer-readable storage medium and a processor in an embodiment of the present application.

Detailed ways

The implementation of the present application will be further described below in conjunction with the drawings. The same or similar reference numerals in the drawings indicate the same or similar elements or elements with the same or similar functions throughout.

In addition, the implementation manners of the application described below in conjunction with the drawings are exemplary, and are only used to explain the implementation manners of the application, and cannot be understood as a limitation of the application.

In this application, unless expressly stipulated and defined otherwise, the “on” or “under” of the first feature on the second feature may be in direct contact with the first and second features, or indirectly through an intermediary. contact. Moreover, the "above", "above" and "above" of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature. The “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

3, the adjustment method of the embodiment of the present application includes: 301: Obtain the infrared interference energy of the current scene; 302: When the infrared interference energy is less than a first predetermined value, emit laser light at the first optical power; and 303: In the infrared When the interference energy is greater than the second predetermined value, the laser is emitted with the second optical power, the first predetermined value is less than the second predetermined value, and the second optical power is greater than the first optical power.

Referring to FIG. 6A, in some embodiments, the adjustment method includes: 601: obtaining an infrared image of the current scene when the laser is not emitted; 602: calculating infrared interference energy according to the infrared image; 603: when the infrared interference energy is less than the first When the predetermined value, the laser is emitted with the first optical power; and 604: when the infrared interference energy is greater than the second predetermined value, the laser is emitted with the second optical power, the first predetermined value is less than the second predetermined value, and the second optical power is greater than the first One optical power.

6A and 6B, in some embodiments, step 602: calculating infrared interference energy according to the infrared image, specifically includes the following sub-steps: 6021: obtaining the pixel value of the pixel in the infrared image; and 6022: according to the pixel value Determine the infrared interference energy.

Referring to FIG. 7, in some embodiments, the adjustment method further includes: 701: emitting laser at a first operating frequency; 702: receiving laser at a second operating frequency and generating an infrared image, the second frequency is greater than the first frequency; 703 : Obtain an infrared interference image that does not include the laser at the first operating frequency in the infrared image; 704: Calculate the infrared interference energy according to the infrared interference image; 705: When the infrared interference energy is less than the first predetermined value, emit the laser at the first optical power; And 706: when the infrared interference energy is greater than the second predetermined value, emit the laser with the second optical power, and the first predetermined value is less than the second predetermined value.

Referring to FIG. 9, in some embodiments, the adjustment method includes: 901: obtaining the infrared interference energy of the current scene; 902: when the infrared interference energy is less than a first predetermined value, using the first frequency, the first pulse width and the first A laser is emitted at an optical power; 903: when the infrared interference energy is greater than a second predetermined value, the laser is emitted with the second frequency, the second pulse width and the second optical power, the second frequency, the second pulse width and the second optical power are The product is less than or equal to the product of the first frequency, the first pulse width, and the first optical power.

10, in some embodiments, the first predetermined value is less than the second predetermined value, the adjustment method includes: 1001: obtain the infrared interference energy of the current scene; 1002: when the infrared interference energy is less than the first predetermined value, The first optical power emits the laser; 1003: when the infrared interference energy is greater than the second predetermined value, the second optical power emits the laser; and 1004: when the infrared interference energy is greater than the first predetermined value and less than the second predetermined value, keep the current The optical power is used to continuously emit laser light.

Referring to FIG. 11, in some embodiments, the second optical power includes one or more sub-optical powers, and the adjustment method includes: 1101: obtain the infrared interference energy of the current scene; 1102: when the infrared interference energy is less than the first predetermined value , The laser is emitted at the first optical power; 1103: when the infrared interference energy is greater than the second predetermined value, the corresponding sub-optical power is determined according to the infrared interference energy; and 1104: the laser is emitted with the sub-optical power.

In some embodiments, obtaining the infrared interference energy of the current scene (ie step 301) includes: integrating the voltage value generated by receiving infrared light within a predetermined time to obtain the total voltage value corresponding to the infrared interference energy; and according to the total The voltage value determines the infrared interference energy.

In some embodiments, the predetermined time is equal to the frame exposure time, and the frame exposure time is the time required to receive infrared light when generating a frame of speckle image.

Please refer to FIG. 1 to FIG. 3, the terminal 10 in the embodiment of the present application includes a processor 12 and an optical transmitter 111. The processor 12 is used to obtain the infrared interference energy of the current scene. The optical transmitter 111 is used to emit laser light at a first optical power when the infrared interference energy is less than a first predetermined value, and to emit laser light at a second optical power when the infrared interference energy is greater than a second predetermined value, and the first predetermined value is less than Or equal to the second predetermined value, the second optical power is greater than the first optical power.

Referring to FIGS. 1, 2 and 6A, in some embodiments, the terminal 10 further includes an optical receiver 112, and the processor 12 is also used to obtain an infrared image of the current scene when the laser is not emitted; and according to the infrared image Calculate infrared interference energy.

Referring to FIG. 1, FIG. 2, FIG. 6A, and FIG. 6B, in some embodiments, the processor 12 is used to obtain the pixel value of the pixel in the infrared image; and determine the infrared interference energy according to the pixel value.

Referring to FIGS. 1, 2 and 7, in some embodiments, the optical transmitter 111 is also used to emit laser light at a first operating frequency; the optical receiver 112 is used to receive laser light at a second operating frequency and generate infrared images , The second frequency is greater than the first frequency; the processor 12 is used to obtain infrared interference images of lasers with the first operating frequency in the infrared image, and calculate infrared interference energy according to the infrared interference images; the light transmitter 111 is also used to When the interference energy is less than the first predetermined value, the laser is emitted with the first optical power, and when the infrared interference energy is greater than the second predetermined value, the laser is emitted with the second optical power, the first predetermined value is less than the second predetermined value.

Referring to Figure 1, Figure 2 and Figure 9, in some embodiments, the optical transmitter 111 is also used to set the first frequency, the first pulse width and the first optical power when the infrared interference energy is less than a first predetermined value. When the infrared interference energy is greater than the second predetermined value, the laser is emitted at the second frequency, the second pulse width and the second optical power; the product of the second frequency, the second pulse width and the second optical power is less than or equal to The product of the first frequency, the first pulse width and the first optical power.

Referring to FIGS. 1, 2 and 10, in some embodiments, the optical transmitter 111 is also used to maintain the current optical power to continuously emit laser light when the infrared interference energy is greater than a first predetermined value and less than a second predetermined value. .

Referring to FIG. 1, FIG. 2 and FIG. 11, in some embodiments, the processor 12 is further configured to determine the corresponding sub-light power according to the infrared interference energy. The optical transmitter 111 is also used to emit laser light with sub-optical power.

1 and 2, in some embodiments, the terminal 10 further includes a distance sensor 18, the distance sensor 18 includes an infrared receiver 182, the infrared receiver 182 is used to receive infrared light to generate a corresponding voltage value, the processor 12 is also used to integrate the voltage value generated by the infrared receiver 182 receiving infrared light within a predetermined time to obtain the total voltage value corresponding to the infrared interference energy; and to determine the infrared interference energy according to the total voltage value.

1 and 2, in some embodiments, the terminal 10 further includes a light receiver 112, the predetermined time is equal to the frame exposure time of the light receiver 112, the frame exposure time is when one frame of speckle image is generated, the light receiving The time required for the receiver 112 to receive infrared light.

Referring to FIGS. 1 and 2, in some embodiments, the terminal 10 includes a visible light camera 13, and the visible light camera 13 is located between the light transmitter 111 and the light receiver 112.

Please refer to FIG. 3 and FIG. 12, a non-volatile computer-readable storage medium 200 containing computer-readable instructions 202 of the present application. When the computer-readable instruction 202 is executed by the processor 12, the processor 12 executes the following steps: 301: Obtain the infrared interference energy of the current scene; 302: When the infrared interference energy is less than the first predetermined value, emit the laser at the first optical power ; And 303: when the infrared interference energy is greater than the second predetermined value, the laser is emitted with the second optical power, the first predetermined value is less than the second predetermined value, and the second optical power is greater than the first optical power.

Please refer to FIG. 6A and FIG. 12, a non-volatile computer-readable storage medium 200 containing computer-readable instructions 202 of the present application. When the computer-readable instruction 202 is executed by the processor 12, the processor 12 executes the following steps: 601: Obtain an infrared image of the current scene when the laser is not emitted; 602: Calculate infrared interference energy according to the infrared image; 603: In the infrared interference When the energy is less than the first predetermined value, the laser is emitted with the first optical power; and 604: when the infrared interference energy is greater than the second predetermined value, the laser is emitted with the second optical power, the first predetermined value is less than the second predetermined value, and the second The optical power is greater than the first optical power.

Please refer to FIG. 6A, FIG. 6B and FIG. 12, the non-volatile computer-readable storage medium 200 containing computer-readable instructions 202 of the present application. When the computer-readable instruction 202 is executed by the processor 12, the processor 12 executes the following steps: 6021: Obtain the pixel value of the pixel in the infrared image; and 6022: Determine the infrared interference energy according to the pixel value.

Please refer to FIG. 7 and FIG. 12, a non-volatile computer-readable storage medium 200 containing computer-readable instructions 202 of the present application. When the computer readable instruction 202 is executed by the processor 12, the processor 12 executes the following steps: 701: emit laser at a first operating frequency; 702: receive laser at a second operating frequency and generate infrared images, the second frequency is greater than the first Frequency; 703: Acquire infrared interference images that do not include the laser at the first working frequency in the infrared image; 704: Calculate infrared interference energy according to the infrared interference image; 705: Use the first optical power when the infrared interference energy is less than the first predetermined value Emit laser; and 706: When the infrared interference energy is greater than the second predetermined value, emit the laser with the second optical power, and the first predetermined value is less than the second predetermined value.

Please refer to FIG. 9 and FIG. 12, a non-volatile computer-readable storage medium 200 containing computer-readable instructions 202 of the present application. When the computer-readable instruction 202 is executed by the processor 12, the processor 12 executes the following steps: 901: Obtain the infrared interference energy of the current scene; 902: When the infrared interference energy is less than the first predetermined value, use the first frequency and the first The pulse width and the first optical power emit laser; 903: when the infrared interference energy is greater than the second predetermined value, the laser is emitted with the second frequency, the second pulse width and the second optical power, the second frequency, the second pulse width and the first The product of the two optical powers is less than or equal to the product of the first frequency, the first pulse width and the first optical power.

Please refer to FIG. 10 and FIG. 12, a non-volatile computer-readable storage medium 200 containing computer-readable instructions 202 of the present application. When the computer readable instruction 202 is executed by the processor 12, the processor 12 executes the following steps: 1001: obtain the infrared interference energy of the current scene; 1002: when the infrared interference energy is less than the first predetermined value, emit the laser at the first optical power 1003: When the infrared interference energy is greater than the second predetermined value, the laser is emitted at the second optical power; and 1004: when the infrared interference energy is greater than the first predetermined value and less than the second predetermined value, the current optical power is maintained to continuously emit the laser .

Please refer to FIG. 11 and FIG. 12, a non-volatile computer-readable storage medium 200 containing computer-readable instructions 202 of the present application. When the computer readable instruction 202 is executed by the processor 12, the processor 12 executes the following steps: 1101: obtain the infrared interference energy of the current scene; 1102: when the infrared interference energy is less than the first predetermined value, emit the laser at the first optical power 1103: When the infrared interference energy is greater than the second predetermined value, determine the corresponding sub-optical power according to the infrared interference energy; and 1104: emit the laser with the sub-optical power.

Please refer to FIG. 12, a non-volatile computer-readable storage medium 200 containing computer-readable instructions 202 of the present application. When the computer-readable instruction 202 is executed by the processor 12, the processor 12 executes the following steps: integrate the voltage value generated by receiving infrared light within a predetermined time to obtain the total voltage value corresponding to the infrared interference energy; and according to the total voltage value Determine the infrared interference energy.

Please refer to FIG. 12, a non-volatile computer-readable storage medium 200 containing computer-readable instructions 202 of the present application. The predetermined time is equal to the frame exposure time, which is the time required to receive infrared light when generating a frame of speckle image.

Please refer to FIG. 1, the terminal 10 of the embodiment of the present application includes a housing 15, a depth camera 11 and a processor 12. The terminal 10 may be a mobile phone, a tablet computer, a notebook computer, a smart watch, etc. The description of this application takes the terminal 10 as a mobile phone as an example for description. It is understood that the specific form of the terminal 10 is not limited to a mobile phone.

Both the depth camera 11 and the processor 12 can be installed on the housing 15. The housing 15 includes a front 151 and a back 152, and the front 151 and the back 152 are opposite to each other. The front 151 can also be used to install a display screen 14, which can be used to display images, text and other information. The depth camera 11 can be installed on the front 151 to facilitate selfies or video calls, etc.; the depth camera 11 can also be installed on the back 152 to facilitate shooting scenes and others; in addition, it can also be installed on both the front 151 and the back 152. Independent working depth camera 11.

The depth camera 11 includes a light transmitter 111 and a light receiver 112. The light transmitter 111 of the depth camera 11 can emit laser light, such as infrared laser, which is reflected after reaching the object in the scene. The reflected laser light can be received by the light receiver 112, and the processor 12 can emit according to the light transmitter 111 The laser light and the laser light received by the light receiver 112 calculate the depth information of the object. In one example, the depth camera 11 may obtain depth information through a time of flight (TOF) ranging method. In another example, the depth camera 11 may obtain depth information through a structured light ranging principle. The description of this application takes the depth camera 11 to obtain depth information through the principle of structured light ranging as an example for description. Most depth cameras 11 use lasers with a wavelength of 940 nanometers (nm) to emit. In different environments (such as indoors or outdoors), there may also be infrared light with a wavelength of 940 nm. The optical receiver 112 receives the wavelength of the depth camera 11 as The 940nm laser will also receive infrared light with a wavelength of 940nm in the environment, and the infrared light in the environment will affect the acquisition accuracy of the depth image.

In the example shown in FIG. 1, the depth camera 11 is installed on the back 152 of the housing 15. It can be understood that the depth camera 11 (that is, the rear depth camera 11) installed on the back 152 needs to meet the normal use of photographing distant objects. Therefore, usually the optical power of the laser light emitted by the light emitter 111 needs to be set to be larger. Satisfy the accuracy of obtaining depth information.

The terminal 10 may further include a visible light camera 13. Specifically, the visible light camera 13 may include a telephoto camera and a wide-angle camera, or the visible light camera 13 may include a telephoto camera, a wide-angle camera, and a periscope camera. The visible light camera 13 can be arranged close to the depth camera 11. For example, the visible light camera 13 can be arranged between the light emitter 111 and the light receiver 112, so that the light emitter 111 and the light receiver 112 have a longer distance, which improves The length of the baseline (baseline) of the depth camera 11 improves the accuracy of acquiring depth information.

Please refer to FIG. 2, both the optical transmitter 111 and the optical receiver 112 are connected to the processor 12. The processor 12 may provide an enable signal for the optical transmitter 111. Specifically, the processor 12 may provide an enable signal for the driver 16, wherein the driver 16 is used to drive the optical transmitter 111 to emit laser light. The optical receiver 112 is connected to the processor 12 through an I2C bus. When the optical receiver 112 is used in conjunction with the optical transmitter 111, in an example, the optical receiver 112 can control the projection timing of the optical transmitter 111 through a strobe signal (Strobe signal), where the Strobe signal is based on the optical receiver 112 The strobe signal can be regarded as an electrical signal with alternating high and low levels, and the optical transmitter 111 projects laser light according to the laser projection timing indicated by the strobe signal. Specifically, the processor 12 may send an image acquisition instruction through the I2C bus to enable the depth camera 11 to work. After the optical receiver 112 receives the image acquisition instruction, it controls the switching device 17 through the Strobe signal. If the Strobe signal is high, Then the switch device 17 sends a pulse signal (pwn) to the driver 16, and the driver 16 drives the light emitter 111 to project laser light into the scene according to the pulse signal. If the Strobe signal is low, the switch device 17 stops sending the pulse signal to the driver 16. The light emitter 111 does not project laser light; or, when the Strobe signal is low, the switching device 17 sends a pulse signal to the driver 16, and the driver 16 drives the light emitter 111 to project laser light into the scene according to the pulse signal. When the level is high, the switching device 17 stops sending pulse signals to the driver 16, and the light emitter 111 does not project laser light.

In another example, when the optical receiver 112 and the optical transmitter 111 cooperate, the Strobe signal may not be used. At this time, the processor 12 sends an image acquisition command to the optical receiver 112 and simultaneously sends a laser projection command to the driver 16. The receiver 112 starts to acquire the acquired image after receiving the image acquisition instruction, and when the driver 16 receives the laser projection instruction, it drives the light transmitter 111 to project laser light. When the light emitter 111 projects laser light, the laser light forms a laser pattern with spots and is projected on an object in the scene. The light receiver 112 collects the laser pattern reflected by the object to obtain the speckle image, and sends the speckle image to the processor 12 through the Mobile Industry Processor Interface (MIPI). Each time the optical receiver 112 sends a speckle image to the processor 12, the processor 12 receives a data stream. The processor 12 may calculate the depth information according to the speckle image and the reference image pre-stored in the processor 12.

1 to 3, the adjustment method of the embodiment of the present application can be used to control the aforementioned terminal 10. The adjustment method includes the following steps:

301: Obtain the infrared interference energy of the current scene;

302: When the infrared interference energy is less than the first predetermined value, emit laser light at the first optical power; and

303: When the infrared interference energy is greater than the second predetermined value, emit the laser with the second optical power, the first predetermined value is less than the second predetermined value, and the second optical power is greater than the first optical power.

The processor 12 in the embodiment of the present application is used to obtain the infrared interference energy of the current scene. The optical transmitter 111 is used to emit laser light at a first optical power when the infrared interference energy is less than a first predetermined value, and to emit laser light at a second optical power when the infrared interference energy is greater than a second predetermined value, and the first predetermined value is less than Or equal to the second predetermined value, the second optical power is greater than the first optical power. In other words, step 301 can be implemented by the processor 12, and step 302 and step 303 can be implemented by the optical transmitter 111.

Specifically, the light receiver 112 can be used to receive the infrared interference energy of the current scene; in one example, the terminal 10 further includes a distance sensor 18, and the distance sensor 18 includes an infrared transmitter 181 and an infrared receiver 182. The infrared transmitter 181 cooperates with infrared The receiver 182 realizes the ranging function based on the TOF ranging principle. The infrared transmitter 181 emits infrared light to the target object, the infrared receiver 182 receives the infrared light reflected by the target object, and the processor 12 emits infrared light and light according to the infrared transmitter 181. The time difference of the infrared receiver 182 receiving infrared light is calculated to obtain the distance of the target object. The infrared receiver 182 of the distance sensor 18 can be used to collect the infrared interference energy of the current scene. The processor 12 may be used to obtain the infrared interference energy collected by the infrared receiver 182. The infrared receiver 182 is used to receive infrared light of a specific wavelength (such as a wavelength of 940 nm) in the current scene to generate a corresponding voltage value. The amount of infrared light received by the infrared receiver 182 within a predetermined time is the infrared interference energy, and the corresponding The processor 12 integrates the voltage value within a predetermined time to obtain the total voltage value corresponding to the infrared interference energy, so as to determine the magnitude of the infrared interference energy according to the total voltage value. Compared with the depth camera 11, the power consumption of the distance sensor 18 is lower, and the power required to measure the infrared interference energy of the current scene is less.

The predetermined time may be the same as the frame exposure time of the depth camera 11, and the frame exposure time is the time required for the light receiver 112 to receive infrared light when the depth camera 11 generates a frame of speckle image. As shown in FIG. 4, the optical transmitter 111 transmits to the current scene in the form of pulses (as shown in FIG. 4, the emission waveform S1 and the emission waveform S2, the emission waveform S1 corresponds to the first optical power, and the emission waveform S2 corresponds to the second optical power). The infrared laser is emitted, and the optical receiver 112 receives the infrared light reflected by the current scene according to the strobe waveform C1. In the strobe waveform C1 in FIG. 4, the optical receiver 112 continues to receive the infrared light for the duration of the high level. Stop receiving infrared light within the low level duration. If a frame includes one or more high levels and one or more low levels, the frame exposure time is the sum of the duration of the high level and the low level in one frame.

It can be understood that the greater the infrared interference energy, the more infrared light with a wavelength of 940 nm (hereinafter referred to as background infrared light) in the environment. When the depth camera 11 receives infrared light to generate a speckle image, it not only receives the infrared light with a wavelength of 940nm from the light emitter 111, but also receives the background infrared light. The background infrared light is noise, which will affect the generated speckle image. The accuracy of, which in turn affects the accuracy of the final depth image.

Please refer to Figures 5a and 5b. Since the infrared light with a wavelength of 940nm in the environment generally comes from sunlight, there is basically no background infrared light indoors (as shown in Figure 5a), and the light received by the light receiver 112 is basically a light emitter The laser L1 emitted by 111 has less background infrared light L2. Outdoors are directly irradiated by sunlight, so there is more background infrared light L2 (as shown in Figure 5b). In addition to the laser light L1 emitted by the light transmitter 111, the light received by the light receiver 112 also includes more background infrared light L2. The brighter the sunlight, the more background infrared light L2. After obtaining the magnitude of the infrared interference energy, the processor 12 may determine whether the infrared interference energy is less than the first predetermined value.

The first predetermined value can be determined by detecting indoor infrared interference energy of a large number of houses (such as buildings, bungalows, etc.). For example, the average value of infrared interference energy in all the detected houses is taken as the first predetermined value. Thereby ensuring the accuracy of the first predetermined value.

Please refer to Figure 4, Figure 5a and Figure 5b, the optical power is generally only related to the amplitude of the light. When the infrared interference energy is less than or equal to the first predetermined value, the processor 12 can determine that the depth camera 11 is currently in an indoor environment, and the background infrared There is less light, so the light transmitter 111 is controlled to emit laser light at the first light power. As shown in FIG. 4, the amplitude H1 of the background infrared light and the amplitude H2 corresponding to the first light power can be larger. Achieve a higher signal-to-noise ratio (such as ensuring that the signal-to-noise ratio is greater than 80%). The first optical power is measured indoors containing the infrared interference energy corresponding to the first predetermined value before leaving the factory. The determined optical power has a small value and a high signal-to-noise ratio, which can not only ensure that the depth camera 11 is When the laser is emitted at one optical power, the accuracy of the generated depth image is not affected, and the power consumption of the terminal 10 can also be reduced.

When the infrared interference energy is greater than the first predetermined value, the processor 12 then determines whether the infrared interference energy is greater than or a second predetermined value, and the second predetermined value is greater than the first predetermined value. The second predetermined value is similar to the first predetermined value. The infrared interference energy under different intensities of sunlight (such as cloudy and sunny) can be detected, and the average infrared interference energy under different intensities of sunlight can be used as the second predetermined value, or The maximum infrared interference energy under different intensities of sunlight (such as infrared interference energy in a strong light environment) is used as the second predetermined value.

When the infrared interference energy is greater than or equal to the second predetermined value, the processor 12 can determine that the depth camera 11 is currently in an outdoor environment and there is a lot of background ambient light. At this time, if the laser is still emitted at the first light power, the difference between H2 and H1 The small difference will cause the background infrared light to account for a larger proportion of the infrared light received by the light receiver 112 (that is, the signal-to-noise ratio is low). Therefore, the processor 12 can control the optical transmitter 111 to emit laser light at a second optical power greater than the first optical power. As shown in FIG. 4, the amplitude H1 of the background infrared light and the amplitude H3 corresponding to the second optical power are two The difference between them can achieve a higher signal-to-noise ratio (such as ensuring that the signal-to-noise ratio is greater than 80%). The second optical power is measured outdoors containing infrared interference energy corresponding to the second predetermined value before leaving the factory to determine the optical power with a high signal-to-noise ratio. For example, the second optical power can ensure that the signal-to-noise ratio is greater than 80%, thereby ensuring the accuracy of acquiring depth images in an outdoor environment. In addition, when the current time is at night, there is only a small amount of infrared light with a wavelength of 940nm regardless of indoors and outdoors. Therefore, when the current time is at night, the terminal 10 will still be regarded as indoors even if it is in an outdoor environment, so that the depth camera 11 takes the first place. The optical power emits laser light.

In summary, the adjustment method and terminal 10 of the embodiments of the present application obtain the infrared interference energy of the current scene, and when the infrared interference capability is less (less than the first predetermined value), the laser is emitted at the first optical power less than the second optical power. , Can reduce the power consumption while ensuring the accuracy of the depth image acquisition; and when the infrared interference energy is large (greater than the second predetermined value), the laser is emitted with the second optical power greater than the first optical power to improve the emitted laser and The ratio of infrared interference energy improves the signal-to-noise ratio, thereby improving the acquisition accuracy of depth images.

Referring to FIG. 6A, in some embodiments, the adjustment method includes:

601: Acquire an infrared image of the current scene when the laser is not emitted;

602: Calculate infrared interference energy based on infrared images;

603: When the infrared interference energy is less than the first predetermined value, emit laser light at the first optical power; and

604: When the infrared interference energy is greater than the second predetermined value, the laser is emitted with the second optical power, the first predetermined value is less than the second predetermined value, and the second optical power is greater than the first optical power.

1 and 6A, in some embodiments, the optical receiver 112 is also used to obtain an infrared image of the current scene when no laser is emitted; the processor 12 calculates infrared interference energy according to the infrared image. In other words, step 601 and step 602 may be sub-steps of the aforementioned step 301, and step 601 may be implemented by the optical receiver 112, and step 602 may be implemented by the processor 12.

For the content and specific implementation details of step 603 and step 604 in FIG. 6A, reference may be made to the description of step 302 and step 303 in the specification of this application, which will not be repeated here.

Specifically, the light receiver 112 may also be the light receiver 112 of the depth camera 11. The light receiver 112 of the depth camera 11 cooperates with the light transmitter 111 to obtain a depth image. The light receiver 112 can acquire the background infrared light in the current scene to form an infrared image when the light transmitter 111 does not emit laser light. The processor 12 can determine the magnitude of the infrared interference energy of the current scene according to the infrared image, and the infrared image can pass through The infrared light acquired within one frame exposure time is generated. In this way, the light receiver 112 of the depth camera 11 can obtain the infrared interference energy of the current scene when the light transmitter 111 does not emit laser light, and the depth camera 11 can obtain the depth image, thereby obtaining the depth of the target object, without the need for a separate distance sensor 18 , In order to obtain the infrared interference energy and the depth of the target object, reducing the size and manufacturing cost of the terminal 10.

Please refer to FIG. 6A and FIG. 6B. In some embodiments, step 602: calculating infrared interference energy according to the infrared image specifically includes the following sub-steps:

6021: Obtain the pixel value of the pixel in the infrared image; and

6022: Determine the infrared interference energy according to the pixel value.

Referring to FIG. 1 and FIG. 6B, in some embodiments, the processor 12 is used to obtain the pixel value of the pixel in the infrared image; and determine the infrared interference energy according to the pixel value. In other words, step 6021 and step 6022 may be sub-steps of step 602, and step 6021 and step 6022 may be implemented by processor 12.

Specifically, after the processor 12 obtains the infrared image collected by the depth camera 11, it first obtains the pixel values of all pixels of the infrared image. It can be understood that the more infrared light received by each pixel, the larger the corresponding pixel value. The processor 12 may use the average value of the pixel values of all pixels as the pixel value corresponding to the infrared interference energy of the current scene, thereby determining the infrared interference energy of the current scene according to the pixel value. For example, there is a one-to-one correspondence between pixel values and infrared interference energy, that is, each pixel value corresponds to one infrared interference energy, and this correspondence forms a mapping table. The mapping table is pre-stored in the memory 19 of the terminal 10, and the processor 12 is After calculating the average value of all pixels of the infrared image, query the mapping table to determine the infrared interference energy corresponding to the average value. In this way, the infrared interference energy of the current scene can be quickly calculated.

Please refer to FIG. 7. In some embodiments, the adjustment method further includes:

701: Launch laser at the first working frequency;

702: Receive laser at a second operating frequency and generate an infrared image, the second frequency is greater than the first frequency;

703: Acquire an infrared interference image that does not include the laser at the first operating frequency in the infrared image;

704: Calculate infrared interference energy based on infrared interference images;

705: When the infrared interference energy is less than the first predetermined value, emit laser light at the first optical power; and

706: When the infrared interference energy is greater than the second predetermined value, emit laser light with the second optical power, and the first predetermined value is less than the second predetermined value.

1 and 7, in some embodiments, the optical transmitter 111 is also used to emit laser light at a first operating frequency; the optical receiver 112 is used to receive laser light at a second operating frequency and generate infrared images, and the second The frequency is greater than the first frequency; the processor 12 is used to obtain the infrared interference image of the laser with the first operating frequency in the infrared image, and calculate the infrared interference energy according to the infrared interference image; the optical transmitter 111 is also used to When the first predetermined value, the laser is emitted at the first optical power, and when the infrared interference energy is greater than the second predetermined value, the laser is emitted with the second optical power, the first predetermined value is less than the second predetermined value. In other words, step 701, step 702, step 703, and step 704 can be sub-steps of obtaining infrared interference energy, and step 701, step 705, and step 706 can be implemented by the optical transmitter 111, and step 702 can be implemented by the optical receiver. 112 is implemented, and step 703 and step 704 may be implemented by the processor 12.

For the content and specific implementation details of step 705 and step 706 in FIG. 7, reference may be made to the description of step 302 and step 303 in the specification of this application, which will not be repeated here.

Specifically, during the working process of the depth camera 11, the light transmitter 111 emits infrared laser light to the current scene in the form of pulses (as shown in FIG. 4, the transmission waveform S1 and the transmission waveform S2), and the light receiver 112 receives the current scene with the strobe waveform C1. The background infrared light of the scene and the infrared laser light emitted by the light emitter 11. At this time, since the light transmitter 111 is emitting infrared laser light, the infrared light received by the light receiver 112 includes not only the background infrared light, but also the laser light emitted by the light transmitter 111, so the background infrared light cannot be accurately obtained at this time. In the following, description is made by taking the current outdoor environment and the laser emission waveform as the emission waveform S2 as an example.

The processor 12 can cause the light transmitter 111 to emit infrared laser light at a first operating frequency, and the light receiver 112 receives infrared laser light and background infrared light at a second operating frequency, wherein the second operating frequency is greater than the first operating frequency. In this embodiment, the second operating frequency is twice the first operating frequency. The strobe waveform C1 in Fig. 4 becomes the strobe waveform C2 shown in Fig. 8, that is, when the light transmitter 111 does not emit infrared laser light (the high level duration t2, t4, t6, etc.), the light receiver 112 can only receive the background infrared light to generate the corresponding infrared interference image, and the processor 12 can calculate the infrared interference energy according to the infrared interference image. The calculation method is as described above and will not be repeated here. In this way, during the working process of the depth image, the infrared interference energy can also be accurately obtained, ensuring that the terminal 10 can monitor the infrared interference energy of the current environment at any time.

In addition, please refer to FIG. 8. The waveform I1 represents the time sequence of the infrared image acquired by the optical receiver 112 and the frame number of the infrared image, and the waveform I2 represents the infrared laser only emitted by the optical transmitter 111 obtained from the interference speckle image and the infrared interference image. The number of frames of the speckle image formed. The processor 12 controls the optical receiver 112 to first receive the background infrared light and the infrared laser emitted by the optical transmitter 111 when the optical transmitter 111 projects laser light to obtain the Nth frame image (hereinafter referred to as the interference speckle image). When the light transmitter 111 does not project laser light, it receives infrared light in the environment (ie, background infrared light) to obtain the N+1th frame image (ie, infrared interference image); then, the processor 12 controls the light receiver 112 again When the light transmitter 111 is projecting laser light, it receives the background infrared light and the infrared laser light emitted by the light transmitter 111 to obtain the N+2th frame acquisition image (in this case, the interference speckle image), and so on, the light receiver 112 alternates Obtain the interference speckle image and infrared interference image.

It should be noted that the processor 12 may control the light receiver 112 to first obtain the infrared interference image, and then obtain the interference speckle image, and alternately execute the acquisition of the collected images according to this sequence. In addition, the above-mentioned multiple relationship between the second operating frequency and the first operating frequency is only an example. In other embodiments, the multiple relationship between the second operating frequency and the first operating frequency may also be three times or four times. , Five times, six times and so on.

The processor 12 distinguishes each captured image, and first determines whether the captured image is an interference speckle image or an infrared interference image. Specifically, it can determine whether the captured image is an interference speckle image or an infrared interference image by determining whether the light emitter 111 is turned on when the captured image is acquired. Infrared interference image; if it is turned on, it means that the currently acquired image is acquisition of interference speckle images; if it is not turned on, it means that the currently acquired image is an infrared interference image. After the processor 12 obtains at least one frame of interference speckle image and at least one frame of infrared interference image, it can calculate depth information based on the interference speckle image, infrared interference image, and reference image. Specifically, taking the Nth frame of acquisition image and the N+1th frame of acquisition image in I1 of FIG. 8 as an example, the infrared interference image is collected when the light transmitter 111 is not projecting infrared laser, forming an infrared interference image The light only includes the background infrared light (that is, the captured image of frame N+1 does not include infrared laser), and the interference speckle image is collected when the light emitter 111 projects the laser. The light that forms the interference speckle image also includes the background Infrared light and the infrared laser emitted by the light transmitter 111 (that is, the Nth frame of captured image contains infrared laser and background infrared light), therefore, the processor 12 can remove the interference speckle image formed by the background infrared light according to the infrared interference image In order to obtain the image formed by only the infrared laser emitted by the light emitter 111 (ie, remove the N+1th frame of the captured image from the Nth frame of the captured image to obtain the I2 first frame of speckle image in Fig. 8, In the same way, the N+3th frame acquisition image is removed from the N+2th frame acquisition image to obtain the speckle image of the second frame I2 in FIG. 8, and so on).

It can be understood that the ambient light includes infrared light with the same wavelength as the laser emitted by the light transmitter 111 (for example, includes background infrared light with a wavelength of 940 nm), and when the light receiver 112 acquires an image, this part of the infrared light will also be received by the light.器112 receives. When the brightness of the scene is high, the proportion of the background infrared light in the light received by the light receiver 112 will increase, resulting in inconspicuous laser speckles in the collected image, thereby affecting the calculation of the depth image. In this embodiment, the light transmitter 111 and the light receiver 112 work at different operating frequencies, and the light receiver 112 can collect infrared interference images formed by only background infrared light and the background infrared light and the light transmitter 111 at the same time. The interference speckle image formed by infrared laser can not only detect the amount of infrared interference energy in the current scene based on the infrared interference image, but also remove the image part formed by the background infrared light in the interference speckle image based on the infrared interference image. The laser speckles can be distinguished, and the acquired image formed by only the infrared laser emitted by the light emitter 111 can be used to calculate the depth information. The laser speckle matching is not affected, which can avoid partial or complete loss of depth information, thereby increasing the depth The accuracy of the information.

Referring to FIG. 9, in some embodiments, the adjustment method includes:

901: Obtain the infrared interference energy of the current scene;

902: When the infrared interference energy is less than the first predetermined value, emit laser light with the first frequency, the first pulse width and the first optical power;

903: When the infrared interference energy is greater than the second predetermined value, the laser is emitted with the second frequency, the second pulse width and the second optical power, and the product of the second frequency, the second pulse width and the second optical power is less than or equal to the first The product of frequency, first pulse width and first optical power.

1 and 9, in some embodiments, the optical transmitter 111 is also used to emit laser light at a first frequency, a first pulse width, and a first optical power when the infrared interference energy is less than a first predetermined value. And when the infrared interference energy is greater than the second predetermined value, the laser is emitted with the second frequency, the second pulse width and the second optical power; the product of the second frequency, the second pulse width and the second optical power is less than or equal to the first frequency , The product of the first pulse width and the first optical power. In other words, step 902 may be a sub-step of emitting laser light at the first optical power, step 903 may be a sub-step of emitting laser light at the second optical power, and step 902 and step 903 may be implemented by the light transmitter 111.

For the content and specific implementation details of step 901 in FIG. 9, reference may be made to the description of step 301 in the specification of this application, which will not be repeated here.

Specifically, in a unit time, when the laser light entering the human eye reaches a certain amount, it will cause a human eye safety risk. The rear depth camera 11 is also required to be able to photograph objects or people that are close. When the distance is relatively close, the laser with higher optical power is likely to cause harm to the people. Therefore, for the rear depth camera 11, ensuring the safety of the depth camera 11 is particularly important and difficult. Therefore, when emitting laser light, the processor 12 can adjust the total amount of laser light entering the human eye per unit time by controlling the frequency, pulse width, and optical power of the laser light, thereby preventing the laser light from threatening human eye safety. When the processor 12 determines that the current scene is an outdoor environment, since the laser is emitted with a second optical power greater than the first optical power, in order to ensure human eye safety, the second frequency and/or the second pulse width can be appropriately reduced, so that The product of the second frequency, the second pulse width and the second optical power is less than or equal to the product of the first frequency, the first pulse width and the first optical power, so as to ensure that even if the optical power is increased in an outdoor environment, it will not be harmful to people. Eye safety poses a threat. At the same time, since the signal-to-noise ratio has little to do with the pulse width and frequency of the laser but only related to the optical power, after the optical power is increased to the second optical power, the signal-to-noise ratio can be improved, thus ensuring the depth when the outdoor background infrared light is large. The accuracy of image acquisition.

Referring to FIG. 10, in some embodiments, the first predetermined value is less than the second predetermined value, and the adjustment method includes:

1001: Obtain the infrared interference energy of the current scene;

1002: When the infrared interference energy is less than the first predetermined value, emit the laser with the first optical power;

1003: When the infrared interference energy is greater than the second predetermined value, emit laser light at the second optical power; and

1004: When the infrared interference energy is greater than the first predetermined value and less than the second predetermined value, maintain the current optical power to continuously emit laser light.

1 and 10, in some embodiments, the optical transmitter 111 is also used to maintain the current optical power to continuously emit laser light when the infrared interference energy is greater than a first predetermined value and less than a second predetermined value. In other words, step 1004 can be implemented by the light transmitter 111.

For the content and specific implementation details of step 1001, step 1002, and step 1003 in FIG. 10, please refer to the description of step 301, step 302, and step 303 in the specification of this application, which will not be repeated here.

Specifically, when the first predetermined value is less than the second predetermined value, and the current processor 12 determines that the infrared interference energy of the current scene is greater than the first predetermined value but less than the second predetermined value, it may first obtain the current optical power of the optical transmitter 111, thereby Keep the current optical power and continue to emit laser light. For example, the current scene is indoors and the light transmitter 111 emits laser light at the first light power. If the user holds the terminal 10 and walks to the window to take a picture at this time, the background infrared light increases correspondingly because it is close to the outdoors. At this time, when the infrared interference energy is between the first predetermined value and the second predetermined value, the processor 12 controls the optical transmitter 111 to continue to emit laser light at the first optical power. For another example, the current scene is outdoor, and the light transmitter 111 emits laser light at the second light power. At this time, when the user holds the terminal 10 and walks to the shadow to take a picture, the background infrared light is correspondingly reduced because of the shadow. At this time, when the infrared interference energy is between the first predetermined value and the second predetermined value, the processor 12 may control the optical transmitter 111 to continue to emit laser light at the second optical power. In this way, a certain margin is reserved between the first predetermined value and the second predetermined value to prevent the infrared interference energy from falling back and forth on the third predetermined value when the first predetermined value and the second predetermined value are the same as the third predetermined value. Fluctuations result in frequent switching of the optical power of the optical transmitter 111.

Referring to FIG. 11, in some embodiments, the second optical power includes one or more sub-optical powers, and the adjustment method includes:

1101: Obtain the infrared interference energy of the current scene;

1102: When the infrared interference energy is less than the first predetermined value, emit laser light at the first optical power;

1103: When the infrared interference energy is greater than the second predetermined value, determine the corresponding sub-light power according to the infrared interference energy; and

1104: Launch laser with sub-optical power.

Referring to Fig. 1 and Fig. 11, in some embodiments, the processor 12 is further configured to determine the corresponding sub-light power according to the infrared interference energy. The optical transmitter 111 is also used to emit laser light with sub-optical power. In other words, step 1103 and step 1104 may be sub-steps of emitting laser light at the second optical power, and step 1103 may be implemented by the processor 12, and step 1104 may be implemented by the light transmitter 111.

For the content and specific implementation details of step 1101 and step 1102 in FIG. 11, reference may be made to the description of step 301 and step 302 in the specification of this application, which will not be repeated here.

Specifically, the second optical power includes one or more sub-optical powers. When the second optical power includes only one sub-optical power, as long as the processor 12 determines that the infrared interference energy of the current scene is greater than the second predetermined value, regardless of whether the infrared interference energy is How much, use this sub-optical power to emit laser light. For example, the sub-light power is the light power required by the depth camera 11 to obtain an accurate depth image even in an outdoor strong light environment. When the outdoor ambient light is weak (such as cloudy, dusk, etc.), if the sub-light power is still used to emit the laser, although an accurate depth image can be obtained, most of the power is wasted and the power consumption is high.

When the second optical power includes multiple sub-optical powers, when the infrared interference energy of the current scene is greater than the second predetermined value, the processor 12 may determine the corresponding sub-optical power according to the magnitude of the infrared interference energy, for example, different infrared interference energies correspond to different Therefore, the processor 12 can control the light emitter 111 to emit laser light at the corresponding sub-light power according to the magnitude of the infrared interference energy.

In an example, the second optical power includes a first sub-optical power, a second sub-optical power, a third sub-optical power, and a fourth sub-optical power, where the range of the infrared interference energy corresponding to the first sub-optical power is The second predetermined value a to the third predetermined value b, the range of the infrared interference energy corresponding to the second sub-light power is the third predetermined value b to the fourth predetermined value c, and the range of the infrared interference energy corresponding to the third sub-light power is From the fourth predetermined value c to the fifth predetermined value d, the range of the infrared interference energy corresponding to the fourth sub-light power is greater than the fifth predetermined value d. Among them, the second predetermined value a to the fifth predetermined value d increase sequentially. The corresponding relationship between sub-optical power and infrared interference energy is shown in Table 1 below:

Table 1

子光功率Sub-optical power	红外干扰能量范围Infrared interference energy range
第一子光功率First sub optical power	[a,b][a,b]
第二子光功率Second sub optical power	(b,c](b,c)
第三子光功率Third sub optical power	(c,d](c,d)
第四子光功率Fourth sub optical power	(d,∞)(d,∞)

Wherein, the second predetermined value and the sixth predetermined value may be the average infrared interference energy detected in an outdoor strong light environment and a weak light environment, respectively, and the third predetermined value to the fifth predetermined value are based on the second predetermined value and the sixth predetermined value. For example, if the second predetermined value a is 200 and the fifth predetermined value d is 800, the second predetermined value a to the fifth predetermined value d are respectively 200, 400, 600, and 800, and the value of 200 to 800 The infrared interference energy is divided into 4 gears. When the infrared interference energy is at [a,b] (ie, [200,400]), the light transmitter 111 emits laser light at the first sub-optical power; when the infrared interference energy is at (b,c] (ie, (400,600)) , The optical transmitter 111 emits laser light at the second sub-optical power; when the infrared interference energy is at (c, d) (ie, (600,800)), the optical transmitter 111 emits laser light at the third sub-optical power; when the infrared interference energy At (d, ∞) (ie, (800, ∞)), the optical transmitter 111 emits laser light at the fourth sub-optical power. In this way, fine adjustment of the optical power can be achieved, so that each infrared interference energy has a corresponding When the depth camera 11 emits laser light with the corresponding sub-light power, it is guaranteed that the depth image can be obtained with high precision and low optical power.

Referring to FIG. 12, the present application also provides a non-volatile computer-readable storage medium 200 containing computer-readable instructions 202. When the computer-readable instruction 202 is executed by the processor 12, the processor 12 executes the adjustment method of any one of the foregoing embodiments. The processor 12 may be the processor 12 in FIGS. 1 and 2.

For example, referring to FIG. 3, when the computer-readable instruction 202 is executed by the processor 12, the processor 12 is caused to perform the following steps:

301: Obtain the infrared interference energy of the current scene;

302: When the infrared interference energy is less than the first predetermined value, control the light transmitter 111 to emit laser light at the first light power; and

303: When the infrared interference energy is greater than the second predetermined value, control the optical transmitter 111 to emit laser light at the second optical power, the first predetermined value is less than the second predetermined value, and the second optical power is greater than the first optical power.

For another example, referring to FIG. 3, when the computer-readable instruction 202 is executed by the processor 12, the processor 12 is caused to perform the following steps:

602: Calculate infrared interference energy based on infrared images;

603: When the infrared interference energy is less than the first predetermined value, control the light transmitter 111 to emit laser light at the first light power; and

604: When the infrared interference energy is greater than the second predetermined value, control the optical transmitter 111 to emit laser light at the second optical power, the first predetermined value is less than the second predetermined value, and the second optical power is greater than the first optical power.

6021: Obtain the pixel value of the pixel in the infrared image; and

6022: Determine the infrared interference energy according to the pixel value.

701: Control the light transmitter 111 to emit laser light at the first operating frequency;

702: Control the optical receiver 112 to receive laser light and generate an infrared image at a second operating frequency, where the second frequency is greater than the first frequency;

705: When the infrared interference energy is less than the first predetermined value, control the light transmitter 111 to emit laser light at the first light power; and

706: When the infrared interference energy is greater than the second predetermined value, control the optical transmitter 111 to emit laser light with the second optical power, and the first predetermined value is less than the second predetermined value.

For another example, referring to FIG. 3, when the computer-readable instructions 202 are executed by the processor 12, the processor 12 is caused to perform the following steps:

901: Obtain the infrared interference energy of the current scene;

902: When the infrared interference energy is less than the first predetermined value, control the optical transmitter 111 to emit laser light with the first frequency, the first pulse width and the first optical power;

903: When the infrared interference energy is greater than the second predetermined value, control the optical transmitter 111 to emit laser at the second frequency, the second pulse width and the second optical power, the product of the second frequency, the second pulse width and the second optical power It is less than or equal to the product of the first frequency, the first pulse width and the first optical power.

1001: Obtain the infrared interference energy of the current scene;

1002: When the infrared interference energy is less than the first predetermined value, control the light transmitter 111 to emit laser light at the first light power; and

1003: When the infrared interference energy is greater than the second predetermined value, control the optical transmitter 111 to emit laser light at the second optical power; and

1004: When the infrared interference energy is greater than the first predetermined value and less than the second predetermined value, control the optical transmitter 111 to maintain the current optical power to continuously emit laser light.

1101: Obtain the infrared interference energy of the current scene;

1102: When the infrared interference energy is less than the first predetermined value, control the optical transmitter 111 to emit laser light at the first optical power;

1104: Control the light emitter 111 to emit laser light with sub-light power.

In the description of this specification, reference is made to the terms “certain embodiments”, “one embodiment”, “some embodiments”, “exemplary embodiments”, “examples”, “specific examples”, or “some examples”. The description means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in an appropriate manner.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

Although the embodiments of the present application have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present application. A person of ordinary skill in the art can comment on the foregoing within the scope of the present application. The embodiments are subject to changes, modifications, substitutions and modifications, and the scope of the application is defined by the claims and their equivalents.

Claims

An adjustment method, characterized in that it comprises:

Obtain the infrared interference energy of the current scene;

When the infrared interference energy is less than the first predetermined value, emit laser light at the first optical power; and

When the infrared interference energy is greater than a second predetermined value, laser light is emitted with a second optical power, the first predetermined value is less than the second predetermined value, and the second optical power is greater than the first optical power.
The adjustment method according to claim 1, wherein said obtaining infrared interference energy of the current scene comprises:

Get an infrared image of the current scene when the laser is not emitted; and

The infrared interference energy is calculated according to the infrared image.
The adjustment method according to claim 2, wherein the calculating the infrared interference energy according to the infrared image comprises:

Acquiring the pixel value of the pixel in the infrared image; and

The infrared interference energy is determined according to the pixel value.
The adjustment method according to claim 1, wherein said obtaining the infrared interference energy of the current scene comprises:

Launch laser at the first operating frequency;

Receiving laser light at a second operating frequency and generating an infrared image, the second frequency being greater than the first frequency;

Acquiring an infrared interference image that does not include the laser of the first operating frequency in the infrared image; and

The infrared interference energy is calculated according to the infrared interference image.
The adjusting method according to claim 1, wherein the emitting laser light at the first optical power comprises:

Emitting laser light with a first frequency, a first pulse width and the first optical power;

The emitting laser light at the second optical power includes:

The laser is emitted at a second frequency, a second pulse width, and the second optical power, and the product of the second frequency, the second pulse width, and the second optical power is less than or equal to the first frequency and the second optical power. The product of the first pulse width and the first optical power.
The adjustment method according to claim 1, wherein the adjustment method further comprises:

When the infrared interference energy is greater than the first predetermined value and less than the second predetermined value, the current optical power is maintained to continuously emit laser light.
The adjustment method according to claim 1, wherein the second optical power includes one or more sub-optical powers, and the emitting laser at the second optical power includes:

Determining the corresponding sub-light power according to the infrared interference energy; and

The laser light is emitted at the sub-light power.
The adjustment method according to claim 1, wherein the obtaining infrared interference energy of the current scene comprises:

Integrating the voltage value generated by receiving infrared light within a predetermined time to obtain the total voltage value corresponding to the infrared interference energy; and

The infrared interference energy is determined according to the total voltage value.
8. The adjustment method according to claim 8, wherein the predetermined time is equal to the frame exposure time, and the frame exposure time is the time required to receive infrared light when generating a frame of speckle image.
A terminal, characterized in that it comprises:

A processor for obtaining the infrared interference energy of the current scene;

An optical transmitter for emitting laser light at a first optical power when the infrared interference energy is less than a first predetermined value, and emitting laser light at a second optical power when the infrared interference energy is greater than a second predetermined value, so The first predetermined value is less than or equal to the second predetermined value, and the second optical power is greater than the first optical power.
The terminal according to claim 10, wherein the terminal further comprises an optical receiver, the optical receiver is used to obtain an infrared image of the current scene when the optical transmitter does not emit laser light; Calculating the infrared interference energy according to the infrared image.
The terminal according to claim 11, wherein the processor is further configured to:

Acquiring the pixel value of the pixel in the infrared image; and

The infrared interference energy is determined according to the pixel value.
The terminal according to claim 10, wherein the terminal further comprises an optical receiver, the optical transmitter is also used to emit laser light at a first operating frequency; the optical receiver is used to receive laser light at a second operating frequency Laser and generate an infrared image, the second frequency is greater than the first frequency; the processor is used to obtain an infrared interference image of the laser that does not include the first operating frequency in the infrared image, and according to the infrared interference The image calculates the infrared interference energy.
The terminal according to claim 10, wherein the optical transmitter is further configured to emit laser light at a first frequency, a first pulse width, and the first optical power, and to emit laser light at a second frequency, a second pulse width And the second optical power emitting laser; the product of the second frequency, the second pulse width and the second optical power is less than or equal to the first frequency, the first pulse width and the first A product of optical power.
The terminal according to claim 10, wherein the optical transmitter is further configured to maintain the current optical power to continue when the infrared interference energy is greater than the first predetermined value and less than the second predetermined value. Launch laser.
The terminal according to claim 10, wherein the second optical power comprises one or more sub-optical powers, and the terminal further comprises a processor, and the processor is configured to determine the corresponding all the power according to the infrared interference energy. The sub-optical power; the optical transmitter is also used to emit laser light with the sub-optical power.
The terminal according to claim 10, wherein the terminal further comprises a distance sensor, the distance sensor comprises an infrared receiver, the infrared receiver is configured to receive infrared light to generate a corresponding voltage value, and the processor It is also used to integrate the voltage value generated by the infrared receiver receiving infrared light within a predetermined time to obtain the total voltage value corresponding to the infrared interference energy; and determine the infrared interference energy according to the total voltage value.
The terminal according to claim 17, wherein the terminal further comprises a light receiver, the predetermined time is equal to the frame exposure time of the light receiver, and the frame exposure time is when one frame of speckle image is generated , The time required for the light receiver to receive infrared light.
The terminal according to claim 11, wherein the terminal comprises a visible light camera, and the visible light camera is located between the light transmitter and the light receiver.
A non-volatile computer-readable storage medium containing computer-readable instructions, which when executed by a processor, cause the processor to execute the adjustment method according to any one of claims 1-9.