CN109831255B - Control system and terminal of time-of-flight subassembly - Google Patents
Control system and terminal of time-of-flight subassembly Download PDFInfo
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- CN109831255B CN109831255B CN201910232587.1A CN201910232587A CN109831255B CN 109831255 B CN109831255 B CN 109831255B CN 201910232587 A CN201910232587 A CN 201910232587A CN 109831255 B CN109831255 B CN 109831255B
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Abstract
The application discloses a control system and a terminal of a time-of-flight assembly. The time-of-flight assembly includes a laser light source, a diffuser, and a sensor. The control system comprises a modulation module, a photoelectric converter, an application processor and a driving chip which are integrated on the sensor. A plurality of modulation modes are stored in the modulation module. The photoelectric converter receives laser light emitted by the laser light source and reflected by the diffuser and converts the laser light into an electrical signal. And when the electric signal meets the preset condition, the application processor controls the sensor to call the corresponding modulation mode. The driving chip is connected with the sensor to receive the corresponding modulation mode, and the driving chip is connected with the laser light source and used for driving the laser light source to emit laser in the corresponding modulation mode, so that the laser light emitted by the laser light source can be prevented from hurting a user, and the safety of the user using the terminal is ensured.
Description
Technical Field
The present application relates to the field of consumer electronics, and in particular, to a control system and a terminal for a time-of-flight component.
Background
The Time of Flight (TOF) component may calculate depth information of the object to be measured by calculating a Time difference between a Time when the light emitter emits the laser light and a Time when the light receiver receives the laser light. The light emitted by the laser light source is usually infrared laser, and when the light emitter is abnormal, the emitted infrared laser easily injures a user.
Disclosure of Invention
The embodiment of the application provides a control system and a terminal of a time-of-flight assembly.
The control system of the time-of-flight assembly of the embodiment of the application comprises a laser light source, a diffuser and a sensor, and the control system comprises a modulation module, a photoelectric converter, an application processor and a driving chip which are integrated on the sensor; a plurality of modulation modes are stored in the modulation module; the photoelectric converter receives the laser light emitted by the laser light source and reflected by the diffuser and converts the laser light into an electrical signal; the application processor controls the sensor to call the corresponding modulation mode when the electric signal meets a preset condition; the driving chip is connected with the sensor to receive the corresponding modulation mode, and the driving chip is connected with the laser light source and used for driving the laser light source to emit laser in the corresponding modulation mode.
The terminal of the embodiment of the application comprises a time-of-flight component and the control system of the time-of-flight component, wherein the control system is connected with the time-of-flight component.
According to the control system and the terminal of the time-of-flight assembly, when the electric signal output by the photoelectric converter meets the preset condition, the control sensor calls the corresponding modulation mode to enable the driving chip to drive the laser light source to emit laser in the corresponding modulation mode, so that the laser light source can be prevented from emitting laser to hurt a user, and the safety of the user using the terminal is ensured.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a terminal according to some embodiments of the present application.
FIG. 2 is a schematic diagram of a time-of-flight assembly and control system according to some embodiments of the present disclosure.
FIG. 3 is a block schematic diagram of a control system according to certain embodiments of the present application.
Fig. 4-7 are waveform diagrams of intrinsic and safety modulation schemes according to certain embodiments of the present application.
FIG. 8 is a block schematic diagram of a control system according to certain embodiments of the present application.
Fig. 9 and 10 are schematic diagrams illustrating a flow of determining an anomaly of a diffuser according to some embodiments of the present disclosure.
FIG. 11 is a block schematic diagram of a control system according to certain embodiments of the present application.
Fig. 12 to 16 are schematic diagrams illustrating a process of determining damage to the photoelectric converter or an abnormality of the diffuser according to some embodiments of the present disclosure.
FIG. 17 is a block schematic diagram of a control system according to certain embodiments of the present application.
Fig. 18 and 19 are schematic diagrams of time-of-flight assemblies and control systems according to certain embodiments of the present application.
Fig. 20 is a schematic view of the distribution of a light-transmitting conductive film according to some embodiments of the present disclosure.
Fig. 21 is a schematic flow chart illustrating a process of determining damage to the photoelectric converter or an abnormality of the diffuser according to some embodiments of the present disclosure.
FIG. 22 is a block schematic diagram of a control system according to certain embodiments of the present application.
FIG. 23 is a schematic diagram of a time-of-flight assembly and control system according to some embodiments of the present application.
Fig. 24 and 25 are schematic diagrams illustrating a process of determining damage to the photoelectric converter or an abnormality of the diffuser according to some embodiments of the present disclosure.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the embodiments of the present application.
Referring to fig. 1 and 2, a terminal 100 according to an embodiment of the present application includes a time-of-flight component 10 and a control system 20. The terminal 10 may control the time-of-flight component 10 to acquire depth information of the target object using the control system 20 to perform ranging, modeling, and the like using the depth information. The terminal 100 may specifically be a mobile phone, a tablet computer, a remote controller, an intelligent wearable device, and the like, and the terminal 100 may also be an external device installed on a mobile platform (e.g., an unmanned aerial vehicle, an automobile, and the like). In the embodiment of the present application, the terminal 100 is a mobile phone as an example, and it is understood that the specific form of the terminal 100 is not limited to the mobile phone. In the example shown in fig. 1, the terminal 100 includes a housing 30, and the housing 30 may be used to mount the time-of-flight assembly 10 and the control system 20.
Referring to FIG. 1, the time of flight assembly 10 can be mounted within a housing 30, and specifically, in one example, the housing 30 has a through hole formed therein, the time of flight assembly 10 is mounted within the housing 30 and aligned with the through hole, and the through hole can be formed in the front or back of the housing 30; in another example, the time of flight assembly 10 is mounted within the housing 30 and aligned with the display screen 40, i.e., disposed below the display screen 40, and laser light emitted by the time of flight assembly 10 passes through the display screen 40 to the outside, or laser light reflected back via an external object passes through the display screen 40 to be received by the time of flight assembly 10.
Referring to fig. 2, the time-of-flight assembly 10 includes an optical transmitter 11, an optical receiver 12, and a substrate 13. The optical transmitter 11 and the optical receiver 12 are disposed on the substrate 13, and specifically, the optical transmitter 11 and the optical receiver 12 may be disposed on the same substrate 13 (as shown in fig. 2), and the optical transmitter 11 and the optical receiver 12 may also be disposed on two separate substrates 13 (not shown).
The light emitter 11 includes a laser light source 111, a diffuser 112, and a sleeve 115. The sleeve 115 is disposed on the substrate 13, the sleeve 115 and the substrate 13 enclose a housing chamber 110, and the laser source 111 and the diffuser 112 are both housed in the housing chamber 110. The Laser light source 111 may be a Vertical Cavity Surface Emitting Laser (VCSEL), the Laser light source 111 may be configured to emit Laser light, the Laser light may be infrared Laser light, the wavelength of the Laser light may be 940 nm, and the infrared Laser light may have a uniform spot pattern. A diffuser 112 is disposed on a light emitting path of the laser light source 111, and the laser light emitted from the laser light source 111 is diffused by the diffuser 112 to be emitted more uniformly into an external space. At the same time, the diffuser 112 will also reflect a portion of the laser light. In the embodiment of the present application, the laser emitted by the laser light source 111 is a laser pulse, and the waveform of the laser pulse is a square wave, that is, the laser light source 111 emits the laser pulse at a high level, and the laser light source 111 does not emit the laser pulse at a low level, so as to avoid that the user is injured by continuously emitting the laser to the outside, and in addition, the intensity of the laser emitted by the laser light source 111 cannot exceed a predetermined safety threshold.
The light receiver 12 includes a lens 121 and a sensor 122. The laser light emitted from the light emitter 11 reaches the target object, and under the reflection action of the target object, the laser light returns to the light receiver 12 and is received by the light receiver 12, and specifically, the reflected laser light is received by the sensor 122 after passing through the lens 121. By calculating the time difference between the time at which the laser light source 111 emits laser light and the time at which the reflected laser light is received by the sensor 122, the depth (i.e., distance) of the target object relative to the time-of-flight assembly 10 can be calculated.
Referring to fig. 2 and 3, a control system 20 may be coupled to the time-of-flight assembly 10, the control system 20 controlling the time-of-flight assembly 10 to transmit and receive laser light.
The control system 20 includes a photoelectric converter 21, a driver chip 22, and an application processor 23.
The photoelectric converter 21 may specifically be a Photo-Diode (PD), and after receiving the laser light emitted by the laser light source 111 and reflected back to the diffuser 112, the photoelectric converter 21 may convert the received laser light into an electrical signal, and the intensity of the electrical signal is increased as the intensity of the laser light is increased. The photoelectric converter 21 may be disposed in the receiving cavity 110. In the example shown in fig. 2, the photoelectric converter 21 is provided on the substrate 13 in the vicinity of the laser light source 111, and the light-receiving surface of the photoelectric converter 21 is perpendicular to the optical axis of the laser light source 111. Of course, the specific position of the photoelectric converter 21 in the light emitter 11 is not limited to the above example, and for example, the photoelectric converter 21 may be disposed on the inner sidewall 116 of the sleeve 115, and the light-receiving surface of the photoelectric converter 21 may be perpendicular to the optical axis of the laser light source 111. In the embodiment of the present application, the photoelectric converter 21 receives the laser light emitted by the laser light source 111 and reflected by the diffuser 112 and converts it into an electrical signal. The electrical signal may be characteristic of the laser light reflected back from the diffuser 112 and further used to determine whether the diffuser 112 is abnormal (the abnormality may be a drop or a crack, wherein the drop may be a complete drop or an incomplete drop). It can be understood that, under the condition that the pulse signal provided by the driving chip 22 is fixed, if the diffuser 112 works normally, the intensity of the laser reflected by the diffuser 112 should approach a predetermined intensity value, and correspondingly, the electrical signal output by the photoelectric converter 21 should also approach a predetermined electrical signal value; however, if the diffuser 112 is broken or dropped, the intensity of the laser light reflected back from the diffuser 112 is low, and the electrical signal output by the photoelectric converter 21 is also reduced accordingly, even becomes zero.
The driving chip 22 may be disposed on the substrate 13. The driving chip 22 is connected to the laser light source 111, the photoelectric converter 21, and the application processor 23, wherein the driving chip 22 may be directly connected to the application processor 23 (as shown in fig. 8) or indirectly connected to the application processor 23. When the application processor 23 is indirectly connected to the driver chip 22, the application processor 23 is connected to the sensor 122, and the sensor 122 is connected to the driver chip 22. The driving chip 22, after receiving an instruction sent directly by the application processor 23 or sent by the application processor 23 through the sensor 122 to turn on the light emitter 11, will provide a pulse signal to the laser source 111 in the light emitter 11 to drive the laser source 111 to emit laser.
Referring to fig. 3, in some embodiments, the application processor 23 is connected to the optical-to-electrical converter 21, and the application processor 23 may receive the electrical signal output by the optical-to-electrical converter 21 and determine whether the electrical signal satisfies a preset condition, and when the electrical signal satisfies the preset condition, the application processor 23 controls the sensor 122 to invoke a corresponding modulation mode. Specifically, when the electrical signal does not satisfy the preset condition, the application processor 23 controls the sensor 122 to invoke the intrinsic modulation mode, and the driving chip 22 receives the intrinsic modulation mode sent by the sensor 122 and drives the laser light source 111 to emit laser light in the intrinsic modulation mode; when the electrical signal meets the preset condition, the application processor 23 controls the sensor 122 to invoke the safety modulation mode, and the driving chip 22 receives the safety modulation mode sent by the sensor 122 and drives the laser light source 111 to emit laser in the safety modulation mode. In the embodiment of the present application, the electrical signal is a current signal, and the electrical signal satisfies the preset condition that the current value is smaller than the first current threshold (the same applies below). When the current value is smaller than the first current threshold, it indicates that there may be an abnormality in the diffuser 112, at this time, the application processor 23 controls the sensor 122 to invoke a safety modulation mode, that is, to reduce at least one of the pulse width parameter, the current parameter, the power parameter, and the frame rate parameter, so as to reduce the intensity of the laser emitted by the laser source 111, thereby ensuring safety of human eyes.
When the electrical signal output by the photoelectric converter 21 satisfies the preset condition, the control system 20 and the terminal 100 of the time-of-flight assembly 10 according to the embodiment of the present application call the corresponding modulation method, so that the driving chip 22 drives the laser light source 111 to emit laser light in the corresponding modulation method, thereby preventing the laser light source 111 from emitting laser light to hurt a user, and ensuring the safety of the user using the terminal 100.
Referring to fig. 8 and 9, in some embodiments, the driving chip 22 may further receive the electrical signal output by the photoelectric converter 21, and when the electrical signal satisfies a predetermined condition, the diffuser 112 is considered to be abnormal, and the driving chip 22 turns off the laser source 111. The electric signal satisfying the predetermined condition refers to that the current value is smaller than a second current threshold (the same applies hereinafter), including the case where the current value is zero, and the second current threshold is smaller than the first current threshold. For example, the first current threshold is 2A, the second current threshold is 1A, and if the current value output by the photoelectric converter 21 is 2.5A, the laser light source 111 emits laser light in the intrinsic modulation mode; if the current value output by the photoelectric converter 21 is 1.5A, the laser light source 111 emits laser light in a safe modulation mode; if the current value output by the photoelectric converter 21 is 0.5A, the diffuser 112 is considered to be abnormal, and the driving chip 22 stops supplying the pulse signal to the laser light source 111 to turn off the laser light source 111.
Referring to fig. 8 and 9, in some embodiments, the driving chip 22 may further receive the electrical signal output by the photoelectric converter 21, and when the electrical signal satisfies a predetermined condition, the diffuser 112 is considered to be abnormal, and the driving chip 22 sends a shutdown control signal to the application processor 23 to shut down the laser source 111. There are various ways to turn off the laser source 111 using the processor 23: for example, the application processor 23 sends an instruction to turn off the laser light source 111 to the driving chip 22 (or the application processor 23 sends the instruction to the sensor 122 first, and then the instruction is sent to the driving chip 22 by the sensor 122), and the driving chip 22 stops providing the pulse signal to the laser light source 111 after receiving the instruction to turn off the laser light source 111; for another example, the application processor 23 stops providing the enable signal to the laser light source 111 to turn off the laser light source 111; for another example, the control system 20 further includes a power module (not shown), the power module is connected to the laser light source 111 and is configured to supply power to the laser light source 111, the application processor 23 sends an instruction to turn off the laser light source 111 to the power module, and the power module disconnects power supply to the laser light source 111 after receiving the instruction. It will be appreciated that the manner in which the application processor 23 turns off the laser light source 111 is not limited to the above example.
Referring to fig. 8 and 10, it can be understood that, in the above-mentioned manner of turning off the laser light source 111 by the driving chip 22 and the manner of sending the turning-off control signal to the application processor 23 by the driving chip 22 to turn off the laser light source 111, the laser light source 111 is turned off immediately when the electrical signal satisfies the predetermined condition. The fact that the electrical signal satisfies the predetermined condition (the output current value is weak or zero) may be caused by the following two reasons: (1) the diffuser 112 falls off from the sleeve 115, the laser emitted by the laser source 111 is not reflected by the diffuser 112, but is totally emitted into the external space, and the photoelectric converter 21 cannot receive the reflected laser; (2) the driving chip 22 itself has an abnormality and cannot normally perform an operation of receiving the electric signal output from the photoelectric converter 21. However, the laser light source 111 is immediately turned off when the electrical signal satisfies the predetermined condition for any reason. Further, in some embodiments, after the laser light source 111 is turned off, the application processor 23 performs an operation of resetting the driving chip 22, and the laser light source 111 is also restarted. After the driving chip 22 is reset, if the electrical signal still satisfies the predetermined condition, it indicates that the diffuser 112 is abnormal and the photoelectric converter 21 cannot receive the laser and has no electrical signal output, and at this time, the laser light source 111 may be turned off; if the electrical signal does not satisfy the predetermined condition, it indicates that the driving chip 22 is abnormal, and at this time, the driving chip 22 does not turn off the laser light source 111 or the driving chip 22 does not send a turn-off control signal to the application processor 23 to turn off the laser light source 111.
The control system 20 of the time-of-flight assembly 10 and the terminal 100 according to the embodiment of the present invention determine whether the diffuser 112 is abnormal according to the electrical signal output by the photoelectric converter 21, and turn off the laser light source 111 in time when the diffuser 112 is abnormal, so that the light emitter 11 does not emit laser light with strong energy to the external space when the diffuser 112 is abnormal, and the safety of the user using the terminal 100 can be ensured.
Referring to fig. 3 and 11, in some embodiments, when the laser light source 111 emits laser light in a safe modulation mode and the electrical signal satisfies a predetermined condition, the application processor 23 determines whether the photoelectric converter 21 is damaged or the diffuser 112 is abnormal according to the depth image and the infrared image acquired by the time-of-flight module 10, and may turn off the laser light source 111 when the diffuser 112 is abnormal.
Specifically, the application processor 23 controls the laser light source 111 to emit laser light in a safe modulation mode, and controls the light receiver 12 to receive the laser light reflected by the target object. The application processor 23 calculates a time difference between the time when the light emitter 11 emits the laser light and the time when the light receiver 12 receives the laser light according to the laser light received by the light receiver 12, and calculates a current depth image according to the light speed and the time difference. The application processor 23 may also calculate an infrared image from the laser light received by the light receiver 12. Subsequently, the application processor 23 calculates a depth difference between the depth image currently acquired by the time-of-flight component 10 and the depth image acquired in the history, and a gradation difference between the infrared image currently acquired by the time-of-flight component 10 and the infrared image acquired in the history, and determines whether the photoelectric converter 21 is damaged or the diffuser 112 is abnormal based on the depth difference and the gradation difference. The historically acquired depth images refer to all depth images acquired by the time-of-flight assembly 10 in a time period (excluding a current time) from a time when the time-of-flight assembly 10 is used for the first time to the current time, and the historically acquired infrared images refer to all infrared images acquired by the time-of-flight assembly 10 in a time period (excluding the current time) from a time when the time-of-flight assembly 10 is used for the first time to the current time, wherein the depth images and the infrared images are in one-to-one correspondence, that is, each time the time-of-flight assembly 10 acquires one depth image, one infrared image is acquired correspondingly. The historically acquired depth images and infrared images may form a database stored in the memory 50 (shown in fig. 1) of the terminal 100, so that the application processor 23 may read the two images from the memory 50 at any time; alternatively, the historically acquired depth images and infrared images may form a database to be stored on a cloud server, and the terminal 100 is in communication with the cloud server, so that the historically acquired depth images and infrared images do not occupy the storage space of the memory 50 of the terminal 100.
Referring to fig. 12, in an embodiment, after the application processor 23 acquires the current depth image and the current infrared image, the current depth image is compared with the historical depth image in the database, and the current infrared image is compared with the historical infrared image in the database. Specifically, the application processor 23 may calculate a difference between a depth value of each pixel in the current depth image and a depth value of a pixel at a corresponding position in each historical depth image to obtain a plurality of differences, and then accumulate absolute values of the plurality of differences to obtain a depth difference between the current depth image and the historical depth image. Thus, a plurality of depth difference values corresponding to a plurality of historical depth images one by one can be obtained. The application processor 23 finds the minimum depth difference from the depth differences, compares the depth difference with a preset depth difference, and if the depth difference is greater than the preset depth difference, the application processor 23 determines that the diffuser 112 is abnormal and the photoelectric converter 21 is not damaged, and then the laser light source 111 may be turned off. If the depth difference is less than or equal to the preset depth difference, the application processor 23 further searches for a historical infrared image corresponding to the historical depth image of the depth difference, calculates a difference between a gray value of each pixel of the current infrared image and a gray value of a pixel at a corresponding position of the selected historical infrared image, then accumulates absolute values of the differences to obtain a gray difference between the current infrared image and the historical infrared image, if the gray difference is greater than the preset gray difference, it is determined that the diffuser 112 is abnormal, the photoelectric converter 21 is not damaged, and at this time, the laser light source 111 can be turned off; if the gray scale difference is less than or equal to the preset gray scale difference, it is determined that the photoelectric converter 21 is damaged and the diffuser 112 is not abnormal, and at this time, the laser light source 111 is switched from the safe modulation mode to emit laser light in the inherent modulation mode.
Referring to fig. 13, in another embodiment, after the application processor 23 acquires the current depth image and the current infrared image, the current infrared image is compared with the historical infrared images in the database, and the current depth image is compared with the historical depth images in the database. Specifically, the application processor 23 may calculate a difference between a gray level value of each pixel in the current infrared image and a gray level value of a pixel at a corresponding position in each historical infrared image to obtain a plurality of difference values, and then accumulate absolute values of the plurality of difference values to obtain a gray level difference value between the current infrared image and the historical infrared image. Therefore, a plurality of gray level difference values corresponding to a plurality of historical infrared images one to one can be obtained. The application processor 23 finds the minimum gray scale difference value from the plurality of gray scale difference values, compares the gray scale difference value with a preset gray scale difference value, and if the gray scale difference value is greater than the preset gray scale difference value, the application processor 23 determines that the diffuser 112 is abnormal and the photoelectric converter 21 is not damaged, and then the laser light source 111 may be turned off. If the gray difference is less than or equal to the preset gray difference, the application processor 23 further searches for a historical depth image corresponding to the historical infrared image of the gray difference, calculates a difference between the depth value of each pixel of the current depth image and the depth value of the pixel at the corresponding position of the selected historical depth image, then accumulates the absolute values of the differences to obtain a depth difference between the current depth image and the historical depth image, if the depth difference is greater than the preset depth difference, it is determined that the diffuser 112 is abnormal and the photoelectric converter 21 is not damaged, and at this time, the laser light source 111 can be turned off; if the depth difference is smaller than or equal to the preset depth difference, it is determined that the photoelectric converter 21 is damaged and the diffuser 112 is not abnormal, and at this time, the laser light source 111 is switched from the safe modulation mode to the inherent modulation mode to emit laser light.
Referring to fig. 14, in another embodiment, after the application processor 23 acquires the current depth image and the current infrared image, the current depth image is compared with the historical depth images in the database, and the current infrared image is compared with the historical infrared images in the database. Specifically, the application processor 23 may calculate a difference between a depth value of each pixel in the current depth image and a depth value of a pixel at a corresponding position in each historical depth image to obtain a plurality of differences, and then accumulate absolute values of the plurality of differences to obtain a depth difference between the current depth image and the historical depth image. Thus, a plurality of depth difference values corresponding to a plurality of historical depth images one by one can be obtained. The application processor 23 finds the depth difference value with the minimum value from the plurality of depth difference values, thereby determining the historical depth image corresponding to the minimum depth difference value. The application processor 23 calculates the difference between the gray level of each pixel in the current infrared image and the gray level of the pixel at the corresponding position in each historical infrared image to obtain a plurality of differences, and then accumulates the absolute values of the differences to obtain the gray level difference between the current infrared image and the historical infrared image. Therefore, a plurality of gray level difference values corresponding to a plurality of historical infrared images one to one can be obtained. The application processor 23 finds the gray scale difference value with the minimum value from the plurality of gray scale difference values, thereby determining the historical infrared image corresponding to the minimum gray scale difference value. The application processor 23 determines whether the minimum depth difference is greater than the preset depth difference, whether the minimum gray scale difference is greater than the preset gray scale difference, and whether the historical depth image corresponding to the minimum depth difference and the historical infrared image corresponding to the minimum gray scale difference are corresponding to a group of images, and determines that the photoelectric converter 21 is damaged when the minimum depth difference is less than or equal to the preset depth difference, the minimum gray scale difference is less than or equal to the preset gray scale difference, and the historical depth image corresponding to the minimum depth difference and the historical infrared image corresponding to the minimum gray scale difference are corresponding to a group of images, and the laser light source 111 is switched from a safe modulation mode to a mode for emitting laser light; otherwise, the diffuser 112 is determined to be abnormal, and the laser light source 111 is turned off.
That is, when the application processor 23 finds a historical depth image having a degree of matching with the current depth image higher than a certain predetermined value in the database, and finds a historical infrared image having a degree of matching with the current infrared image higher than a certain predetermined value in the database, and the found historical depth image and the found historical infrared image are a set of images corresponding to each other, it is determined that the photoelectric converter 21 is damaged, and otherwise it is determined that the diffuser 112 is abnormal.
The method for calculating the depth difference between the current depth image and the historical depth image may also be as follows: the application processor 23 divides the current depth image into a plurality of current depth regions, and correspondingly divides the historical depth image into a plurality of historical depth regions, which are in one-to-one correspondence with each other. The application processor 23 first calculates an average value of the plurality of depth values for each current depth region and then calculates an average value of the plurality of depth values in each history depth region. Subsequently, the application processor 23 calculates a difference between the average value of the depth values of each current depth region and the average value of the depth values of the corresponding history depth regions, obtains a plurality of differences corresponding to the plurality of current depth regions one to one, and accumulates absolute values of the plurality of differences to obtain a depth difference between the current depth image and the history depth image.
Similarly, the manner of calculating the gray scale difference between the current infrared image and the historical infrared image may also be: the application processor 23 divides the current infrared image into a plurality of current infrared regions, and correspondingly divides the historical infrared image into a plurality of historical infrared regions, wherein the plurality of current infrared regions correspond to the plurality of historical infrared regions one to one. The application processor 23 first calculates an average value of the plurality of gray values in each current infrared region and then calculates an average value of the plurality of gray values in each historical infrared region. Subsequently, the application processor 23 calculates a difference between the average value of the gray values of each current infrared region and the average value of the gray values of the corresponding historical infrared region to obtain a plurality of differences corresponding to the plurality of current infrared regions one to one, and then accumulates absolute values of the plurality of differences to obtain a gray difference between the current infrared image and the historical infrared image.
It will be appreciated that anomalies in diffuser 112 will affect the depth image and infrared image acquisition. When diffuser 112 is abnormal, the current depth image and the current infrared image acquired by time-of-flight component 10 do not match the historical data. Specifically, when the diffuser 112 is detached, the laser light emitted by the laser light source 111 is directly emitted without being diffused by the diffuser 112, and compared with the case where the diffuser 112 is normally operated, the field of view of the light emitter 11 when the diffuser 112 is detached is much smaller than the field of view of the light emitter 11 when the diffuser 112 is normally operated, and in the obtained current depth image, the depth value cannot be obtained from the pixels of most of the remaining areas except the central area. Moreover, when the diffuser 112 is detached, the laser light is emitted without being attenuated by the diffuser 112, and the energy of the emitted laser light is high, and the gradation of the infrared image acquired by the time-of-flight module 10 when the diffuser 112 is detached is larger than the gradation of the infrared image acquired by the time-of-flight module 10 when the diffuser 112 is normally operated, compared to when the diffuser 112 is normally operated. Therefore, the current depth image may be compared with a historical depth image with the highest matching degree found from the plurality of historical depth images, and the current infrared image may be compared with a historical infrared image with the highest matching degree found from the plurality of historical infrared images, and if the depth difference is not greater than the preset depth difference, the gray scale difference is not greater than the preset gray scale difference, and the selected historical depth image is a group of images associated with the selected historical infrared image, the photoelectric converter 21 may be damaged, and the diffuser 112 may operate normally. Similarly, when diffuser 112 is ruptured, the energy of the laser light exiting the rupture site is higher, and the intensity of the infrared image captured by time-of-flight assembly 10 when diffuser 112 is ruptured is greater than the intensity of the infrared image captured by time-of-flight assembly 10 when diffuser 112 is operating normally than when diffuser 112 is operating normally. At this time, although there may be a case where the depth difference between the current depth image and the one of the historical infrared images having the highest matching degree found from the plurality of historical infrared images is less than or equal to the preset depth difference, the infrared difference between the current infrared image and the one of the historical infrared images having the highest matching degree found from the plurality of historical infrared images is still greater than the preset grayscale difference, and thus, it is still possible to distinguish the diffuser 112 from being broken. The reason why the selected historical depth image and the selected historical infrared image are defined as a corresponding group of images is to further check the matching degree of the current depth image and the current infrared image with the historical data, and to improve the accuracy of judging whether the photoelectric converter 21 is damaged or the diffuser 112 is abnormal.
In some embodiments, terminal 100 also includes a visible light camera 60 (shown in FIG. 1). When the laser light source 111 emits laser light in a safe modulation manner and the electrical signal satisfies a predetermined condition, the application processor 43 may receive the visible light image acquired by the visible light camera 60, determine whether the photoelectric converter 21 is damaged or the diffuser 112 is abnormal according to the visible light image acquired by the visible light camera 60, the depth image acquired by the time-of-flight assembly 10, and the infrared image, and may turn off the laser light source 111 when the diffuser 112 is abnormal.
Specifically, the application processor 23 controls the time-of-flight assembly 10 to acquire depth images and infrared images, and simultaneously controls the visible light camera 60 to acquire visible light images. Subsequently, the application processor 23 calculates a depth difference between the depth image currently acquired by the time-of-flight component 10 and the depth image historically acquired, a gray scale difference between the infrared image currently acquired by the time-of-flight component 10 and the infrared image historically acquired, and a color difference between the visible light image currently acquired by the visible light camera 60 and the visible light image historically acquired, and determines whether the photoelectric converter 21 is damaged or the diffuser 112 is abnormal based on the depth difference, the gray scale difference, and the color difference. Wherein, the historically acquired depth images refer to all depth images acquired by the time-of-flight component 10 in a time period from a first time of use of the time-of-flight component 10 to a current time (excluding the current time), the historically acquired infrared images refer to all infrared images acquired by the time-of-flight component 10 in a time period from a first time of use of the time-of-flight component 10 to the current time (excluding the current time), and the historically acquired visible light images refer to all visible light images acquired by the time-of-flight component 10 in a time period from a first time of use of the time-of-flight component 10 to the current time (excluding the current time), and the visible light camera 60 is correspondingly turned on and acquires the visible light images each time the time-of-flight component 10 is turned on, wherein the depth images, the infrared images and the visible light images are in one-to-one correspondence, that is, each time the time-of-, an infrared image is acquired, and a visible light image is acquired by the visible light camera 60. The historically acquired depth images, infrared images and visible light images may form a database to be stored in the memory 50 of the terminal 100 or on a cloud server. It should be noted that the visible light image may be an image before demosaicing, and the color of each pixel is represented by R, G, B; the visible light image may also be an image after demosaicing (i.e., after interpolation), and the color of each pixel is calculated by R, G, B.
Referring to fig. 15, in an embodiment, after the application processor 23 obtains the current depth image, the current infrared image, and the current visible light image, a depth difference between the current depth image and the historical depth image is calculated, a minimum depth difference is found from a plurality of depth differences, and the depth difference is compared with a preset depth difference. If the depth difference is greater than the predetermined depth difference, the application processor 23 determines that the diffuser 112 is abnormal and the photoelectric converter 21 is not damaged, and then the laser source 111 may be turned off. If the depth difference is smaller than or equal to the preset depth difference, the application processor 23 searches for a historical infrared image corresponding to the historical depth image of the depth difference, and calculates a gray difference between the current infrared image and the historical infrared image, and if the gray difference is larger than the preset gray difference, the application processor 23 determines that the diffuser 112 is abnormal and the photoelectric converter 21 is not damaged, and at this time, the laser light source 111 may be turned off. If the gray difference is less than or equal to the preset gray difference, the application processor 23 further searches for a visible light image corresponding to the historical depth image of the depth difference, and calculates a color difference between the current visible light image and the historical visible light image, if the color difference is greater than the preset color difference, the application processor 23 determines that the diffuser 112 is abnormal, the photoelectric converter 21 is not damaged, and at this time, the laser light source 111 can be turned off; if the color difference is smaller than or equal to the predetermined color difference, the application processor 23 determines that the photoelectric converter 21 is damaged, and the diffuser 112 operates normally, at this time, the laser light source 111 is switched from the safe modulation mode to emit laser light in the inherent modulation mode. The method for calculating the color difference between the current visible light image and the historical visible light image is similar to the method for calculating the depth difference between the current depth image and the historical depth image, and is not described herein again. In this embodiment, the comparison order of the images is depth image, infrared image, and visible light image, and in other embodiments, the comparison order may also be depth image, visible light image, and infrared image, or visible light image, depth image, and infrared image, or visible light image, infrared image, and depth image, or infrared image, visible light image, and depth image, or infrared image, depth image, and visible light image.
Referring to fig. 16, in another embodiment, after the application processor 23 acquires the current depth image, the current infrared image and the current visible light image, a depth difference between the current depth image and the historical depth image is calculated, a historical depth image with a minimum depth difference is found from the plurality of historical depth images, a gray scale difference between the current infrared image and the historical infrared image is calculated, a historical infrared image with a minimum gray scale difference is found from the plurality of historical infrared images, a color difference between the current visible light image and the historical visible light image is calculated, and a historical visible light image with a minimum color difference is found from the plurality of historical visible light images. The application processor 23 determines whether the minimum depth difference is greater than a preset depth difference, whether the minimum gray difference is greater than a preset gray difference, whether the minimum color difference is greater than a preset color difference, and whether the determined historical depth image, historical infrared image, and historical visible light image are corresponding to one group of images, and determines that the photoelectric converter 21 is damaged when the minimum depth difference is less than or equal to the preset depth difference, the minimum gray difference is less than or equal to the preset gray difference, the minimum color difference is less than or equal to the preset color difference, and the determined historical depth image, historical infrared image, and historical visible light image are corresponding to one group of images, and the laser light source 111 is switched from a safe modulation mode to an inherent modulation mode to emit laser light; otherwise, the diffuser 112 is determined to be abnormal, and the laser light source 111 is turned off.
That is, when the application processor 23 finds a historical depth image having a degree of matching with the current depth image higher than a predetermined value in the database, and finds a historical infrared image having a degree of matching with the current infrared image higher than a predetermined value in the database, and finds a historical visible light image having a degree of matching with the current visible light image higher than a predetermined value in the database, and the found historical depth image, historical infrared image, historical visible light image are a corresponding set of images, it is determined that the photoelectric converter 21 is damaged, and otherwise it is determined that the diffuser 112 is abnormal.
The visible light image is added as a criterion for determining the damage of the photoelectric converter 21 or the abnormality of the diffuser 112, so that the accuracy of determining the damage of the photoelectric converter 21 or the abnormality of the diffuser 112 can be improved.
Referring to fig. 17 and 18, in some embodiments, the control system 20 further includes a detection circuit 25. The detection circuit 25 is connected to the application processor 23. The detection circuit 25 may output a detection signal to the application processor 23, and the application processor 23 determines that the photoelectric converter 21 is damaged or the diffuser 112 is abnormal together from the electric signal and the detection signal, and turns off the laser light source 111 when the diffuser 112 is abnormal. The detection signal may be a current signal.
Specifically, the detection circuit 25 includes a light-transmitting conductive film 251 and a metal wiring 252. The light-transmitting conductive film 251, the metal wiring 252, and the application processor 23 form a conductive circuit. The transparent conductive film 251 is disposed on the diffuser 112 to detect whether the diffuser 112 is broken, for example, the transparent conductive film 251 may be disposed on the light incident surface 113 (shown in fig. 18) of the diffuser 112 or on the light emitting surface 114 (shown in fig. 19) of the diffuser 112. As shown in fig. 20, the transparent conductive film 251 is distributed on the diffuser 112 in a serpentine structure, so that the transparent conductive film 251 can cover more area of the diffuser 112, and can detect whether the diffuser 112 is broken or not more accurately. The metal wiring 252 is provided on the sleeve 115 and the substrate 13. Specifically, the metal wiring 252 includes a first metal wiring 253 and a second metal wiring 254, one end of the first metal wiring 253 is connected to one end of the light-transmitting conductive film 251, the other end of the first metal wiring 253 is connected to the application processor 23, one end of the second metal wiring 254 is connected to the other end of the light-transmitting conductive film 251, and the other end of the second metal wiring 254 is connected to the application processor 23. The first and second metal wires 253 and 254 may be disposed attached to the inner sidewall 116 or the outer sidewall 117 of the sleeve 115 and extend over the substrate 13 to connect with the application processor 23. As shown in fig. 18, when the transparent conductive film 251 is disposed on the light incident surface 113 of the diffuser 112, the first metal wire 253 and the second metal wire 254 are disposed in close contact with the inner sidewall 116 of the sleeve 115; as shown in fig. 19, when the transparent conductive film 251 is disposed on the light emitting surface 114 of the diffuser 112, the first metal wire 253 and the second metal wire 254 are disposed attached to the outer sidewall 117 of the sleeve 115. It is understood that when the diffuser 112 is not detached or broken, the conductive circuit is turned on, and the value of the current output by the detection circuit 25 approaches the predetermined current value. When the diffuser 112 is broken, the transparent conductive film 251 is also broken, the resistance value of the broken transparent conductive film 251 is very large, and the current value output by the detection circuit 25 is very small or even zero. Similarly, when the diffuser 112 is detached, the connection between the transparent conductive film 251 and the metal wire 252 is partially or completely disconnected, the resistance at the disconnection is very large, and the current value output by the detection circuit 25 is very small or even zero. Therefore, as shown in fig. 21, when the electrical signal satisfies the predetermined condition, the application processor 23 may further receive the detection signal sent by the detection circuit, and determine whether the detection signal satisfies the set condition, i.e., whether the detection signal is within a preset detection signal range (the preset detection signal range includes a case where the detection signal is zero), and if the preset detection signal is within the detection signal range, determine that the diffuser 112 is abnormal, and turn off the laser light source 111; if the predetermined detection signal is not within the predetermined detection signal range, it is determined that the photoelectric converter 21 is damaged and the diffuser 112 operates normally.
Thus, by adding the detection circuit 25 to more accurately determine whether the diffuser 112 is abnormal, it is possible to avoid a problem of erroneous determination that the diffuser 112 is abnormal in the case where the photoelectric converter 21 is damaged.
Referring to fig. 22 and 23, in some embodiments, the number of the photoelectric converters 21 is multiple. The driving chip 22 is connected to each of the plurality of photoelectric converters 21 and can receive the electrical signal output by each of the plurality of photoelectric converters 21, and the application processor 23 can receive the plurality of electrical signals transmitted by the driving chip 22 and determine whether the diffuser 112 is abnormal or not according to the plurality of electrical signals. In other embodiments, the application processor 23 may also be directly connected to the plurality of photoelectric converters 21 to receive the electrical signals output by each photoelectric converter 21. Further, the application processor 23 determines that the photoelectric converter 21 corresponding to one of the electrical signals is damaged when the one of the electrical signals satisfies a predetermined condition. The application processor 23 determines that the diffuser 112 is abnormal when the plurality of electrical signals each satisfy a predetermined condition.
Specifically, it is assumed that there are ten photoelectric converters 21, each photoelectric converter 21 outputs one electric signal, and the ten photoelectric converters 21 output ten electric signals (when the photoelectric converter 21 is damaged, the electric signals are not output to the drive chip 22 and the application processor 23, and the application processor 23 defaults that the electric signal output by the photoelectric converter 21 is zero). Referring to fig. 24, after receiving the ten electrical signals, the application processor 23 respectively determines whether each electrical signal satisfies a predetermined condition, that is, whether each electrical signal is within a predetermined electrical signal range, and if the ten electrical signals are within the predetermined electrical signal range, determines that the diffuser 112 is abnormal; if the ten electrical signals are not all within the predetermined electrical signal range, for example, only one (or two, three, four, etc.) electrical signal is within the predetermined electrical signal range, it is determined that the optical-electrical converter 21 having the electrical signal (or two, three, four, etc.) within the predetermined electrical signal range is damaged, and the diffuser 112 operates normally.
Referring to fig. 25, in another embodiment, when the number of the photoelectric converters 21 is plural, the application processor 23 calculates the number of the electrical signals satisfying the predetermined condition and the number of the electrical signals not satisfying the predetermined condition, determines that the diffuser 112 is abnormal when the number of the electrical signals satisfying the predetermined condition is greater than or equal to the number of the electrical signals not satisfying the predetermined condition, and determines that the photoelectric converter 21 corresponding to the electrical signal satisfying the predetermined condition is damaged and the diffuser 112 normally operates when the number of the electrical signals satisfying the predetermined condition is smaller than the number of the electrical signals not satisfying the predetermined condition.
Thus, after the plurality of photoelectric converters 21 are arranged, the application processor 23 can judge whether the diffuser 112 is abnormal according to the plurality of electric signals, and can avoid that the electric signals output due to the damage of one or more photoelectric converters 21 meet the predetermined condition, so that the problem that the diffuser 112 is abnormal is judged by mistake, and the accuracy of judging the working state of the diffuser 112 is improved.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present application, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (12)
1. A control system for a time-of-flight assembly, the time-of-flight assembly including a laser light source, a diffuser, and a sensor, the control system comprising:
the modulation module is integrated on the sensor, a plurality of modulation modes are stored in the modulation module, the plurality of modulation modes comprise an inherent modulation mode and a safe modulation mode, and at least two parameters of the safe modulation mode are different from two parameters corresponding to the inherent modulation mode;
an optical-to-electrical converter that receives laser light emitted by the laser light source and reflected by the diffuser and converts the laser light into an electrical signal;
the application processor controls the sensor to call the corresponding modulation mode when the electric signal meets a preset condition; and
the driving chip is connected with the sensor to receive the corresponding modulation mode, and is connected with the laser light source and used for driving the laser light source to emit laser light in the corresponding modulation mode;
when the laser light source emits the laser in the safe modulation mode and the electric signal meets a preset condition, the application processor judges that the photoelectric converter is damaged or the diffuser is abnormal according to the depth image and the infrared image acquired by the flight time assembly.
2. The control system of claim 1, wherein the application processor controls the sensor to invoke the safe modulation mode when the electrical signal satisfies the preset condition.
3. The control system according to claim 2, wherein a pulse width parameter of the safety modulation scheme is smaller than a pulse width parameter of the intrinsic modulation scheme; and
the current parameter of the safe modulation mode is smaller than the current parameter of the inherent modulation mode; and/or
The power parameter of the safe modulation mode is smaller than the power parameter of the inherent modulation mode; and/or
The frame rate parameter of the safe modulation mode is smaller than the frame rate parameter of the inherent modulation mode.
4. The control system according to claim 1, wherein the driving chip is connected to the photoelectric converter and receives the electrical signal, and the driving chip turns off the laser light source when the electrical signal satisfies a predetermined condition.
5. The control system of claim 1, wherein the driving chip is connected to the optical-to-electrical converter and receives the electrical signal, and the driving chip sends a shutdown control signal to the application processor to shut down the laser light source when the electrical signal satisfies a predetermined condition.
6. The control system of claim 1, wherein the application processor calculates a depth difference between a currently acquired depth image and a historically acquired depth image of the time-of-flight component and a gray scale difference between an infrared image currently acquired by the time-of-flight component and a historically acquired infrared image, and determines the photoelectric converter is damaged or the diffuser is abnormal according to the depth difference and the gray scale difference.
7. The control system according to claim 1, wherein when the laser light source emits the laser light in the safety modulation mode and the electric signal satisfies a predetermined condition, the application processor determines that the photoelectric converter is damaged or the diffuser is abnormal from a visible light image acquired by a visible light camera and a depth image and an infrared image acquired by the time-of-flight component.
8. The control system of claim 7, wherein the application processor calculates a depth difference between a currently acquired depth image and a historically acquired depth image of the time-of-flight component, a gray scale difference between a currently acquired infrared image and a historically acquired infrared image of the time-of-flight component, and a pixel difference between a currently acquired visible light image and a historically acquired visible light image of the visible light camera, and determines the photoelectric converter is damaged or the diffuser is abnormal according to the depth difference, the gray scale difference, and the pixel difference.
9. The control system of claim 1, wherein the time-of-flight assembly further comprises a sleeve and a substrate, the control system further comprising a detection circuit, the detection circuit comprising a light-transmissive conductive film disposed on the diffuser and a metal wire disposed on the sleeve and the substrate, the detection circuit being connected to the application processor, the application processor determining that the diffuser is abnormal when the electrical signal satisfies a predetermined condition and a detection signal output by the detection circuit satisfies a set condition, and determining that the photoelectric converter is damaged when the electrical signal satisfies the predetermined condition and the detection signal output by the detection circuit does not satisfy the set condition.
10. The control system according to claim 1, wherein the number of the photoelectric converters is plural, the driving chip is connected to each of the photoelectric converters and receives a plurality of the electric signals, and the application processor determines whether the diffuser is abnormal according to the plurality of the electric signals.
11. The control system according to claim 10, wherein the application processor determines that the photoelectric converter corresponding to one of the electrical signals is damaged when the one of the electrical signals satisfies a predetermined condition; and the application processor judges that the diffuser is abnormal when the plurality of electric signals meet the preset condition.
12. A terminal, comprising:
a time-of-flight component; and
a control system for a time of flight assembly as claimed in any one of claims 1 to 11, the control system being connected to the time of flight assembly.
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| CN111045030B (en) * | 2019-12-18 | 2022-09-13 | 奥比中光科技集团股份有限公司 | Depth measuring device and method |
| CN114586060A (en) * | 2020-12-25 | 2022-06-03 | 深圳市大疆创新科技有限公司 | TOF module detection method, electronic device and readable storage medium |
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