CN109975821B - Control method and device, time-of-flight assembly, storage medium and computer equipment - Google Patents
Control method and device, time-of-flight assembly, storage medium and computer equipment Download PDFInfo
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- CN109975821B CN109975821B CN201910228746.0A CN201910228746A CN109975821B CN 109975821 B CN109975821 B CN 109975821B CN 201910228746 A CN201910228746 A CN 201910228746A CN 109975821 B CN109975821 B CN 109975821B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
The application provides a control method, a control device, a time-of-flight component, a non-volatile computer-readable storage medium and a computer apparatus. The time-of-flight assembly includes a laser light source for emitting laser pulses and a sensor for receiving the laser pulses to generate an initial image. The control method comprises the following steps: acquiring an initial image; judging whether the initial image is overexposed; and controlling the laser light source to stop emitting light when the initial image is overexposed. The control method, the control device, the time-of-flight assembly, the nonvolatile computer readable storage medium and the computer device determine whether the laser light source is long-bright or not by judging whether an initial image formed by receiving laser pulses is overexposed or not, and control the laser light source to stop emitting light when the laser light source is long-bright, so that the time-of-flight assembly is ensured not to threaten human eye safety, and the use safety of the time-of-flight assembly is improved.
Description
Technical Field
The present application relates to the field of consumer electronics, and in particular, to a control method, a control apparatus, a time-of-flight component, a non-volatile computer-readable storage medium, and a computer device.
Background
A depth acquisition device may be provided in an electronic device such as a mobile phone, and one depth acquisition device may acquire the depth of a target object by using a Time of Flight (TOF) component, specifically, the depth acquisition device controls a laser light source to emit laser light to the target object, receives the laser light reflected by the target object, and acquires the depth of the target object by calculating a phase difference between the Time when the laser light is emitted and the Time when the reflected laser light is received. If abnormal conditions (such as damage of a modulation module) cause the laser light source to be long-lighted, once the time for which the long-lighted laser directly irradiates the human eyes exceeds the tolerance time of the human eyes, the safety of the human eyes is threatened, and therefore the use safety of the flight time assembly is reduced.
Disclosure of Invention
Embodiments of the application provide a control method, a control apparatus, a time-of-flight component, a non-volatile computer-readable storage medium and a computer device.
The control method of the time-of-flight assembly of the embodiment of the application comprises a laser light source and a sensor, wherein the laser light source is used for emitting laser pulses, and the sensor is used for receiving the laser pulses to generate an initial image, and the control method comprises the following steps: acquiring the initial image; judging whether the initial image is overexposed; and controlling the laser light source to stop emitting light when the initial image is overexposed.
The control device of this application embodiment, the time of flight subassembly includes laser light source and sensor, laser light source is used for launching laser pulse, the sensor is used for receiving laser pulse is in order to generate initial image, control device is including obtaining module, judgement module and control module. The acquisition module is used for acquiring the initial image; the judging module is used for judging whether the initial image is overexposed; the control module is used for controlling the laser light source to stop emitting light when the initial image is overexposed.
The time-of-flight assembly of an embodiment of the present application includes a laser light source, a sensor, and a processor. The laser light source is used for emitting laser pulses; the sensor is used for receiving the laser pulse to generate an initial image; the processor is used for acquiring the initial image; judging whether the initial image is overexposed; and controlling the laser light source to stop emitting light when the initial image is over-exposed.
One or more non-transitory computer-readable storage media embodying computer-executable instructions that, when executed by one or more processors, cause the processors to perform the control methods of any of the embodiments described above.
The computer device of the present application includes a memory and a processor, wherein the memory stores computer readable instructions, and the instructions, when executed by the processor, cause the processor to execute the control method according to any of the above embodiments.
The control method, the control device, the time-of-flight assembly, the nonvolatile computer readable storage medium and the computer device determine whether the laser light source is long-bright or not by judging whether an initial image formed by receiving laser pulses is overexposed or not, and control the laser light source to stop emitting light when the laser light source is long-bright, so that the time-of-flight assembly is ensured not to threaten human eye safety, and the use safety of the time-of-flight assembly is improved.
Additional aspects and advantages 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
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a control method according to certain embodiments of the present application;
FIG. 2 is a block schematic diagram of a control device according to certain embodiments of the present application;
FIG. 3 is a schematic diagram of a time-of-flight assembly according to certain embodiments of the present application;
FIG. 4 is a schematic block diagram of a computer device according to some embodiments of the present application;
FIG. 5 is a schematic diagram of a scenario of a control method according to some embodiments of the present application;
FIG. 6 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 7 is a block schematic diagram of a control device according to certain embodiments of the present application;
FIGS. 8 and 9 are schematic flow charts of control methods according to certain embodiments of the present application;
FIG. 10 is a schematic diagram of the structure of a sensor according to certain embodiments of the present application;
FIG. 11 is a schematic diagram of a pixel of a sensor according to some embodiments of the present application;
FIG. 12 is a block schematic diagram of a control device according to certain embodiments of the present application;
FIG. 13 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 14 is a block schematic diagram of a control device according to certain embodiments of the present application;
FIG. 15 is a schematic diagram of a scenario of a control method according to some embodiments of the present application;
FIG. 16 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 17 is a block schematic diagram of a control device according to certain embodiments of the present application;
FIG. 18 is a schematic diagram of a scenario of a control method according to some embodiments of the present application; and
FIG. 19 is a schematic diagram of a connection between a processor and a computer-readable storage medium according to some embodiments of the present application.
Detailed Description
Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout. In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the present application.
Referring to fig. 1 to 4, a method for controlling a time-of-flight assembly 100 according to an embodiment of the present application, the time-of-flight assembly 100 includes a laser light source 20 and a sensor 30, the laser light source 20 is configured to emit laser pulses, the sensor 30 is configured to receive the laser pulses to generate an initial image, and the method includes:
011: acquiring an initial image;
012: judging whether the initial image is overexposed; and
013: the laser light source 20 is controlled to stop emitting light when the initial image is overexposed.
Referring to fig. 2, a control device 10 according to an embodiment of the present disclosure includes an obtaining module 11, a determining module 12, and a first control module 13. The acquisition module 11 is used for acquiring an initial image, the judgment module 12 is used for judging whether the initial image is overexposed, and the first control module 13 is used for controlling the laser light source 20 to stop emitting light when the initial image is overexposed. That is, step 011 is implemented by the acquisition module 11, step 012 is implemented by the determination module 12, and step 013 is implemented by the first control module 13.
Referring again to fig. 3 and 4, the time-of-flight assembly 100 of the present embodiment includes a laser light source 20, a sensor 30, and a processor 40. The laser light source 20 is used to emit laser pulses. The sensor 30 is used to receive the laser pulses to generate an initial image. The processor 40 is used for acquiring an initial image; judging whether the initial image is overexposed; and controlling the laser light source 20 to stop emitting light when the initial image is overexposed. That is, step 011, step 012, and step 013 can be implemented by processor 40.
Specifically, the laser light source 20 emits laser pulses, and the sensor 30 receives the laser pulses emitted back through the object to generate an initial image. When the laser light source 20 is not lit, the pulse signal emitted from the laser light source 20 has both a high level and a low level, and the laser light source 20 emits laser pulses at a predetermined period T. More specifically, the laser light source 20 emits the laser pulse in a waveform S1 in fig. 5, where a high level of the waveform indicates that the laser light source 20 emits the pulse signal, and a low level indicates that the laser light source 20 stops emitting the pulse signal. In this embodiment, the duration of the high level of the laser pulse is T/2, and the laser light source 20 emits a plurality of pulse signals (as shown in fig. 5) during the duration of each high level. For example, the predetermined period T is 2ms, and the preset period T of each pulse signal is 1us, the laser light source 20 may emit 1000 pulse signals during the duration of the high level of the laser pulse (i.e., during T/2), wherein each pulse signal is emitted during the duration of the high level within one preset period T. The predetermined period T and the preset period T may be determined according to the functional and performance requirements of the time of flight assembly 100.
When the laser light source 20 is not on for a long time, the sensor 30 receives only 1000 laser pulses per predetermined period T. However, at the time of long-lighting of the laser light source 20, from the start of long-lighting (start of long-lighting at the fourth predetermined period in the drawing), not only does the laser light source 20 continuously output the pulse signal without interruption (i.e., the waveform S1 becomes the waveform S2 where the low level does not exist as shown in fig. 5), but also the pulse signal continuously outputs the high level. At this time, during each predetermined period T, the sensor 30 receives an amount of light corresponding to 4000 pulse signals, which far exceeds the amount of light that can be received by the pixels of the sensor 30, and the excessive amount of light causes the charges in each pixel of the sensor 30 to be in a saturated state, thereby overexposing the initial image acquired by the sensor 30. Therefore, after the initial image is acquired, the processor 40 can determine whether the laser light source 20 is long and bright by determining whether the initial image is overexposed, and timely control the laser light source 20 to stop emitting light when the laser light source 20 is determined to be long and bright, so as to prevent the long and bright laser from threatening the safety of human eyes.
According to the control method, the control device 10 and the time-of-flight assembly 100, whether the laser light source 20 is long and bright is determined by judging whether an initial image formed by receiving laser pulses is overexposed, and the laser light source 20 is controlled to stop emitting light when the laser light source 20 is long and bright, so that the time-of-flight assembly 100 is not threatened to the safety of human eyes, and the use safety of the time-of-flight assembly 100 is improved.
Referring to fig. 6, in some embodiments, step 012 includes:
0121: judging whether a single initial image is overexposed; or
0122: and judging whether a plurality of continuous initial images are all over-exposed.
Referring to fig. 7, in some embodiments, the determining module 12 includes a first determining unit 121 and/or a second determining unit 122. The first judging unit 121 is configured to judge whether a single initial image is overexposed; the second determining unit 122 is configured to determine whether each of the plurality of consecutive initial images is overexposed. In the present embodiment, the judgment module 12 includes a first judgment unit 121 and a second judgment unit 122. That is, step 0121 may be implemented by the first judging unit 121, and step 0122 may be implemented by the second judging unit 122.
Referring again to fig. 3 and 4, in some embodiments, processor 40 is also configured to determine whether a single initial image is overexposed; or whether a plurality of continuous initial images are all over-exposed. That is, steps 0121 and 0122 may be implemented by the processor 40.
Specifically, a plurality of initial images can be formed in each predetermined period T, and the processor 40 can determine whether a single initial image is overexposed, and determine that the laser light source 20 is long and bright when the single initial image is overexposed, so that the determination is more accurate. Thereby maximally ensuring that the safety of human eyes is not threatened. The processor 40 may also determine that the laser light source 20 is long-lit only when the plurality of initial images are all over-exposed by determining whether the plurality of initial images in each predetermined period T are all over-exposed. In general, the human eye has tolerance limits. The human eye may exceed the tolerance limit only after reaching a certain time under the long bright laser, so that the safety of the human eye is threatened, and the laser light source 20 may be automatically repaired after being long bright for a certain time, and only occasionally is the laser light source always bright, so that one of the continuous multiple initial images is overexposed, and the other initial images are normal, but the long bright time is longer when the continuous multiple initial images are overexposed, at this time, the laser light source is judged to be in the long bright state, and the laser light source 20 is stopped to emit light in time. Therefore, by determining whether the laser is long and bright by determining whether each of the plurality of consecutive initial images is overexposed, the operational performance of the time-of-flight assembly 100 can be maximized while ensuring eye safety.
Referring to fig. 8, in some embodiments, the initial images include a first initial image, a second initial image, a third initial image and a fourth initial image, and the first initial image, the second initial image, the third initial image and the fourth initial image are sequentially generated according to the laser pulses reflected back within the predetermined period T; step 0122 further comprises the steps of:
0123: and judging whether the first initial image, the second initial image, the third initial image and the fourth initial image are all over-exposed.
Referring to fig. 7 again, in some embodiments, the second determining unit 122 is further configured to determine whether the first initial image, the second initial image, the third initial image and the fourth initial image are all over-exposed. That is, step 0123 may be implemented by the second judging unit 122.
Referring again to fig. 3 and 4, in some embodiments, the processor 40 is further configured to determine whether the first initial image, the second initial image, the third initial image and the fourth initial image are all over-exposed. That is, step 0123 can be implemented by processor 40.
Specifically, when the time-of-flight component 100 generates the depth image according to the continuous wave modulation method, the general sensor 30 may generate four initial images in each predetermined period T, and the processor 40 acquires the depth image through the four initial images; the four initial images are a first initial image, a second initial image, a third initial image and a fourth initial image, and the first initial image, the second initial image, the third initial image and the fourth initial image are sequentially generated according to the laser pulses reflected back within the predetermined period T. The processor 40 may determine whether the laser light source 20 is long-lit by determining whether the first initial image, the second initial image, the third initial image, and the fourth initial image are over-exposed, so as to determine whether the laser light source 20 is long-lit while generating one depth image, when the laser light source 20 is long-lit, the accuracy of the corresponding depth image may be significantly affected or even the depth image may not be generated, so that an inaccurate depth image generated when the laser light source 20 is long-lit may be removed when detecting the depth, thereby improving the accuracy of depth detection.
In other embodiments, where time-of-flight component 100 generates the depth image according to a pulse modulation scheme, sensor 30 may generate two initial images per predetermined period T, with processor 40 passing through the two initial images to acquire the depth image. The processor 40 can determine whether the laser source 20 is long-lit by determining whether both of the two initial images are overexposed, and determine that the laser source 20 is long-lit when both of the two initial images are overexposed, thereby ensuring the safety of the time-of-flight assembly 100.
Referring to fig. 9-11, in some embodiments, the sensor 30 includes a plurality of pixels 31, a first switch 32, and a second switch 33; each pixel 31 includes a first photosensitive area 34 and a second photosensitive area 35, the first photosensitive area 34 being photosensitive when the first switch 32 is turned on, the second photosensitive area 35 being photosensitive when the second switch 33 is turned on; the control method further comprises the following steps:
014: the first switch 32 and the second switch 33 are controlled to be alternately turned on at a quarter of the predetermined period T and the first switch 32 and the second switch 33 are not simultaneously turned on to sequentially generate the first initial image, the second initial image, the third initial image, and the fourth initial image.
Referring to fig. 12, in some embodiments, the control device 10 further includes a second control module 14. The second control module 14 is configured to control the first switch 32 and the second switch 33 to be alternately turned on at a quarter of the predetermined period T and the first switch 32 and the second switch 33 are not turned on at the same time to sequentially generate a first initial image, a second initial image, a third initial image, and a fourth initial image. That is, step 014 may be implemented by the second control module 14.
Referring to fig. 3 and 4, in some embodiments, the processor 40 is further configured to control the first switch 32 and the second switch 33 to be alternately turned on for a quarter of the predetermined period T, and the first switch 32 and the second switch 33 are not turned on at the same time, so as to sequentially generate the first initial image, the second initial image, the third initial image and the fourth initial image. That is, step 014 may be implemented by processor 40.
Specifically, the sensor 30 includes a plurality of pixels 31, a first switch 32 controls the first photosensitive area 34 of each pixel 31 to be exposed, and a second switch 33 controls the second photosensitive area 35 of each pixel 31 to be exposed. The second switch 33 is turned off when the first switch 32 is turned on, the first photosensitive area 34 receives light reflected by the object for sensing, and the second photosensitive area 35 receives light reflected by the object for sensing when the second switch 33 is turned on, the first switch 32 is turned off. The processor 40 controls the first switch 32 and the second switch 33 to be alternately turned on to generate the first initial image, the second initial image, the third initial image, and the fourth initial image. Specifically, the first switch 32 and the second switch 33 are alternately turned on every T/4, and the first switch 32 is turned on for the first T/4 of each predetermined period T to generate a first initial image; during a second T/4 of each predetermined period T, the second switch 33 is turned on and the first switch 32 is turned off to generate a second initial image; during a third T/4 of each predetermined period T, the first switch 32 is turned on again and the second switch 33 is turned off to generate a third initial image; during a fourth T/4 of each predetermined period T, the second switch 33 is turned on again and the first switch 32 is turned off to generate a fourth initial image. So that four initial images are accurately generated within one period to generate a depth image.
Referring to fig. 13, in some embodiments, step 012 further includes:
0124: acquiring a histogram of an initial image;
0125: calculating the proportion of over-bright pixels in the histogram; and
0126: determining an initial image overexposure when the ratio is greater than a predetermined ratio.
Referring to fig. 14, in some embodiments, the determining module 12 further includes an obtaining unit 124, a calculating unit 125, and a determining unit 126. The obtaining unit 124 is configured to obtain a histogram of the initial image. The calculating unit 125 is used for calculating the proportion of the over-bright pixels in the histogram. The determining unit 126 is configured to determine the initial image overexposure when the ratio is greater than a predetermined ratio. That is, step 0124 may be implemented by the obtaining unit 124, step 0125 may be implemented by the calculating unit 125, and step 0126 may be implemented by the determining unit 126.
Referring again to fig. 3 and 4, in some embodiments, the processor 40 is further configured to obtain a histogram of the initial image; calculating the proportion of over-bright pixels in the histogram; and determining initial image overexposure when the ratio is greater than a predetermined ratio. That is, step 0124, step 0125, and step 0126 may be implemented by the processor 40.
Specifically, referring to fig. 15, after the processor 40 acquires the initial image, a histogram is first created according to the gray-level information of each pixel in the initial image, where the horizontal axis in the histogram is a plurality of gray-level intervals from 0 to 255. For example, with 8 as the width of each interval, the interval can be divided into 32 gray value intervals from 0 to 255, and then the number of pixels in each gray value interval is counted, wherein the vertical axis in the histogram is the number of pixels corresponding to each gray value interval. For example, if 1 is used as the width of each interval, the number of pixels corresponding to each gray value needs to be counted. In the present embodiment, the sensor 30 includes 1000 pixels, the over-bright pixels are pixels having a gray scale value of 248, and the predetermined ratio is 80%, the gray scale value distribution of the pixels of the initial image is as shown in fig. 15, the over-bright pixels are defined as pixels having a gray scale value of 248, and as shown in fig. 15, the number of pixels (i.e., over-bright pixels) in the gray scale value range [248,255] is 850, the processor 40 can calculate that the ratio of the over-bright pixels is 850/1000 ═ 85%, and is greater than the predetermined ratio of 80%, and the processor 40 determines that the current initial image is overexposed. Therefore, whether each initial image is overexposed can be quickly judged according to the gray value distribution of the initial image.
It is understood that the definition of the over-bright pixels and the size of the predetermined ratio may be other situations, for example, according to the practical application of the time-of-flight assembly 100, the over-bright pixels may be set to have gray values of 200, 220, 240, 250, 255, etc., and the predetermined ratio may be set to be 70%, 80%, 90%, 95%, etc., and the principle is the same as that the over-bright pixels have gray values of 248, and the predetermined ratio is 80%, which is not described herein again.
Referring to fig. 16, in some embodiments, the control method further includes the following steps:
015: when the laser light source 20 is on for a long time, a prompt message that the laser is in the on state is sent.
Referring to fig. 17, in some embodiments, the control device 10 further includes a prompt module 15. The prompting module 15 is configured to send a prompting message that the laser is in a long-bright state when the laser light source 20 is long-bright. That is, step 015 may be implemented by hinting module 15.
Referring again to fig. 3 and 4, in some embodiments, the flying assembly further includes a display 50. The display 50 is used for sending out a prompt message that the laser is in a long-bright state when the laser light source 20 is in a long-bright state. That is, step 015 may be implemented by display 50.
Specifically, referring to fig. 18, when the processor 40 determines that the laser source 20 is on for a long time, a control signal is sent out, and the display 50 sends out a prompt message indicating that the laser source 20 is on for a long time after receiving the control signal, such as "the laser source is on for a long time, please avoid direct laser beam! | A ". Thereby prompting the user to avoid continued laser irradiation in time or to receive a switch off of the laser source 20. Thus, the user can be prompted to pay attention to eye safety in time when the laser light source 20 is on.
Referring to fig. 3, 4 and 19, one or more non-transitory computer-readable storage media 300 containing computer-executable instructions 302 according to embodiments of the present application, when the computer-executable instructions 302 are executed by one or more processors 40, cause the processors 40 to perform the control method according to any of the embodiments.
For example, the computer-executable instructions 302, when executed by the one or more processors 40, cause the processors 40 to perform the steps of:
011: acquiring an initial image;
012: judging whether the initial image is overexposed; and
013: the laser light source 20 is controlled to stop emitting light when the initial image is overexposed.
As another example, when the computer-executable instructions 302 are executed by one or more processors 40, the processors 40 may also perform the steps of:
0121: judging whether a single initial image is overexposed; or
0122: and judging whether a plurality of continuous initial images are all over-exposed.
Referring to fig. 3 and fig. 4 again, the computer device 1000 according to the embodiment of the present disclosure includes a memory 60 and a processor 40, wherein the memory 60 stores computer readable instructions 62, and the computer readable instructions 62, when executed by the processor 40, enable the processor 40 to execute the control method according to any of the above embodiments.
The computer device may be a smart phone, a computer, a tablet computer, a notebook computer, a smart watch, a smart bracelet, a smart helmet, smart glasses, and the like, without limitation.
For example, when the computer readable instructions 62 are executed by the processor 40, the processor 40 performs the steps of:
011: acquiring an initial image;
012: judging whether the initial image is overexposed; and
013: the laser light source 20 is controlled to stop emitting light when the initial image is overexposed.
As another example, when the computer readable instructions 62 are executed by the processor 40, the processor 40 performs the steps of:
0121: judging whether a single initial image is overexposed; or
0122: and judging whether a plurality of continuous initial images are all over-exposed.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.
Claims (9)
1. A method of controlling a time-of-flight assembly, the time-of-flight assembly comprising a laser light source for emitting laser pulses and a sensor for receiving the laser pulses to generate an initial image, the method comprising:
acquiring the initial image;
judging whether the initial image is overexposed; and
controlling the laser light source to stop emitting light when the initial image is overexposed;
the judging whether the initial image is overexposed includes:
judging whether a plurality of continuous initial images are all over-exposed;
the initial images comprise a first initial image, a second initial image, a third initial image and a fourth initial image, and the first initial image, the second initial image, the third initial image and the fourth initial image are sequentially generated according to the laser pulses reflected back in a preset period;
the determining whether the plurality of consecutive initial images are all overexposed includes:
judging whether the first initial image, the second initial image, the third initial image and the fourth initial image are all over-exposed;
the sensor comprises a plurality of pixels, a first switch and a second switch; each pixel comprises a first photosensitive area and a second photosensitive area, the first photosensitive area is photosensitive when the first switch is switched on, and the second photosensitive area is photosensitive when the second switch is switched on; the control method further comprises the following steps:
controlling the first switch and the second switch to be alternately turned on at the quarter of the predetermined period and the first switch and the second switch to be not turned on at the same time, so as to sequentially generate the first initial image, the second initial image, the third initial image, and the fourth initial image.
2. The control method according to claim 1, wherein the determining whether the initial image is overexposed comprises:
acquiring a histogram of the initial image;
calculating the proportion of over-bright pixels in the histogram; and
determining the initial image overexposure when the ratio is greater than a predetermined ratio.
3. The control method according to claim 1, characterized by further comprising:
and sending out prompt information that the laser light source is in a long-bright state when the laser light source is long-bright.
4. A control apparatus for a time-of-flight assembly, the time-of-flight assembly comprising a laser light source for emitting laser pulses and a sensor for receiving the laser pulses to generate an initial image, the control apparatus comprising:
an acquisition module for acquiring the initial image;
the judging module is used for judging whether the initial image is overexposed; and
the first control module is used for controlling the laser light source to stop emitting light when the initial image is overexposed;
the judging module comprises a second judging unit, the initial images comprise a first initial image, a second initial image, a third initial image and a fourth initial image, and the first initial image, the second initial image, the third initial image and the fourth initial image are sequentially generated according to the laser pulses reflected back in a preset period; the second judging unit is further used for judging whether the first initial image, the second initial image, the third initial image and the fourth initial image are all over-exposed;
and the second control module is used for controlling a first switch and a second switch to be alternately turned on according to a quarter of the preset period and controlling the first switch and the second switch not to be turned on simultaneously so as to sequentially generate the first initial image, the second initial image, the third initial image and the fourth initial image.
5. A time-of-flight assembly, comprising:
a laser light source for emitting laser pulses;
a sensor for receiving the laser pulses to generate an initial image;
a processor to:
acquiring the initial image;
judging whether the initial image is overexposed; and
controlling the laser light source to stop emitting light when the initial image is overexposed;
one for each of the initial images, the processor being further configured to:
judging whether a plurality of continuous initial images are all over-exposed;
the initial images comprise a first initial image, a second initial image, a third initial image and a fourth initial image, and the first initial image, the second initial image, the third initial image and the fourth initial image are sequentially generated according to the laser pulses reflected back in a preset period; the processor is further configured to:
judging whether the first initial image, the second initial image, the third initial image and the fourth initial image are all over-exposed;
the sensor comprises a plurality of pixels, a first switch and a second switch; each pixel comprises a first photosensitive area and a second photosensitive area, the first photosensitive area is photosensitive when the first switch is switched on, and the second photosensitive area is photosensitive when the second switch is switched on; the processor is further configured to: controlling the first switch and the second switch to be alternately turned on at the quarter of the predetermined period and the first switch and the second switch to be not turned on at the same time, so as to sequentially generate the first initial image, the second initial image, the third initial image, and the fourth initial image.
6. The time of flight assembly of claim 5, in which the processor is further configured to:
acquiring a histogram of the initial image;
calculating the proportion of over-bright pixels in the histogram; and
determining the initial image overexposure when the ratio is greater than a predetermined ratio.
7. The time of flight assembly of claim 5, further comprising a display for indicating that the laser light source is in the on state when the laser light source is on for an extended period of time.
8. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the control method of any of claims 1-3.
9. A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions that, when executed by the processor, cause the processor to perform the control method of any one of claims 1 to 3.
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