CN109981993B - Depth camera projector power consumption control method and application thereof - Google Patents
Depth camera projector power consumption control method and application thereof Download PDFInfo
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- CN109981993B CN109981993B CN201711462708.9A CN201711462708A CN109981993B CN 109981993 B CN109981993 B CN 109981993B CN 201711462708 A CN201711462708 A CN 201711462708A CN 109981993 B CN109981993 B CN 109981993B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
Abstract
A power consumption control method for a depth camera projector is applied to a depth camera, wherein the depth camera comprises at least one projector, at least one photosensitive module and at least one circuit board, the projector emits at least one emission beam to at least one target object, and the emission beam is received and processed by the photosensitive module after being reflected by the target object, and the method comprises the following steps: acquiring distance data of the target object; dynamically controlling an on-time and/or an intensity of the projector in dependence on the distance data, in such a way as to further reduce the power consumption of the projector.
Description
Technical Field
The invention relates to the field of image pickup, in particular to a power consumption control method of a depth camera projector and application thereof, wherein the power consumption control method of the projector can control the working time and the brightness of at least one projector according to the distance of a target object so as to control the power consumption of the projector.
Background
In recent years, with the great progress and rapid development of structured light technology, the application of structured light devices is becoming increasingly popular. Structured light, as the name implies, is light having a particular structure, such as discrete spots, stripes, coded structured light, and the like. The working principle of the structured light technology is that after structured light with specific information is projected to the surface of a target object, the target object makes the structured light generate distortion so as to form a distorted image on the surface of the target object, then the distorted image on the surface of the target object is collected, and finally the information such as the position and the depth of the target object is calculated according to the size distortion of the distorted image, so that the whole three-dimensional image of the target object is restored.
It is worth mentioning that depth cameras like structured light cameras often require a projector as an active light source, or that a projector is often required to emit structured light towards the target object. However, it has to be mentioned that in such a depth test system, the process of emitting light beams outwards by the projector occupies a large part of the expenditure of power consumption, and in practical applications, the power consumption of the projector needs to be strictly controlled, so as to reduce the use cost of the depth test system.
In the depth test system in the prior art, the method for controlling the power consumption of the projector is to control the working time of the projector so that the working time of the projector is strictly synchronous with the exposure time of a photosensitive module, thereby avoiding unnecessary power consumption waste. In other words, in the depth test system of the prior art, the most effective way to control the power consumption of the projector is to make the projector operate only in the effective exposure time range, but there is a place to improve the method.
Specifically, the shutter form of the depth camera may be divided into a global exposure and a rolling shutter exposure. According to the difference of the shutter principle, only the depth camera based on the global exposure can provide clear exposure starting time and exposure ending time for the depth test system, and the depth camera based on the rolling shutter exposure does not provide clear exposure starting time and exposure ending time because the exposure process of the photosensitive module of the rolling shutter exposure is carried out in a pipeline mode. In the global exposure depth camera, the working time of the projector is strictly controlled according to the exposure time of the photosensitive module, so that the power consumption of the projector is reduced. The working time of the projector depends on the exposure time of the photosensitive module, however, it has been proved that the exposure level of the photosensitive module can be lower than the actual exposure level when the depth camera is adapted to photograph a close object, in other words, the exposure level of the projector can also be lower than the actual exposure level.
In the rolling shutter exposure depth camera, because the exposure time of the rolling shutter exposure depth camera for acquiring image data of each frame is uncertain, the projector can only be kept in a normally bright state, and the photosensitive module can be ensured to be exposed to acquire all image data, so that the projector has great power consumption expenditure which cannot be ignored. Even if the operating time of the projector of the rolling shutter exposure depth camera is determined, the above-mentioned problems still exist when the rolling shutter exposure depth camera is applied to some special scenes.
In summary, in the depth camera of the prior art, the working brightness of the projector is fixed, or the working time of the projector is fixed, which leads to unnecessary power consumption waste when the depth camera is used in some special application scenes.
Disclosure of Invention
An object of the present invention is to provide a depth camera projector power consumption control method and application thereof, in which, when a depth camera is applied to a special scene, the power consumption of the depth camera can be further reduced by the depth camera projector power consumption control method, thereby reducing the use cost of the depth camera.
The invention aims to provide a power consumption control method of a depth camera projector and application thereof, wherein the power consumption control method of the depth camera projector reduces the power consumption of the projector by adjusting the working time of at least one projector.
The invention aims to provide a power consumption control method of a depth camera projector and application thereof, wherein the power consumption control method of the depth camera projector reduces the power consumption of the projector by adjusting the working brightness of at least one projector.
The invention aims to provide a power consumption control method of a depth camera projector and application thereof, wherein the working time of the projector is communicated with the exposure time of a photosensitive module so as to further reduce the power consumption of the depth camera.
The invention aims to provide a power consumption control method of a depth camera projector and application thereof, wherein the power consumption control method of the depth camera projector dynamically adjusts the working degree of the projector according to the distance of a target object and a distance judgment standard, or the power consumption control method of the depth camera projector adjusts the working degree of the projector according to the application scene of the depth camera.
The invention aims to provide a power consumption control method of a depth camera projector and application thereof, wherein the distance judgment standard of the power consumption control method of the depth camera projector is dynamically adjusted to avoid frequent change of the working degree of the projector, thereby ensuring the imaging quality of the depth camera.
The invention aims to provide a power consumption control method of a depth camera projector and application thereof, wherein the distance judgment standard of the power consumption control method of the depth camera projector is dynamically adjusted, so that the projector is protected, and the service life of the depth camera is prolonged.
The invention aims to provide a power consumption control method of a depth camera projector and application thereof, wherein the power consumption control method of the depth camera projector ensures that the exposure degree of the depth camera is still reduced under the condition that the depth camera is not under exposed, thereby reducing the power consumption of the depth camera and the projector.
The invention aims to provide a power consumption control method of a depth camera projector and application thereof, wherein the power consumption control method of the depth camera projector can ensure the imaging quality of a depth camera while reducing the power consumption of the projector.
The invention aims to provide a power consumption control method of a depth camera projector and application thereof, wherein the power consumption control method of the depth camera projector is suitable for various types of depth cameras, namely the power consumption control method of the depth camera projector is widely applied.
In order to achieve any of the above objectives, the present invention provides a power consumption control method for a depth camera projector, which is applied to a depth camera, wherein the depth camera includes at least one projector, at least one photosensitive module and at least one circuit board, wherein the projector emits at least one emission beam to at least one target object, and the emission beam is received and processed by the photosensitive module after being reflected by the target object, the method includes the following steps:
s1: acquiring distance data of the target object;
s2: a pulse controller dynamically controls a duty time and/or a brightness of the projector according to the distance data.
In some embodiments, the step S2 further comprises the following steps:
s21: a processor disposed on the circuit board determines a distance interval of the target object according to the distance data, and performs step S22 when the distance interval is implemented as a second interval, and performs step S23 when the distance interval is implemented as a second interval;
s22: a working time unit calculates the working time of the projector according to the distance data, and the pulse controller controls the projector according to the working time; and
s23: a brightness unit calculates the brightness of the projector according to the distance data, and the pulse controller controls the projector according to the brightness.
In some embodiments, the step S22 further comprises the following steps:
s221: the working time unit acquires the distance data;
s222: comparing the distance data with a time distance standard, and calculating to obtain the working time;
s223: the pulse controller receives the working time and converts the working time into at least one pulse signal; and
s224: the pulse controller controls the projector with the pulse signal.
In some embodiments, the step S23 further comprises the following steps:
s231: the brightness unit acquires the distance data;
s232: comparing the distance data with a brightness distance standard, and calculating to obtain the brightness;
s233: acquiring that the pulse controller receives the brightness and converts the brightness into at least one pulse signal; and S224: the pulse controller controls the projector with the pulse signal.
In some embodiments, wherein the on-time unit sets an on-time minimum value, the on-time of the projector is set to the on-time minimum value.
In some embodiments, wherein the depth camera projector power consumption control method further comprises the steps of: s3: an interval unit dynamically adjusts the distance interval according to the distance data of the target object.
In some embodiments, the step S3 further comprises the following steps:
s31: the interval unit acquires the distance data of the target object;
s32: comparing the distance data with the first interval and the second interval, and executing step S33 when the distance data is at the critical point of the first interval and the second interval; and
s33: dynamically adjusting the first interval and the second interval so that the distance data is not at the critical position of the first interval and the second interval.
In some embodiments, wherein the depth camera projector power consumption control method further comprises the steps of: s4: and counting the motion range of the target object and dynamically adjusting the distance interval.
In some embodiments, the distance interval is artificially adjusted according to an interval unit, wherein the first interval is closer to the depth camera than the second interval.
In some embodiments, wherein the operating time of the projector varies over a range of exposure times.
In some embodiments, wherein the brightness of the projector ranges over a range of brightness.
In some embodiments, wherein the time distance criterion is implemented as a linear equation.
In some embodiments, wherein the exposure time is controlled in the range of 18-33 ms.
In some embodiments, wherein the luminance distance criterion is implemented as a linear equation.
In some embodiments, wherein the brightness range is controlled between 40% -80%.
In some embodiments, wherein the first interval is implemented to be 0.5-2m from the depth camera and the second interval is implemented to be 2-6m from the depth camera.
According to another aspect of the present invention, there is provided a depth camera comprising at least one projector, at least one photosensitive module and at least one circuit board, wherein the projector emits at least one emission beam to at least one target object, the emission beam is reflected by the target object and received and processed by the photosensitive module, and the projector is controlled according to the depth camera projector control method of any one of claims 1 to 23.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description and appended claims, taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of a depth camera according to an embodiment of the invention.
FIG. 2 is another schematic structural diagram of the depth camera according to the above embodiment of the invention.
Fig. 3 is a schematic structural diagram of a projector according to the above embodiment of the present invention.
Fig. 4 is a flowchart illustrating a control method of a power consumption control method of a depth camera projector according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of components on a circuit board of the power consumption control method for the depth camera projector according to the above embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating a configuration of a processor of the depth camera projector power consumption control method according to the above embodiment of the present invention.
Fig. 7 and 8 are flow diagrams of a power consumption control method of a depth camera projector according to the above-described embodiment of the present invention.
Fig. 9 to 15 are method flow diagrams of a power consumption control method of a depth camera projector according to the above-described embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
As shown in fig. 1, a schematic diagram of the structure and operation of a depth camera is shown, the depth camera is adapted to acquire an image of at least one target object O, and unlike a conventional general camera, the depth camera can acquire three-dimensional image information of the target object O, in other words, the depth camera can acquire a 3D image of the target object O. In a simplified process, light of the target object O enters the depth camera and is received by a photosensitive element of the depth camera, and after the photosensitive element analyzes and processes the light, the photosensitive element converts light path information into image information of the target object O, so as to complete imaging of the target object O.
Specifically, the depth camera includes at least one projector 10, at least one photosensitive module 20 and at least one circuit board 30, wherein the projector 10 and the photosensitive module 20 are disposed at different positions of the circuit board 30 to be communicatively connected with the circuit board 30. In the practical application of the depth camera, the projector 10 emits at least one emitting light beam towards the target object O, the emitting light beam is reflected after reaching the surface of the target object O, the reflecting light beam reflected by the target object O shows different optical characteristics due to different depth conditions of the target object O, and the photosensitive module 20 receives and analyzes the reflecting light beam to obtain three-dimensional information of the target object O.
Based on the difference in the depth testing principle, the depth camera may be implemented in different types, such as TOF camera, structured light camera. The present invention will be described with reference to a structured light module, but it should be understood by those skilled in the art that the depth camera of the present invention is not limited to a structured light module, and the depth camera of the present invention can be implemented as any camera module including an active light source, and the present invention is not limited in this respect.
As shown in fig. 3, when the depth camera is implemented as a structured light module, the projector 10 is implemented as a structured light projector, the projector 10 includes at least one light source 11, at least one collimating system 12 and at least one diffractive optical element 13, wherein the collimating system 12 and the diffractive optical element 13 are sequentially located on an optical path of the light source 11, the light source 11 is configured to emit at least one light beam, the collimating system 12 is configured to collimate the light beam such that the light beam is collimated into approximately parallel light, and the diffractive optical element 13 is configured to modulate the parallel light to generate light with a special structure, that is, to generate at least one structured light after being modulated by the diffractive optical element 13.
In addition, the photosensitive module 20 receives the reflected light beam reflected from the target object O, and analyzes and obtains the three-dimensional information of the target object O based on the optical characteristics of the reflected light beam, and it should be noted that, as shown in fig. 2, the photosensitive module 20 includes at least one image sensor 21, wherein the reflected light beam reflected from the target object O enters the photosensitive module 20, and is subjected to light sensing by the image sensor 21 after being adjusted by a series of light paths. It should be noted that the image sensor 21 is electrically connected to the circuit board 30, so that the image sensor 21 can transmit the optical path information to the circuit board 30, and the circuit board 30 can also control the operating state of the photosensitive module 20 through the image sensor 21.
In addition, the image sensor 21 may be implemented as a global exposure photosensitive element and a rolling shutter exposure photosensitive element, when the image sensor 21 is implemented as a global exposure photosensitive element, the depth camera is implemented as a global exposure depth camera, the photosensitive module 20 obtains the image information of the target object O in a global exposure manner, at this time, the photosensitive module 20 may obtain complete image data about the target object O within one exposure time, and the exposure time of the photosensitive module 20 is determined. In the prior art, when the depth camera is implemented as a global exposure depth camera, the photosensitive module 20 obtains a fixed exposure time, and the operating time of the projector 10 is controlled to be the same as the exposure time of the photosensitive module 20, so as to control the power consumption of the projector 10.
When the photosensitive element 21 is implemented as a rolling shutter exposure photosensitive element, the depth camera is implemented as a rolling shutter exposure depth camera, the photosensitive module 20 obtains the image information of the target object O in a rolling shutter exposure manner, at this time, the photosensitive module 20 can obtain complete image data through multiple exposures, and the exposure time of the photosensitive module 20 is uncertain. Alternatively, when the depth camera is implemented as a rolling-curtain exposure depth camera, the exposure time of the photosensitive module 20 is uncertain, and it is often necessary to set the working time of the projector 10 to be longer than the exposure time of the photosensitive module 20, which may cause unnecessary power consumption of the projector 10.
In order to reduce the power consumption of the projector 10, the present invention provides a projector operating time control method suitable for a rolling-screen exposure depth camera, wherein the projector operating time control method can be linked with an automatic exposure algorithm to strictly control the operating time of the projector 10, when the photosensitive module 20 is exposed with an automatic exposure time, the projector 10 emits a light beam within the determined automatic exposure time, so that the operating time of the projector 10 is determined, and the operating time of the projector 10 depends on the automatic exposure time of the photosensitive module 20, so as to control the power consumption of the projector 10.
Specifically, the method for controlling the working time of the rolling shutter exposure depth camera projector comprises the following steps: the photosensitive module 20 obtains at least one synchronization signal and at least one image data about the target object, wherein the image data corresponds to the synchronization signal; at least one processing unit arranged on the circuit board 30 calculates an automatic exposure time according to the image data; at least one control unit arranged on the circuit board 30 converts the automatic exposure time into a pulse signal; and the control unit controls the projector 10 to work according to the pulse signal.
Specifically, the circuit board 30 is provided with at least one processor 31, at least one pulse controller 32 and at least one external interface, wherein the processor 31 is communicatively connected to the photosensitive module 20 to process the data received by the photosensitive module 20 and generate an automatic exposure time, wherein the pulse controller is communicatively connected to the processor 31 to convert the automatic exposure time and obtain a pulse signal corresponding to specific data, wherein the pulse controller 32 is communicatively connected to the projector 10, and the pulse controller 32 controls the operating time of the projector 10 according to the pulse signal, so that the operating time of the projector 10 is controlled.
In other words, during the operation of the rolling shutter exposure depth camera, the processor 31 receives the image data generated by the photosensitive module 20, and calculates the automatic exposure time based on the image data, the automatic exposure time is converted into a corresponding pulse signal by the pulse controller 32, and the pulse controller 32 controls the operation of the projector 10 based on the pulse signal, so that the projector 10 operates only in the time range of the automatic exposure time, thereby reducing the power consumption of the projector 10.
The details of the rolling-shutter exposure depth camera projector on-time control method are not repeated in the present invention. It will be understood by those skilled in the art that the rolling shutter exposure depth camera projector on-time control method can control the on-time of the projector 10, ensuring that the on-time of the projector 10 is equal to the automatic exposure time of the photosensitive module 20, thereby reducing the power consumption of the projector 10.
In summary, when the depth camera is implemented as a global exposure depth camera, the working time of the projector 10 can be strictly controlled to be equal to the exposure time of the photosensitive module 20, so as to reduce the power consumption of the projector 10. When the depth camera is implemented as a rolling shutter exposure depth camera, the working time of the projector 10 can be controlled to be equal to the automatic exposure time of the photosensitive module 20 by the rolling shutter exposure depth camera projector working time control method, so as to reduce the power consumption of the projector 10. It is worth mentioning, however, that in both types of depth cameras, the operating time of the projector 10 has been strictly controlled, but the projector 10 still generates a certain waste of power consumption, and of course, the nature of the projector 10 that maintains the constant operating brightness also causes a certain waste of power consumption by the projector 10.
It will be appreciated by those skilled in the art that when the depth camera is acquiring image data of a close-range target object, the depth camera does not require excessive exposure to acquire the image data of the close-range target object. Or, when the depth camera is acquiring an image of a close-range target object, the depth camera only needs to work in a state of ensuring no under exposure. At this time, for the rolling shutter exposure depth camera, the automatic exposure time obtained by the photosensitive module 20 by using the automatic exposure algorithm is generally greater than the actually required exposure time, so that the power consumption of the projector 10 is wasted. Similarly, for the global exposure depth camera, the calculated exposure time of the global exposure depth camera is also greater than the actually required exposure time, causing unnecessary power consumption waste of the projector 10.
In order to further reduce the power consumption of the projector 10 and thus the power consumption of a depth camera to which the projector 10 is applied, the present invention provides a depth camera projector power consumption control method that can dynamically control the operating time and brightness of the projector 10 according to the distance of the target object O, or the projector power consumption control method that dynamically controls the degree of light emission of the projector 10 according to the distance of the target object O, thereby reducing the power consumption of the projector 10. In this way, the exposure level of the depth camera can be further reduced when the depth camera is adapted to acquire image data of a close-range target object, thereby reducing the use cost of the depth camera. It will be appreciated by those skilled in the art that the depth camera projector power consumption control method may be applied to multiple types of depth cameras, and in particular, the depth camera projector power consumption control method may be applied to a global exposure depth camera, and may also be applied to a roller shade exposure depth camera, as the present invention is not limited in this respect.
As shown in fig. 2, the projector 10 and the photosensitive module 20 are disposed at different positions on the circuit board 30, the circuit board 30 is disposed with the processor 31 and the pulse controller 32, wherein the photosensitive module 20 is communicatively connected to the processor 31, so that the image data acquired by the photosensitive module 20 is transmitted to the processor 31 to be processed, wherein the processor 31 is communicatively connected to the pulse controller 32, so that the pulse controller 32 converts the data processed by the processor 31 into a corresponding pulse signal, wherein the pulse controller 32 is communicatively connected to the projector 10, so that the pulse controller 32 can dynamically control the working degree of the projector 10 according to the pulse signal, and it is worth mentioning that the working degree of the projector 10 in the present invention includes the working time and the working brightness of the projector 10.
Specifically, as shown in fig. 4, the photosensitive module 20 transmits at least one depth data S to the processor 31, where the depth data S includes phase information and gray scale information of the target object O, and the processor 31 processes the depth data S to obtain an exposure level suitable for the target object O at this time, and calculates the operating time T and/or the brightness L of the projector 10 according to the exposure level. Subsequently, the working time T and the brightness L are transmitted to the pulse controller 32, the pulse controller 32 converts the working time T and/or the brightness L into a corresponding pulse signal M, and the pulse controller 32 controls the working state of the projector 10 with the pulse signal M, thereby further reducing the power consumption of the projector 10.
As shown in fig. 5 and 6, specific components of the processor 31 and the pulse controller 32 are shown. The processor 31 includes at least one distance unit 311, at least one interval unit 312, at least one determination unit 313, at least one working time unit 314 and at least one brightness unit 315, and it should be noted that, in the embodiment of the present invention, the processor 31 is implemented as a CPU, although the processor 31 may be implemented as any other data processing device, and the present invention is not limited in this respect. When the processor 31 is implemented as the CPU, the above-mentioned naming of the elements is merely to functionally distinguish the processor 31, and is not to be taken as a limitation.
The distance unit 311 is communicatively connected to the photosensitive module 20, and specifically, the distance unit 311 is communicatively connected to the image sensor 21 to obtain the depth data S and calculate a distance data D of the target object O. When the photosensitive module 20 is adapted to acquire the image data of the target object O, the projector 10 emits at least one emitting light beam toward the target object O, the emitting light beam is reflected by the target object O to form the reflected light beam, the reflected light beam is received by the photosensitive module 20, the image sensor 21 processes the received reflected light beam to obtain the depth data S of the target object O, it is worth mentioning that the depth data S includes the phase information of the target object O, and in addition, the image sensor 21 can be implemented as a global exposure type and/or a rolling curtain exposure type, which is not limited in this respect.
The distance unit 311 further includes a conversion module 3111, and the conversion module 3111 can convert the depth data S into corresponding distance data D. In an embodiment of the present invention, the circuit board 30 is provided with at least one data interface 33, the data interface 33 transmits the depth data S to at least one upper computer, the upper computer obtains the distance data D of the target object O by calculation based on the depth data S, the distance data D is transmitted back to the conversion module 3111 from the upper computer, and the upper computer may be implemented as a PC terminal or an electronic device terminal, which is not limited in this respect. In another embodiment of the present invention, the conversion module 3111 converts the depth data S into the distance data D to obtain distance information about the target object O. In summary, the distance unit 311 receives the depth data S and obtains the distance data D, where the depth data S and the distance data D correspond to each other one to one.
The interval unit 312 is disposed in the processor 31 to store or set at least one distance interval Q, and the interval unit 312 further includes at least one presetting module 3121, wherein the presetting module 3121 is adapted to preset the distance interval Q, and it is noted that the setting of the distance interval Q can be adjusted manually. In an embodiment of the invention, the presetting module 3121 presets the distance interval Q and forms at least a first interval Q1, at least a second interval Q2 and at least a third interval Q3, wherein the first interval Q1, the second interval Q2 and the third interval Q3 are sequentially set according to a distance of the target object O. In an embodiment of the present invention, the first section Q1 is implemented as a section closest to the depth camera, and the third section Q3 is implemented as a section farthest from the depth camera. When the target object O falls into different distance intervals Q, the processor 31 dynamically controls the working degree of the projector 10 in different ways. Of course, it should be understood by those skilled in the art that the presetting module 3121 can preset a greater number of intervals, and the present invention is illustrated by only three distance intervals, and the present invention is not limited in this respect.
The distance unit 311 and the interval unit 312 are communicatively connected to the determination unit 313, wherein the determination unit 313 is adapted to determine within which distance interval the position of the target object O is located. Specifically, the determining unit 313 further includes at least a first section module 3131, at least a second section module 3132 and at least a third section module 3133, wherein the first section module 3131, the second section module 3132 and the third section module 3133 respectively correspond to the first section Q1, the second section Q2 and the third section Q3.
The determination unit 313 receives the distance data D of the distance unit 311, and determines the distance section Q of the target object O based on the distance data D. For example, when the determining unit 313 determines that the target object O is in the first section Q1, the first section module 3131 is triggered. Similarly, when the determination unit 313 determines that the target object O is in the second section Q2, the second section module 3132 is triggered.
In the embodiment of the present invention, the first section Q1 is disposed at a distance of 0.5m to 2m from the depth camera, the second section Q2 is disposed at a distance of 2m to 6m from the depth camera, and the third section Q3 is disposed at a section greater than 6m from the depth camera. The distance data D may display a distance of the target object O from the depth camera, the determination unit 313 triggers the first span module 3131 when the distance data D shows that the target object O is 1.5m from the depth camera, and the determination unit 313 triggers the second span module 3132 when the distance data D shows that the target object O is 3m from the depth camera. It should be noted that the data values of the first interval Q1 and the second interval Q2 are only for illustration and are not limiting.
It is worth mentioning that when the target object O is far away from the depth camera, the projector 10 operates according to normal operation performance, that is, when the depth camera is implemented as a global exposure depth camera, the operation time of the projector 10 depends on the exposure time of the photosensitive module 20, and when the depth camera is implemented as a rolling-curtain exposure depth camera, the operation time of the projector 10 depends on the automatic exposure time of the photosensitive module 20. When the target object is closer to the depth camera, the working time of the projector 10 is further shortened, or the exposure time of the photosensitive module 20 is further shortened, but the exposure time can only be changed within a certain range of exposure time in order to ensure the stability of the taken image. When the target object is closer to the depth camera, the brightness of the projector 10 is reduced, and the exposure time of the photosensitive module 20 or the working time of the projector 10 is controlled to a minimum value. Of course, it will be understood by those skilled in the art that the operating time of the projector 10 and the brightness may be simultaneously varied to vary the exposure level of the depth camera.
Thus, when the determining unit 313 determines that the target object O is in the third section Q3, the third section module 3133 is triggered, and the operating time T and the brightness L of the projector 10 are not changed, so that the projector 10 operates according to a normal operating state. When the target object O is in the third interval Q3, the target object O is a relatively large distance from the depth camera.
When the determination unit 313 determines that the target object O is in the second section Q2, the second section module 3132 is triggered, at which time the operating time T of the projector 10 is adjusted. Of course, in some embodiments, when the second interval 3132 is triggered, both the operating time T and the brightness L of the projector 10 are adjusted. When the target object O is in the second interval Q2, the target object O is a relatively close distance from the depth camera.
In some embodiments, when the determination unit 313 determines that the target object O is in the second interval Q2, the second interval module 3132 is triggered, at which time the on time T of the projector 10 is adjusted, the second interval module 3132 is communicatively connected to the on time unit 314, wherein the on time unit 314 calculates the on time T of the projector 10 according to the distance of the target object O.
In some embodiments, when the second interval 3132 is triggered, the on time T and the brightness L of the projector 10 are both adjusted, at which time the on time T and the brightness L of the projector 10 are both adjusted, the second interval module 3132 is communicatively connected to the on time unit 314 and the brightness unit 315.
In this embodiment, the second interval module 3132 is connected to the working time unit 314 for example, specifically, the working time unit 314 further includes a time standard module 3141, wherein the time standard module 3141 sets a time distance standard, so that the time standard module 3141 obtains the distance data D of the target object O and calculates the working time T of the projector 10 corresponding to different distance positions according to the time standard.
In order to ensure that the depth camera can acquire images with high stability, the working time of the projector 10, or the exposure time of the photosensitive module 20, is controlled within a certain exposure time range. For example, when the target object O is in the second interval Q2, the exposure time of the photosensitive module 20 varies within a certain range of exposure time, and of course, in this exposure time region, the closer the target object O is to the depth camera, the less the exposure time of the photosensitive module 20 and the operating time of the projector 10 are, so as to reduce the power consumption of the projector 10.
In particular, in an embodiment of the present invention, the working time T and the distance data D vary in a linear variation law, or the time-distance criterion is implemented as a linear curve. Of course, this is merely an embodiment and is not intended to be limiting. In the embodiment of the present invention, the exposure time zone is controlled to vary within 18-33ms, that is, when the position of the target object O is implemented as 2m-6m, the operating time T of the projector 10 varies within 18-33ms, and correspondingly, the exposure time of the photosensitive module 20 also varies within 18-33 ms.
When the operating time T of the projector 10 and the exposure time of the photosensitive module 20 have been controlled to minimum values, in an embodiment of the present invention, when the operating time T and the exposure time are implemented as 18ms, the brightness L of the projector 10 is adjusted when the target object O is detected to be still closer to the depth camera.
In other words, when the determination unit 313 determines that the target object O is at the first section module 3131, at which time the first section module 3131 is triggered, at which time the brightness L of the projector 10 is adjusted. When the target object O is in the first interval Q1, the target object O is closer to the depth camera.
When the target object O is in the first interval Q1, the operating time T of the projector 10 and the exposure time of the photosensitive module 20 have been controlled to be minimum values, and in an embodiment of the present invention, the operating time T is controlled to be 18 ms. However, at this time, even when the projector 10 operates for the operating time T, the exposure degree of the photosensitive module 20 to the target object O is still larger than an actually required value, and at this time, the brightness L of the projector 10 is lowered.
The first interval module 3131 is communicatively connected to the brightness unit 315, the brightness unit 315 further controls the brightness L according to the distance data D of the target object O, and the brightness unit 315 further includes a brightness criterion module 3151, wherein the brightness criterion module 3151 sets a brightness distance criterion, such that the brightness criterion module 3151 obtains the distance data D of the target object O and calculates the brightness L of the projector 10 corresponding to different distance positions according to the brightness criterion.
In order to ensure that the depth camera obtains a high quality image with low power consumption, the brightness L of the projector 10, or the exposure degree of the photosensitive module 20, is controlled within a certain exposure brightness range. For example, when the target object O is in the first interval Q1, the brightness L of the projector 10 varies over a range of exposure brightness.
Specifically, in the embodiment of the present invention, the luminance L and the distance data D are changed in a linear change rule, or the luminance distance criterion is implemented as a linear curve. Of course, this is merely an embodiment and is not intended to be limiting. In the embodiment of the present invention, the brightness range is controlled to be varied within 40% -80%, that is, when the position of the target object O is implemented as 0.5m-2m, the brightness L of the projector 10 is varied within 40% -80%. Of course, as the target object O is closer to the depth camera, the corresponding value of the brightness L is also lower.
It should be noted that, after the processor 31 obtains the working time T and the brightness L, the processor is communicated with the pulse controller 32 to control the projector 10. Specifically, the pulse controller 32 includes at least one pulse duration module 321 and at least one pulse intensity module 322, wherein the pulse duration module 321 controls the working time T of the projector 10 by controlling the power supply duration of the projector 10, and the pulse intensity module 322 controls the brightness L of the projector 10 by controlling the current intensity of the projector 10.
Specifically, the working time unit 314 is communicatively connected to the pulse duration module 321, wherein the pulse duration module 321 converts the working time T into the corresponding pulse signal M after receiving the working time T. The pulse controller 32 controls the operating time of the projector 10 by the pulse signal M, thereby controlling the exposure degree of the photosensitive module 20, in such a way that the signal degree of the pulse signal M is related to the operating time T, i.e., the longer the operating time T of the projector 10, the longer the signal length of the pulse signal M.
In addition, the brightness unit 315 is communicatively connected to the pulse intensity module 322, wherein the pulse intensity module 322 receives the brightness L and converts the brightness L into the corresponding pulse signal M. The pulse controller 32 controls the working brightness of the projector 10 through the pulse signal M, thereby controlling the exposure degree of the photosensitive module 20.
In summary, the processor 31 dynamically adjusts the operation time T and the brightness L of the projector 10 according to the distance data D of the target object O, thereby reducing the power consumption of the projector 10.
In addition, it is worth mentioning that the distance interval Q can be dynamically adjusted during the application process. In particular, the depth camera projector power consumption control method dynamically changes the operating time T and brightness L of the projector 10 in accordance with the distance data D of the target object O. However, when the target object O is in the vicinity of the first section Q1 and the second section Q2, the brightness of the projector 10 may need to be changed frequently between different brightness values, which may cause the brightness of the projector 10 to be unstable, causing unnecessary loss to the projector 10.
In order to solve the above problem, the distance interval Q may be dynamically adjusted according to the distance of the target object O. Specifically, the interval unit 312 further includes at least one adjusting module 3122, wherein the adjusting module 3122 is communicatively connected to the presetting module 3121 and the distance unit 311, so that the adjusting module 3122 can dynamically adjust the distance interval Q according to the distance of the target object O.
Specifically, when the processor 31 detects that the target object O frequently moves between the first section Q1 and the second section Q2, the adjusting module 3122 adjusts the section range of the first section Q1 and the second section Q2 so that the target object O is not at the critical position of the first section Q1 and the second section Q2.
For example, when the first interval Q1 is implemented as 0.5m-2m and the second interval Q2 is implemented as 2m-6m, a target object moves back and forth at 2m + -0.15 m, the brightness L of the projector 10 needs to be changed frequently between two types of brightness values. The first interval Q1 can now be dynamically adjusted to 0.75m-2.25m, the second interval 21 being implemented to be between 2.25m-6.25 m.
In addition, the processor 31 may cumulatively count the motion range of the target object O to obtain a motion range interval of the target object O, and the adjusting module 3122 dynamically adjusts the first interval Q1 and the second interval Q2 according to the motion range.
According to another aspect of the present invention, the present invention provides a power consumption control method for a depth camera projector, wherein the depth camera includes at least one projector 10, at least one photosensitive module 20 and at least one circuit board 30, wherein the projector 10, the photosensitive module 20 are disposed at different positions of the circuit board 30, the projector 10 emits at least one emission beam to at least one target O, the emission beam is reflected by the target O and then received by the photosensitive module 20, the power consumption control method for the depth camera projector dynamically controls the operating time and brightness of the projector 10 according to the distance of the target O, the power consumption control method for the depth camera projector includes the following steps:
s1: acquiring distance data D of the target object O;
s2: a pulse controller 32 dynamically controls an on-time T and/or a brightness L of the projector 10 in accordance with the distance data D.
It should be noted that, in the embodiment of the present invention, the working degree of the projector 10 includes the working time T and the brightness L, when any one of the parameters of the working time T and the intensity L of the projector 10 varies, the emitted light beam emitted outward by the projector 10 is changed, so as to change the exposure degree of the depth camera, and the depth camera projector power consumption control method reduces the power consumption of the depth camera by reducing the power consumption of the projector 10.
The step S2 further includes the steps of:
s21: a determining unit 313 of a processor 31 disposed on the circuit board 30 determines a distance interval Q of the target object O according to the distance data D, and performs step S22 when the distance interval Q is implemented as a second interval Q2, and performs step S23 when the distance interval Q is implemented as a second interval Q1.
It should be mentioned here that the distance range of the distance interval Q can be set and adjusted manually. In an embodiment of the present invention, the distance interval Q includes at least a first interval Q1, at least a second interval Q2 and at least a third interval Q3, wherein the first interval Q1, the second interval Q2 and the third interval Q3 are sequentially arranged according to the distance of the target object O. In an embodiment of the present invention, the first section Q1 is implemented as a section closest to the depth camera, and the third section Q3 is implemented as a section farthest from the depth camera. When the target object O falls into different distance intervals Q, the processor 31 dynamically controls the working degree of the projector 10 in different ways. Of course, it should be understood by those skilled in the art that the present invention is illustrated with only three distance intervals, and the present invention is not limited in this respect.
Wherein the step S22 is as follows:
s22: an on-time unit 314 calculates the on-time T of the projector 10 according to the distance data D, and the pulse controller 32 controls the projector 10 according to the on-time T.
Wherein step S23 is as follows:
s23: a brightness unit 315 calculates the brightness L of the projector 10 according to the distance data D, and the pulse controller 32 controls the projector 10 according to the brightness L.
It is noted that when the distance interval Q is implemented as the first interval Q1, the on-time T of the projector 10 is set to an on-time minimum.
The step S23 further includes the steps of: the on-time unit 314 obtains an on-time minimum, and the pulse controller 32 controls the projector 10 according to the on-time minimum.
In addition, the step S22 further includes the steps of:
s221: the working time unit 314 acquires the distance data D;
s222: comparing the distance data D with a time distance standard, and calculating to obtain the working time T;
s223: the pulse controller 32 receives the working time T and converts the working time T into a pulse signal M;
and
s224: the pulse controller 32 controls the projector 10 with the pulse signal M.
That is, when the processor 31 determines that the target object O is in the second section Q2, the operating time unit 314 calculates the operating time T of the projector 10 according to the time distance criterion. It should be noted that, in order to ensure that the depth camera can acquire images with high stability, the working time of the projector 10, or the exposure time of the photosensitive module 20, is controlled within a certain exposure time range. For example, when the target object O is in the second interval Q2, the exposure time of the photosensitive module 20 varies within a certain range of exposure time, and of course, in this exposure time region, the closer the target object O is to the depth camera, the less the exposure time of the photosensitive module 20 and the operating time of the projector 10 are, so as to reduce the power consumption of the projector 10. Specifically, in the embodiment of the present invention, the working time T and the distance data D vary according to a linear variation rule, or the preset time-distance criterion is implemented as a linear curve. Of course, this is merely an embodiment and is not intended to be limiting.
In addition, the step S23 further includes the steps of:
s231: the brightness unit 315 acquires the distance data D;
s232: comparing the distance data D with a brightness distance standard, and calculating to obtain the brightness L;
s233: acquiring the brightness received by the pulse controller 32, and converting the brightness into a pulse signal M; and
s224: the pulse controller 32 controls the projector 10 with the pulse signal M.
Similarly, to ensure that the depth camera obtains a high quality image with low power consumption, the brightness L of the projector 10, or the exposure degree of the photosensitive module 20, is controlled within a certain range of exposure brightness. For example, when the target object O is in the first interval Q1, the brightness L of the projector 10 varies over a range of exposure brightness. Specifically, in the embodiment of the present invention, the luminance L and the distance data D are changed in a linear change rule, or the preset luminance distance criterion is implemented as a linear curve. Of course, this is merely an embodiment and is not intended to be limiting.
In addition, the depth camera projector power consumption control method dynamically changes the operating time and brightness of the projector 10 depending on the distance data D of the target object O. However, when the target object O moves in the vicinity of the proximity points of the first section Q1 and the second section Q2, the brightness of the projector 10 may need to be frequently changed between different brightness values, which may cause the brightness of the projector 10 to be unstable, causing unnecessary loss to the projector 10.
The depth camera projector power consumption control method further includes the steps of:
s3: an interval unit 312 dynamically adjusts the distance interval Q according to the distance data D of the target object O.
The step S3 further includes the steps of:
s31: the interval unit 312 acquires the distance data D of the target object O;
s32: comparing the distance data D with the first section Q1 and the second section Q2, and performing step S33 when the distance data D is at the critical point of the first section Q1 and the second section Q2; and
s33: dynamically adjusting the first interval Q1 and the second interval Q2 such that the distance data D is not at a critical position of the first interval Q1 and the second interval Q2.
Of course, in an embodiment, the depth camera projector power consumption control method further comprises the steps of:
s4: and counting the motion range of the target object O, and dynamically adjusting the distance interval Q.
Specifically, the processor 31 may accumulate and count the motion range of the target object O to obtain the motion range interval of the target object O, and the adjusting module 3122 dynamically adjusts the first interval Q1 and the second interval Q2 according to the motion range.
In step S1, the image data T of the target object O is obtained by the processor 31, and the processor 31 includes a distance unit 311, wherein the distance unit 311 is communicatively connected to the photosensitive module 20, specifically, the distance unit 311 is communicatively connected to the image sensor 21, so as to obtain the depth data S, and calculate the distance data D of the target object O. It is worth mentioning that the depth data S comprises phase information of the target object O.
The distance unit 311 further includes a conversion module 3111, and the conversion module 3111 can convert the depth data S into corresponding distance data D. In an embodiment of the present invention, the circuit board 30 is provided with at least one data interface 33, the data interface 33 transmits data of the depth data to at least one upper computer, the upper computer obtains the distance data D of the target object O by calculation based on the depth data S, the distance data D is transmitted back to the conversion module 3111 from the upper computer, and the upper computer may be implemented as a PC terminal or an electronic device terminal. In another embodiment of the present invention, the conversion module 3111 performs distance calculation and converts the depth data S into the distance data D by itself to obtain distance information about the target object O. In summary, the distance unit 311 receives the depth data S and obtains the distance data D, where the depth data S and the distance data D correspond to each other one to one.
Namely, the step S1 further includes the steps of:
s1: a distance unit 311 disposed on the circuit board 30 obtains depth data S of the target object O;
s2: and analyzing the depth data S to obtain the image data T.
Furthermore, those skilled in the art will appreciate that the embodiments of the present invention described above and illustrated in the accompanying drawings are by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (36)
1. A power consumption control method for a depth camera projector is applied to a depth camera, wherein the depth camera comprises at least one projector, at least one photosensitive module and at least one circuit board, the projector emits at least one emission beam to at least one target object, and the emission beam is received and processed by the photosensitive module after being reflected by the target object, and the method is characterized by comprising the following steps:
s1: acquiring distance data of the target object;
s2: a pulse controller dynamically controls a working time and/or a brightness of the projector according to the distance data;
wherein the step S2 further comprises the steps of:
s21: a processor disposed on the circuit board determines a distance interval of the target object according to the distance data, and performs step S22 when the distance interval is implemented as a second interval, and performs step S23 when the distance interval is implemented as a first interval;
s22: a working time unit calculates the working time of the projector according to the distance data, and the pulse controller controls the projector according to the working time; and
s23: a brightness unit for calculating the brightness of the projector according to the distance data, and the pulse controller for controlling the projector according to the brightness;
wherein the first interval is implemented as a closest interval to the depth camera and the on-time unit sets an on-time minimum, wherein the on-time of the projector is set to the on-time minimum when the target object is in the first interval.
2. The depth camera projector power consumption control method of claim 1, wherein the step S22 further comprises the steps of:
s221: the working time unit acquires the distance data;
s222: comparing the distance data with a time distance standard, and calculating to obtain the working time;
s223: the pulse controller receives the working time and converts the working time into at least one pulse signal; and
s224: the pulse controller controls the projector with the pulse signal.
3. The depth camera projector power consumption control method of claim 1, wherein the step S23 further comprises the steps of:
s231: the brightness unit acquires the distance data;
s232: comparing the distance data with a brightness distance standard, and calculating to obtain the brightness;
s233: acquiring that the pulse controller receives the brightness and converts the brightness into at least one pulse signal; and
s224: the pulse controller controls the projector with the pulse signal.
4. The depth camera projector power consumption control method of claim 2, wherein the step S23 further comprises the steps of:
s231: the brightness unit acquires the distance data;
s232: comparing the distance data with a brightness distance standard, and calculating to obtain the brightness;
s233: acquiring that the pulse controller receives the brightness and converts the brightness into the pulse signal; and
s224: the pulse controller controls the projector with the pulse signal.
5. The depth camera projector power consumption control method of any one of claims 1 to 4, wherein the depth camera projector power consumption control method further comprises the steps of:
s3: an interval unit dynamically adjusts the distance interval according to the distance data of the target object.
6. The depth camera projector power consumption control method of claim 5, wherein the step S3 further comprises the steps of:
s31: the interval unit acquires the distance data of the target object;
s32: comparing the distance data with the first interval and the second interval, and executing step S33 when the distance data is at the critical point of the first interval and the second interval; and
s33: dynamically adjusting the first interval and the second interval so that the distance data is not at the critical position of the first interval and the second interval.
7. The depth camera projector power consumption control method of claim 6, wherein the depth camera projector power consumption control method further comprises the steps of:
s4: and counting the motion range of the target object and dynamically adjusting the distance interval.
8. The depth camera projector power consumption control method of any one of claims 1 to 4, wherein the depth camera projector power consumption control method further comprises the steps of:
s4: and counting the motion range of the target object and dynamically adjusting the distance interval.
9. The depth camera projector power consumption control method of any one of claims 1 to 4, wherein the distance interval is artificially adjusted according to an interval unit, wherein the first interval is closer to the depth camera than the second interval.
10. The depth camera projector power consumption control method of claim 2 or 4, wherein the operating time of the projector varies over a range of exposure times.
11. The depth camera projector power consumption control method of claim 3, wherein the operating time of the projector varies over a range of exposure times.
12. The depth camera projector power consumption control method of claim 3 or 4, wherein the brightness of the projector ranges over a range of brightness.
13. The depth camera projector power consumption control method of claim 10, wherein the time-distance criterion is implemented as a linear equation.
14. The depth camera projector power consumption control method of claim 10, wherein the exposure time range is controlled at 18-33 ms.
15. The depth camera projector power consumption control method of claim 12, wherein the brightness distance criterion is implemented as a linear equation.
16. The depth camera projector power consumption control method of claim 15, wherein the brightness range is controlled at 40% -80%.
17. The depth camera projector power consumption control method of claim 12, wherein the brightness range is controlled at 40% -80%.
18. The depth camera projector power consumption control method of claim 17, wherein the first interval is implemented 0.5-2m from the depth camera and the second interval is implemented 2-6m from the depth camera.
19. A depth camera, comprising at least one projector, at least one photosensitive module and at least one circuit board, wherein the projector emits at least one emission beam toward at least one target object, the emission beam is reflected by the target object and received and processed by the photosensitive module, the projector is controlled according to a depth camera projector control method, wherein the depth camera projector power consumption control method comprises the following steps:
s1: acquiring distance data of the target object;
s2: a pulse controller dynamically controls a working time and/or a brightness of the projector according to the distance data;
wherein the step S2 further comprises the steps of:
s21: a processor disposed on the circuit board determines a distance interval of the target object according to the distance data, and performs step S22 when the distance interval is implemented as a second interval, and performs step S23 when the distance interval is implemented as a first interval;
s22: a working time unit calculates the working time of the projector according to the distance data, and the pulse controller controls the projector according to the working time; and
s23: a brightness unit for calculating the brightness of the projector according to the distance data, and the pulse controller for controlling the projector according to the brightness;
wherein the first interval is implemented as a closest interval to the depth camera and the on-time unit sets an on-time minimum, wherein the on-time of the projector is set to the on-time minimum when the target object is in the first interval.
20. The depth camera of claim 19, wherein the step S22 further comprises the steps of:
s221: the working time unit acquires the distance data;
s222: comparing the distance data with a time distance standard, and calculating to obtain the working time;
s223: the pulse controller receives the working time and converts the working time into at least one pulse signal; and
s224: the pulse controller controls the projector with the pulse signal.
21. The depth camera of claim 19, wherein the step S23 further comprises the steps of:
s231: the brightness unit acquires the distance data;
s232: comparing the distance data with a brightness distance standard, and calculating to obtain the brightness;
s233: acquiring that the pulse controller receives the brightness and converts the brightness into at least one pulse signal; and S224: the pulse controller controls the projector with the pulse signal.
22. The depth camera of claim 20, wherein the step S23 further comprises the steps of:
s231: the brightness unit acquires the distance data;
s232: comparing the distance data with a brightness distance standard, and calculating to obtain the brightness;
s233: acquiring that the pulse controller receives the brightness and converts the brightness into the pulse signal; and
s224: the pulse controller controls the projector with the pulse signal.
23. The depth camera of any one of claims 19 to 22, wherein the depth camera projector power consumption control method further comprises the steps of:
s3: an interval unit dynamically adjusts the distance interval according to the distance data of the target object.
24. The depth camera of claim 23, wherein the step S3 further comprises the steps of:
s31: the interval unit acquires the distance data of the target object;
s32: comparing the distance data with the first interval and the second interval, and executing step S33 when the distance data is at the critical point of the first interval and the second interval; and
s33: dynamically adjusting the first interval and the second interval so that the distance data is not at the critical position of the first interval and the second interval.
25. The depth camera of claim 24, wherein the depth camera projector power consumption control method further comprises the steps of:
s4: and counting the motion range of the target object and dynamically adjusting the distance interval.
26. The depth camera of any one of claims 19 to 22, wherein the depth camera projector power consumption control method further comprises the steps of:
s4: and counting the motion range of the target object and dynamically adjusting the distance interval.
27. The depth camera of any of claims 19 to 22, wherein the distance interval is artificially adjusted in accordance with an interval unit, wherein the first interval is closer to the depth camera than the second interval.
28. The depth camera of claim 20 or 22, wherein the on-time of the projector varies over a range of exposure times.
29. The depth camera of claim 21, wherein the on-time of the projector ranges over an exposure time range.
30. The depth camera of claim 21 or 22, wherein the brightness of the projector ranges over a range of brightness.
31. The depth camera of claim 28, wherein the temporal distance criterion is implemented as a linear equation.
32. The depth camera of claim 28, wherein the exposure time range is controlled at 18-33 ms.
33. The depth camera of claim 30, wherein the brightness distance criterion is implemented as a linear equation.
34. The depth camera of claim 33, wherein the brightness range is controlled at 40% -80%.
35. The depth camera of claim 30, wherein the brightness range is controlled at 40% -80%.
36. The depth camera of claim 35, wherein the first interval is implemented 0.5-2m from the depth camera and the second interval is implemented 2-6m from the depth camera.
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