CN110095780A - Anti-interference method and equipment based on TOF camera mould group - Google Patents
Anti-interference method and equipment based on TOF camera mould group Download PDFInfo
- Publication number
- CN110095780A CN110095780A CN201910373448.0A CN201910373448A CN110095780A CN 110095780 A CN110095780 A CN 110095780A CN 201910373448 A CN201910373448 A CN 201910373448A CN 110095780 A CN110095780 A CN 110095780A
- Authority
- CN
- China
- Prior art keywords
- depth
- shutter
- depth camera
- camera
- mould group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000005259 measurement Methods 0.000 claims abstract description 111
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 claims abstract description 47
- 230000003287 optical effect Effects 0.000 claims description 36
- 230000003760 hair shine Effects 0.000 claims description 8
- 238000013508 migration Methods 0.000 claims 2
- 230000005012 migration Effects 0.000 claims 2
- 210000001367 artery Anatomy 0.000 description 11
- 210000003462 vein Anatomy 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000007613 environmental effect Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 6
- 230000004069 differentiation Effects 0.000 description 4
- 238000012216 screening Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000737 periodic effect Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention discloses a kind of anti-interference method and equipment based on TOF camera mould group, the TOF camera mould group includes the first depth camera, anti-interference method step wherein based on TOF camera mould group includes: to open the shutter progress pulse sequence search of first depth camera, generates the first search result；According to first search result, generates and open the first time offset that first depth camera carries out depth measurement；According to the first time offset, start to carry out depth measurement.The light-pulse generator that technical solution of the present invention can be avoided TOF camera mould group interferes with each other, and being normally carried out for measurement is effectively ensured.
Description
Technical field
The present invention relates to TOF camera ranging technology field, in particular to the anti-interference method of a kind of TOF camera mould group and set
It is standby.
Background technique
TOF (Time of flight, flight time telemetry) camera is a kind of three-dimensional imaging camera, and principle is continuous
Emit light pulse, the light being reflected back from body surface is then received by sensor record, light is calculated multiplied by the light velocity by the time
The round-trip distance of pulse, and obtain the depth information of object, depth point cloud chart is further obtained, current TOF camera is generally used
In 360 three-dimensional imaging or face recognition technology, single TOF camera is difficult to form comprehensive depth point cloud chart among these, is
This needs multiple TOF camera cooperations to be capable of forming more accurate comprehensive depth point cloud chart, but multiple TOF cameras are in same sky
Between under scene with when use, the light-pulse generator that will cause transmitting interferes with each other, and leads to the entanglement of measurement data, can not carry out normal
The problem of measurement.
Summary of the invention
The main object of the present invention is to propose a kind of anti-interference method and equipment based on TOF camera mould group, it is intended to be avoided
The problem of light-pulse generator of TOF camera mould group interferes with each other, is effectively ensured being normally carried out for measurement.
To achieve the above object, a kind of anti-interference method based on TOF camera mould group proposed by the present invention, the TOF phase
Machine mould group includes the first depth camera, and the anti-interference method based on TOF camera mould group includes:
The shutter for opening first depth camera carries out pulse sequence search, generates the first search result；
According to first search result, the first time for generating unlatching the first depth camera progress depth measurement is inclined
Shifting amount；
According to the first time offset, controls first depth camera and start to carry out depth measurement.
Optionally, the TOF camera mould group further includes the second depth camera and third depth camera, described according to described
One time offset, control the step of first depth camera starts progress depth measurement includes: later
The shutter for opening second depth camera carries out pulse sequence search, generates the second search result；
According to second search result, the second time for generating unlatching the second depth camera progress depth measurement is inclined
Shifting amount；
According to second time offset, controls second depth camera and start to carry out depth measurement；
The shutter for opening the third depth camera carries out pulse sequence search, generates third search result；
According to the third search result, the third time for generating the unlatching third depth camera progress depth measurement is inclined
Shifting amount；
According to the third time offset, controls the third depth camera and start to carry out depth measurement.
Optionally, first depth camera includes the first shutter, the second shutter and third shutter, described according to described the
One time offset, controlling the step of first depth camera starts progress depth measurement includes:
The first depth camera emission pulse laser is controlled, while opening first shutter；
Battery has fired pulse laser simultaneously closes off first shutter and opens second shutter, receives the arteries and veins of reflection
Impulse light；
It closes second shutter and opens the third shutter, acquire ambient lighting data information；
Close the third shutter.
Optionally, first depth camera further includes optical shutter, the shutter for opening first depth camera
Carry out pulse sequence search the step of include:
It controls first depth camera and opens the optical shutter；
It obtains exterior light and shines data-signal.
Optionally, described according to first search result, it generates and opens the first depth camera progress depth measurement
First time offset the step of include:
Analyze first search result；
It whether determines in first search result with identical with the pulse laser that first depth camera emits
Data-signal；
The first time offset that first depth camera carries out depth measurement is generated according to the result determined.
In addition, to achieve the goals above, the present invention also provides a kind of anti-interference equipment based on TOF camera mould group, institutes
Stating TOF camera mould group includes the first depth camera, and the anti-interference equipment based on TOF camera mould group includes:
Energization module, the shutter for opening first depth camera carry out pulse sequence search；
Generation module generates for generating the first search result, and according to first search result and opens described first
The first time offset of depth camera progress depth measurement；
Module is run, for first depth camera being controlled and starting to carry out depth according to the first time offset
Measurement.
Optionally, the TOF camera mould group further includes the second depth camera and third depth camera, the energization module,
The shutter for being also used to open second depth camera carries out pulse sequence search, and opens the fast of the third depth camera
Door carries out pulse sequence search；
The generation module is also used to generate the second search result, and according to second search result, generates and open institute
The second time offset that the second depth camera carries out depth measurement is stated, and generates third search result, and according to described the
Three search results generate and open the third time offset that the third depth camera carries out depth measurement；
The operation module, is also used to according to second time offset, control second depth camera start into
Row depth measurement, and, according to the third time offset, controls the third depth camera and start to carry out depth measurement.
Optionally, first depth camera includes the first shutter, the second shutter and third shutter, the operation module packet
Control unit is included, described control unit opens described first for controlling the first depth camera emission pulse laser
Shutter；Battery has fired pulse laser, while controlling and closing first shutter and open second shutter, receive the arteries and veins of reflection
Impulse light；It closes second shutter and opens the third shutter, acquire ambient lighting data information；It is fast to close the third
Door.
Optionally, first depth camera further includes optical shutter, and described control unit is also used to control described first
Depth camera opens the optical shutter；
The anti-interference equipment based on TOF camera mould group further include: illuminant module, the illuminant module is for obtaining ring
Border light data signal, exterior light shine data-signal or pulse laser data-signal.
Optionally, the generation module includes analytical unit, and the analytical unit is used to analyze first search result,
Determine in first search result whether there is data-signal identical with the pulse laser that first depth camera emits.
Technical solution of the present invention is searched for by the pulse sequence of the first depth camera, and the optical signal detected in space environment is special
Sign generates the first search result, influences the dry of the first depth camera measurement accuracy according to whether having in the first search result
Signal is disturbed, first time offset is generated and is kept away that is, by carrying out the offset of the initial time of depth measurement to the first depth camera
Being normally carried out for measurement is effectively ensured in the interference for opening interference signal in space environment.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the first embodiment flow diagram of TOF camera mould group anti-interference method of the present invention；
Fig. 2 be in Fig. 1 in TOF camera mould group anti-interference method of the present invention first depth camera carry out pulse sequence search with
The time diagram of depth measurement work；
Fig. 3 is the second embodiment flow diagram of TOF camera mould group anti-interference method of the present invention；
Fig. 4 carries out the time of depth measurement for several depth cameras of TOF camera mould group anti-interference method of the present invention in Fig. 3
Schematic diagram；
Fig. 5 is the 3rd embodiment flow diagram of TOF camera mould group anti-interference method of the present invention；
Fig. 6 is the fourth embodiment flow diagram of TOF camera mould group anti-interference method of the present invention；
Fig. 7 is the 5th embodiment flow diagram of TOF camera mould group anti-interference method of the present invention；
Fig. 8 is the attachment structure schematic diagram of TOF camera mould group anti-interference equipment of the present invention.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 110 | Energization module | 130 | Run module |
| 120 | Generation module | 131 | Control unit |
| 121 | Analytical unit | 140 | Illuminant module |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Refering to fig. 1 and shown in Fig. 2, first embodiment proposed by the present invention, a kind of anti-interference side based on TOF camera mould group
Method, the TOF camera mould group include the first depth camera, and the anti-interference method based on TOF camera mould group includes:
Step S10, the shutter for opening first depth camera carry out pulse sequence search, generate the first search result,
Specifically, the first depth camera powers on, and the first depth camera enters pulse sequence search condition, the pulse sequence search
It is to be realized by carrying out the technological means such as pulse screening, pulse positioning, pulse matching to the pulse signal in space environment to arteries and veins
The detection of signal is rushed, to capture target impulse signal, the transmitting of the first depth camera is pulse laser, and the first depth camera also wraps
The first photosensitive element is included, pulse laser is received by the first photosensitive element.
Step S20 is generated and is opened first depth camera carries out depth measurement the according to first search result
One time offset detects the optical signal feature in space environment, if having and the first depth camera by the first search result
The identical pulse signal of the pulse laser of transmitting records these ambient light signal features if without identical pulse signal,
And using these ambient light signal features as environmental background, when the first depth camera emission pulse laser, be conducive to the pulse
Laser differentiation in contrast from environmental background comes out, and postpones to open the first depth camera progress depth if having identical pulse signal
Measurement is finished to opening the first depth camera and carry out depth measurement from pulse sequence search and is spaced for some time, at this section
Between interval be first time offset, the transformable time value that first time offset is automatically generated, by this
First time offset can effectively avoid the interference of other pulsed laser signals in external environment.
Step S30 controls first depth camera and starts to carry out depth measurement according to the first time offset,
After generating first time offset, the start time that the first depth camera starts progress depth measurement, which equally can determine, to be obtained,
Thus the first depth camera can effectively avoid other pulsed laser signals in external environment by the first time offset
Interference, guarantees the accuracy of measurement result.
Technical solution of the present invention is searched for by the pulse sequence of the first depth camera, and the optical signal detected in space environment is special
Sign generates the first search result, influences the first depth camera measurement accuracy according to generating whether to have in the first search result
Interference signal, generate first time offset, that is, pass through to the first depth camera carry out depth measurement initial time it is inclined
It moves, avoids the interference of interference signal in space environment, being normally carried out for measurement is effectively ensured.
Further, refering to shown in Fig. 3 and Fig. 4, implement the proposition second embodiment of the present invention, the TOF based on first
Camera mould group further includes the second depth camera and third depth camera, includes: after step S30
Step S40, the shutter for opening second depth camera carry out pulse sequence search, generate the second search result,
Specifically, the second depth camera powers on, and the second depth camera enters pulse sequence search condition, the pulse sequence search
It is to be realized by carrying out the technological means such as pulse screening, pulse positioning, pulse matching to the pulse signal in space environment to arteries and veins
The detection of signal is rushed, to capture target impulse signal, the transmitting of the second depth camera is pulse identical with the first depth camera
Laser, the second depth camera further include the second photosensitive element, receive pulse laser by the second photosensitive element.
Step S50 is generated and is opened second depth camera carries out depth measurement the according to second search result
Two time offsets detect the optical signal feature in space environment, if having and the first depth camera by the second search result
The identical pulse signal of the pulse laser of transmitting records these ambient light signal features if without identical pulse signal,
And using these ambient light signal features as environmental background, when the second depth camera emission pulse laser, be conducive to the pulse
Laser differentiation in contrast from environmental background comes out, and postpones to open the second depth camera progress depth if having identical pulse signal
Measurement is finished to opening the second depth camera and carry out depth measurement from pulse sequence search and is spaced for some time, at this section
Between interval be the second time offset, the transformable time value that the second time offset is automatically generated, by this
Second time offset can effectively avoid the working time that the first depth camera carries out depth measurement, avoid the first depth camera
Pulsed laser signal interference.
Step S60 controls second depth camera and starts to carry out depth measurement according to second time offset,
After generating the second time offset, the start time that the second depth camera starts progress depth measurement, which equally can determine, to be obtained,
Thus the second depth camera can effectively avoid the pulsed laser signal of the first depth camera by second time offset
Interference, guarantees the accuracy of measurement result.
Step S70, the shutter for opening the third depth camera carry out pulse sequence search, generate third search result,
Specifically, third depth camera powers on, and third depth camera enters pulse sequence search condition, the pulse sequence search
It is to be realized by carrying out the technological means such as pulse screening, pulse positioning, pulse matching to the pulse signal in space environment to arteries and veins
The detection of signal is rushed, to capture target impulse signal, the transmitting of third depth camera is deep with the first depth camera and second
The identical pulse laser of camera is spent, third depth camera further includes third photosensitive element, receives pulse by third photosensitive element
Laser, the first photosensitive element, the second photosensitive element and third photosensitive element are optical sensors.
Step S80 is generated and is opened the third depth camera carries out depth measurement the according to the third search result
Three time offsets detect the optical signal feature in space environment, if having and the first depth camera by third search result
And second depth camera transmitting the identical pulse signal of pulse laser, record these if without identical pulse signal
Ambient light signal feature, and using these ambient light signal features as environmental background, when third depth camera emission pulse laser,
Be conducive to that differentiation in contrast comes out from environmental background by the pulse laser, postpone to open third if having identical pulse signal deep
Spend camera carry out depth measurement, i.e., from pulse sequence search finish to open third depth camera carry out depth measurement have one section when
Between be spaced, this section of time interval is third time offset, and be automatically generated one of third time offset is transformable
Time value can effectively avoid the first depth camera by the third time offset and the second depth camera carries out depth survey
The working time of amount avoids the interference of the pulsed laser signal of the first depth camera and the second depth camera.
Step S90 controls the third depth camera and starts to carry out depth measurement according to the third time offset,
After generating third time offset, the start time that third depth camera starts progress depth measurement, which equally can determine, to be obtained,
Thus third depth camera can effectively avoid the first depth camera and the second depth camera by the third time offset
Pulsed laser signal interference, guarantee the accuracy of measurement result.
Protection scheme of the invention is not limited only to three depth cameras, and pulse laser emission has certain periodic time
Interval, based on the first embodiment of the present invention and second embodiment it is found that the period is exactly utilized in the time for carrying out depth measurement
The time interval of property, such as the time interval that depth camera works every time, the i.e. time interval of emission pulse laser be
10000ns, unit nanosecond, and carry out depth measurement time be 100ns, it can thus be appreciated that make full use of emission pulse laser when
Between interval can effectively avoid interfering with each other for depth camera, while the present invention is using time offset is automatically generated, to determine
The working time of next depth camera, therefore the present invention can automatically generate carries out depth measurement start time, avoids depth
The working time of camera.
As shown in fig.5, first depth camera includes the first shutter, the second shutter and third shutter, step S30 packet
It includes:
Step S301 controls the first depth camera emission pulse laser, while opening first shutter, specifically
Ground, the opening time of the first shutter, the second shutter and third shutter, the first depth camera had generally in several nano-seconds
First transmitting unit of emission pulse laser and the first photosensitive element for receiving pulse laser, the first transmitting unit emit pulse and swash
The first shutter is opened while light, guarantees that the first photosensitive element can timely receive the pulse laser being all reflected back.
Step S302, battery has fired pulse laser simultaneously close off first shutter and open second shutter, receive
The pulse laser of reflection opens the second shutter, continues to the pulse laser of reflection, and in the pulse laser for receiving reflection
Afterwards, separated in time interval turns off the second shutter, it follows that the period for receiving the pulse laser of reflection is opening
First shutter is to closing within the period of the second shutter, in order to quickly distinguish the time starting for receiving reflected impulse laser
Point.
Step S303 closes second shutter and opens the third shutter, acquires ambient lighting data information, pass through
Third shutter is opened, ambient lighting data information is acquired, convenient for further determining that the optical signal feature of space environment, effectively by arteries and veins
The optical signal feature of impulse light is distinguished from the optical signal feature of space environment.
Step S304 closes the third shutter, and so far the first depth camera completes depth measurement work.
Similarly, the second depth camera and third depth camera have structure member identical with the first depth camera,
In the second depth camera have emission pulse laser the second transmitting unit and receive pulse laser the second photosensitive element, it is described
Second depth camera further includes the 4th shutter, the 5th shutter and the 6th shutter, and the second depth camera starts to carry out depth measurement
Step includes: control the second depth camera emission pulse laser, while opening the 4th shutter；Battery has fired pulse laser,
It simultaneously closes off the 4th shutter and opens the 5th shutter, second photosensitive element receives the pulse laser of reflection；It is fast to close the 5th
Door simultaneously opens the 6th shutter, to acquire ambient light data signal；Close the 6th shutter.There is third depth camera transmitting pulse to swash
The third transmitting unit of light and the third photosensitive element for receiving pulse laser, the third depth camera further include the 7th shutter,
The step of 8th shutter and the 9th shutter, third depth camera starts progress depth measurement includes: the control third depth phase
Machine emission pulse laser, while opening the 7th shutter；Battery has fired pulse laser simultaneously closes off the 7th shutter and opens the 8th fastly
Door, third photosensitive element receive the pulse laser of reflection；It closes the 8th shutter and opens the 9th shutter, to acquire ambient light data
Signal；Close the 9th shutter.
As shown in fig.6, first depth camera further includes optical shutter, step S10 includes:
Step S101 controls first depth camera and opens the optical shutter specifically, and the first depth camera is connected
Power supply, optical shutter are opened, and the opening time of general optical shutter at 1 second or so, is greater than the first shutter, the second shutter or third
Shutter nanosecond other opening time obtains external photometric data convenient for comprehensive in time.
Step S102 obtains exterior light and shines data-signal, and specifically, first depth camera includes receiving pulse laser
The first photosensitive element, the first photosensitive element receive exterior light shine data-signal, wherein exterior light according to data-signal includes illumination
The numerical value such as wavelength and intensity of illumination.
It will also be appreciated that the second depth camera and third depth camera all have optical shutter, the second depth camera carries out arteries and veins
When rushing timing search, the optical shutter of the second depth camera is opened, the second photosensitive element obtains exterior light and shines data-signal；Third
When depth camera carries out pulse sequence search, the optical shutter of third depth camera is opened, third photosensitive element obtains exterior light
According to data-signal.
Further, as shown in fig.7, step S20 includes:
Step S201 analyzes first search result, and specifically, exterior light is according to data-signal and the first depth camera
Pulse laser information matches, to determine that exterior light shines in data-signal whether have interference signal.
Whether step S202, determining in first search result, there is the pulse emitted with first depth camera to swash
The identical data-signal of light determines the first depth camera if generating a first time offset without equalized data signal
The initial time for starting to carry out depth measurement generates another first time offset, makes identical if there is equalized data signal
After data-signal dissipates in space environment, it is then turned on the first depth camera and carries out depth measurement, thus avoid the identical number
It is believed that number interference, guarantee measurement be normally carried out.
Step S203 generates the first time offset that first depth camera carries out depth measurement according to the result determined
Amount, after generating first time offset, the start time that the first depth camera starts to carry out depth measurement equally be can determine
Out, thus the first depth camera by the first time offset can effectively avoid the dry of equalized data signal in external environment
It disturbs, guarantees the accuracy of measurement result.
As shown in fig.8, the present invention also provides a kind of anti-interference equipment based on TOF camera mould group, the TOF camera mould
Group includes the first depth camera, and the anti-interference equipment based on TOF camera mould group includes:
Energization module 110, the shutter for opening first depth camera carry out pulse sequence search, energization module
110 are powered to the first depth camera, and the first depth camera enters pulse sequence search condition, and the pulse sequence search is to pass through
The technological means such as pulse screening, pulse positioning, pulse matching are carried out to the pulse signal in space environment to realize to pulse signal
Detection, to capture target impulse signal, the transmitting of the first depth camera is pulse laser, and the first depth camera further includes first
Photosensitive element receives pulse laser by the first photosensitive element.
Generation module 120 generates described in opening for generating the first search result, and according to first search result
First depth camera carries out the first time offset of depth measurement, by the first search result, detects the light in space environment
Signal characteristic, if having pulse signal identical with the pulse laser of the first depth camera transmitting, if believing without identical pulse
Number these ambient light signal features are then recorded, and using these ambient light signal features as environmental background, when the first depth camera
When emission pulse laser, be conducive to that differentiation in contrast comes out from environmental background by the pulse laser, if there is identical pulse signal
Then postpone to open the progress depth measurement of the first depth camera, i.e., finishes from pulse sequence search to the first depth camera of unlatching and carry out
Depth measurement is spaced for some time, this section of time interval is first time offset, and first time offset is automatic life
At a transformable time value, other pulse lasers in external environment can effectively be avoided by the first time offset
The interference of signal.
Module 130 is run, for first depth camera being controlled and starting to carry out deeply according to the first time offset
Degree measurement, after generating first time offset, the start time that the first depth camera starts to carry out depth measurement equally can be true
Surely it obtains, thus the first depth camera can effectively avoid other pulse lasers in external environment by the first time offset
The interference of signal guarantees the accuracy of measurement result.
After technical solution of the present invention is powered to the first depth camera by energization module 110, the first depth camera into
Enter pulse sequence search condition, generate the first search result, detect the optical signal feature in space environment, generation module 120 according to
Whether there is the interference signal for influencing the first depth camera measurement accuracy according in the first search result, generates and deviate at the first time
Amount avoids interference signal in space environment that is, by carrying out the offset of the initial time of depth measurement to the first depth camera
Interference, operation module 130 further control the first depth camera, being normally carried out for measurement are effectively ensured.
Further, the TOF camera mould group further includes the second depth camera and third depth camera, the energization module
110 shutters for being also used to open second depth camera carry out pulse sequence search, and open the third depth camera
Shutter carry out pulse sequence search, energization module 110 is powered to the second depth camera and third depth camera respectively, and second is deep
Degree camera and third depth camera respectively enter pulse sequence search condition.
The generation module 120 is also used to generate the second search result, and according to second search result, generates and open
Second depth camera carries out the second time offset of depth measurement, and generates third search result, and according to described
Third search result generates and opens the third time offset that the third depth camera carries out depth measurement；
The operation module 130 is also used to control second depth camera according to second time offset and start
Depth measurement is carried out, and, according to the third time offset, controls the third depth camera and start to carry out depth survey
Amount.
It is thus understood that the TOF camera mould group not only include the first depth camera, the second depth camera and
Third depth camera, pulse laser emission have certain periodic time interval, and the time for carrying out depth measurement exactly utilizes
Periodic time interval, such as the time interval that depth camera works every time, i.e., between the time of emission pulse laser
The time for being divided into 10000ns, unit nanosecond, and carrying out depth measurement is 100ns, it can thus be appreciated that making full use of transmitting pulse to swash
On the basis of the time interval of light, 100 depth cameras can be accommodated and measured, and effectively avoid the mutual dry of depth camera
It disturbs.
Further, first depth camera further includes the first shutter, the second shutter and third shutter, the operation mould
Block 130 includes control unit 131, and described control unit 131 is for controlling the first depth camera emission pulse laser, simultaneously
First shutter is opened, the first depth camera has the first transmitting unit (not shown) of emission pulse laser and receives pulse
First photosensitive element (not shown) of laser, the first transmitting unit emission pulse laser while, open the first shutter, guarantee the
One photosensitive element can timely receive the pulse laser being all reflected back；Battery has fired pulse laser, while controlling and closing institute
It states the first shutter and opens second shutter, receive the pulse laser of reflection, open the second shutter, continue to the arteries and veins of reflection
Impulse light, and after receiving the pulse laser of reflection, separated in time interval turns off the second shutter, it follows that
The period for receiving the pulse laser of reflection is opening the first shutter to closing within the period of the second shutter, in order to quick
Difference receives the time starting point of reflected impulse laser；Control closes second shutter and opens the third shutter, acquires
Ambient lighting data information acquires ambient lighting data information, by opening third shutter convenient for further determining that space environment
Optical signal feature, effectively the optical signal feature of pulse laser is distinguished from the optical signal feature of space environment；Control
The third shutter is closed, so far the first depth camera completes depth measurement work.
Further, the first depth camera further includes optical shutter, and control unit 131 is also used to control first depth
Camera opens optical shutter.
Anti-interference equipment based on TOF camera mould group further include: illuminant module 140, the illuminant module 140 is for obtaining
According to data-signal and the data-signal of pulse laser, illuminant module 140 is a kind of reception for ambient lighting data information, exterior light
The sensor of luminance signal.Further, the generation module 120 includes analytical unit 121, and the analytical unit 121 is used for
First search result is analyzed, determines in first search result whether there is the arteries and veins emitted with first depth camera
The identical data-signal of impulse light matches to the pulse laser information of external photometric data signal and the first depth camera, with
Just determine that exterior light shines in data-signal whether have interference signal.
It is described anti-dry based on TOF camera mould group the present invention also provides a kind of anti-interference equipment based on TOF camera mould group
Disturb equipment include: memory, processor and be stored on the memory and can run on the processor based on TOF phase
The anti-interference program of machine mould group；The anti-interference equipment based on TOF camera mould group is called in memory by processor and is stored
The anti-interference program based on TOF camera mould group, and execute following operation:
The shutter for opening first depth camera carries out pulse sequence search, generates the first search result；
According to first search result, the first time for generating unlatching the first depth camera progress depth measurement is inclined
Shifting amount；
According to the first time offset, controls first depth camera and start to carry out depth measurement.
Further, the TOF camera mould group further includes the second depth camera and third depth camera, and processor calling is deposited
The anti-interference program based on TOF camera mould group stored in reservoir also executes following operation:
The shutter for opening second depth camera carries out pulse sequence search, generates the second search result；
According to second search result, the second time for generating unlatching the second depth camera progress depth measurement is inclined
Shifting amount；
According to second time offset, controls second depth camera and start to carry out depth measurement；
The shutter for opening the third depth camera carries out pulse sequence search, generates third search result；
According to the third search result, the third time for generating the unlatching third depth camera progress depth measurement is inclined
Shifting amount；
According to the third time offset, controls the third depth camera and start to carry out depth measurement.
Further, first depth camera includes the first shutter, the second shutter and third shutter, and processor calling is deposited
The anti-interference program based on TOF camera mould group stored in reservoir also executes following operation:
The first depth camera emission pulse laser is controlled, while opening first shutter；
Battery has fired pulse laser simultaneously closes off first shutter and opens second shutter, receives the arteries and veins of reflection
Impulse light；
It closes second shutter and opens the third shutter, acquire ambient lighting data information；
Close the third shutter.
Further, first depth camera further includes optical shutter, processor call stored in memory based on
The anti-interference program of TOF camera mould group also executes following operation:
It controls first depth camera and opens the optical shutter；
It obtains exterior light and shines data-signal.
Further, processor calls the anti-interference program based on TOF camera mould group that stores in memory, also execute with
Lower operation:
Analyze first search result；
It whether determines in first search result with identical with the pulse laser that first depth camera emits
Data-signal；
The first time offset that first depth camera carries out depth measurement is generated according to the result determined.
Technical solution of the present invention is searched for by the pulse sequence of the first depth camera, generates the first search result, and detection is empty
Between optical signal feature in environment, influence the dry of the first depth camera measurement accuracy according to whether having in the first search result
Signal is disturbed, first time offset is generated and is kept away that is, by carrying out the offset of the initial time of depth measurement to the first depth camera
Being normally carried out for measurement is effectively ensured in the interference for opening interference signal in space environment.
In addition, being stored on the computer readable storage medium the present invention also provides a kind of computer readable storage medium
There is the anti-interference program based on TOF camera mould group, the anti-interference program based on TOF camera mould group can be by one or one
The above processor is executed to be used for:
The shutter for opening first depth camera carries out pulse sequence search, generates the first search result；
According to first search result, the first time for generating unlatching the first depth camera progress depth measurement is inclined
Shifting amount；
According to the first time offset, controls first depth camera and start to carry out depth measurement.
Further, the TOF camera mould group further includes the second depth camera and third depth camera, the TOF camera
Following operation is also realized when the anti-interference program of mould group is executed by processor:
The shutter for opening second depth camera carries out pulse sequence search, generates the second search result；
According to second search result, the second time for generating unlatching the second depth camera progress depth measurement is inclined
Shifting amount；
According to second time offset, controls second depth camera and start to carry out depth measurement；
The shutter for opening the third depth camera carries out pulse sequence search, generates third search result；
According to the third search result, the third time for generating the unlatching third depth camera progress depth measurement is inclined
Shifting amount；
According to the third time offset, controls the third depth camera and start to carry out depth measurement.
Further, first depth camera includes the first shutter, the second shutter and third shutter, described to be based on TOF
Following operation is also realized when the anti-interference program of camera mould group is executed by processor:
The first depth camera emission pulse laser is controlled, while opening first shutter；
Battery has fired pulse laser simultaneously closes off first shutter and opens second shutter, receives the arteries and veins of reflection
Impulse light；
It closes second shutter and opens the third shutter, acquire ambient lighting data information；
Close the third shutter.
Further, first depth camera further includes optical shutter, the anti-interference journey based on TOF camera mould group
Following operation is also realized when sequence is executed by processor:
It controls first depth camera and opens the optical shutter；
It obtains exterior light and shines data-signal.
Further, following operation is also realized when the anti-interference program based on TOF camera mould group is executed by processor:
Analyze first search result；
It whether determines in first search result with identical with the pulse laser that first depth camera emits
Data-signal；
The first time offset that first depth camera carries out depth measurement is generated according to the result determined.
Technical solution of the present invention is searched for by the pulse sequence of the first depth camera, generates the first search result, and detection is empty
Between optical signal feature in environment, influence the dry of the first depth camera measurement accuracy according to whether having in the first search result
Signal is disturbed, first time offset is generated and is kept away that is, by carrying out the offset of the initial time of depth measurement to the first depth camera
Being normally carried out for measurement is effectively ensured in the interference for opening interference signal in space environment.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of anti-interference method based on TOF camera mould group, which is characterized in that the TOF camera mould group includes the first depth
Camera, the anti-interference method based on TOF camera mould group include:
The shutter for opening first depth camera carries out pulse sequence search, generates the first search result；
According to first search result, generates and open the first time offset that first depth camera carries out depth measurement
Amount；
According to the first time offset, controls first depth camera and start to carry out depth measurement.
2. the anti-interference method as described in claim 1 based on TOF camera mould group, which is characterized in that the TOF camera mould group
It further include the second depth camera and third depth camera, it is described according to the first time offset, control first depth
Camera starts
The shutter for opening second depth camera carries out pulse sequence search, generates the second search result；
According to second search result, generates and open the second time migration that second depth camera carries out depth measurement
Amount；
According to second time offset, controls second depth camera and start to carry out depth measurement；
The shutter for opening the third depth camera carries out pulse sequence search, generates third search result；
According to the third search result, generates and open the third time migration that the third depth camera carries out depth measurement
Amount；
According to the third time offset, controls the third depth camera and start to carry out depth measurement.
3. the anti-interference method as described in claim 1 based on TOF camera mould group, which is characterized in that the first depth phase
Machine includes the first shutter, the second shutter and third shutter, described according to the first time offset, controls first depth
Camera start carry out depth measurement the step of include:
The first depth camera emission pulse laser is controlled, while opening first shutter；
Battery has fired pulse laser simultaneously closes off first shutter and opens second shutter, and the pulse for receiving reflection swashs
Light；
It closes second shutter and opens the third shutter, acquire ambient lighting data information；
Close the third shutter.
4. the anti-interference method as claimed in claim 3 based on TOF camera mould group, which is characterized in that the first depth phase
The step of machine further includes optical shutter, and the shutter for opening first depth camera carries out pulse sequence search include:
It controls first depth camera and opens the optical shutter；
It obtains exterior light and shines data-signal.
5. the anti-interference method as claimed in claim 4 based on TOF camera mould group, which is characterized in that described according to described
One search result, generating the step of unlatching first depth camera carries out the first time offset of depth measurement includes:
Analyze first search result；
Determine in first search result whether there is data identical with the pulse laser that first depth camera emits
Signal；
The first time offset that first depth camera carries out depth measurement is generated according to the result determined.
6. a kind of anti-interference equipment based on TOF camera mould group, which is characterized in that the TOF camera mould group includes the first depth
Camera, the anti-interference equipment based on TOF camera mould group include:
Energization module, the shutter for opening first depth camera carry out pulse sequence search；
Generation module generates for generating the first search result, and according to first search result and opens first depth
The first time offset of camera progress depth measurement；
Module is run, for first depth camera being controlled and starting to carry out depth measurement according to the first time offset.
7. the anti-interference equipment as claimed in claim 6 based on TOF camera mould group, which is characterized in that the TOF camera mould group
It further include the second depth camera and third depth camera, the energization module is also used to open the fast of second depth camera
Door carries out pulse sequence search, and opens the shutter progress pulse sequence search of the third depth camera；
The generation module, is also used to generate the second search result, and according to second search result, generates and opens described the
Two depth cameras carry out the second time offset of depth measurement, and generate third search result, and search according to the third
Rope opens the third time offset that the third depth camera carries out depth measurement as a result, generating；
The operation module is also used to control second depth camera according to second time offset and start to carry out deeply
Degree measurement, and, according to the third time offset, controls the third depth camera and start to carry out depth measurement.
8. the anti-interference equipment as claimed in claim 6 based on TOF camera mould group, which is characterized in that the first depth phase
Machine includes the first shutter, the second shutter and third shutter, and the operation module includes control unit, and described control unit is for controlling
The first depth camera emission pulse laser is made, while opening first shutter；Battery has fired pulse laser, controls simultaneously
It closes first shutter and opens second shutter, receive the pulse laser of reflection；It closes second shutter and opens
The third shutter acquires ambient lighting data information；Close the third shutter.
9. the anti-interference equipment as claimed in claim 8 based on TOF camera mould group, which is characterized in that the first depth phase
Machine further includes optical shutter, and described control unit is also used to control first depth camera and opens the optical shutter；
The anti-interference equipment based on TOF camera mould group further include: illuminant module, the illuminant module is for obtaining environment light
According to data information, exterior light according to data-signal and the data-signal of pulse laser.
10. the anti-interference equipment as claimed in claim 9 based on TOF camera mould group, which is characterized in that the generation module packet
Analytical unit is included, the analytical unit determines whether have in first search result for analyzing first search result
There is data-signal identical with the pulse laser of first depth camera transmitting.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373448.0A CN110095780B (en) | 2019-05-06 | 2019-05-06 | Anti-interference method and device based on TOF camera module |
| PCT/CN2019/128796 WO2020224271A1 (en) | 2019-05-06 | 2019-12-26 | Anti-interference method and device for tof camera module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373448.0A CN110095780B (en) | 2019-05-06 | 2019-05-06 | Anti-interference method and device based on TOF camera module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110095780A true CN110095780A (en) | 2019-08-06 |
| CN110095780B CN110095780B (en) | 2024-04-09 |
Family
ID=67447070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910373448.0A Active CN110095780B (en) | 2019-05-06 | 2019-05-06 | Anti-interference method and device based on TOF camera module |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110095780B (en) |
| WO (1) | WO2020224271A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110703270A (en) * | 2019-10-08 | 2020-01-17 | 歌尔股份有限公司 | Depth module ranging method and device, readable storage medium and depth camera |
| WO2020224271A1 (en) * | 2019-05-06 | 2020-11-12 | 歌尔股份有限公司 | Anti-interference method and device for tof camera module |
| CN115056818A (en) * | 2022-06-22 | 2022-09-16 | 中车青岛四方车辆研究所有限公司 | Asynchronous control method and device for 3D measurement module and three-dimensional detection system for rail vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104049257A (en) * | 2014-06-04 | 2014-09-17 | 西安电子科技大学 | Multi-camera space target laser three-dimensional imaging device and method |
| CN104838284A (en) * | 2012-11-08 | 2015-08-12 | 蓝泰科尼克有限公司 | Recording method for at least two ToF cameras |
| CN107850664A (en) * | 2015-07-22 | 2018-03-27 | 松下知识产权经营株式会社 | Range unit |
| CN109164456A (en) * | 2018-09-21 | 2019-01-08 | 维沃移动通信有限公司 | Depth camera mould group, mobile terminal and camera module mutual interference processing method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013208804B4 (en) * | 2012-05-30 | 2016-07-21 | Pmdtechnologies Gmbh | Light transit time sensor with switchable background light suppression |
| KR20170096723A (en) * | 2016-02-17 | 2017-08-25 | 한국전자통신연구원 | Lidar system and multiple detection signal processing method thereof |
| CN108445500A (en) * | 2018-02-07 | 2018-08-24 | 余晓智 | A kind of distance calculating method and system of TOF sensor |
| CN109613517B (en) * | 2018-12-12 | 2021-01-15 | 北醒（北京）光子科技有限公司 | TOF Lidar multi-machine anti-interference working method |
| CN110095780B (en) * | 2019-05-06 | 2024-04-09 | 歌尔光学科技有限公司 | Anti-interference method and device based on TOF camera module |
-
2019
- 2019-05-06 CN CN201910373448.0A patent/CN110095780B/en active Active
- 2019-12-26 WO PCT/CN2019/128796 patent/WO2020224271A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104838284A (en) * | 2012-11-08 | 2015-08-12 | 蓝泰科尼克有限公司 | Recording method for at least two ToF cameras |
| CN104049257A (en) * | 2014-06-04 | 2014-09-17 | 西安电子科技大学 | Multi-camera space target laser three-dimensional imaging device and method |
| CN107850664A (en) * | 2015-07-22 | 2018-03-27 | 松下知识产权经营株式会社 | Range unit |
| CN109164456A (en) * | 2018-09-21 | 2019-01-08 | 维沃移动通信有限公司 | Depth camera mould group, mobile terminal and camera module mutual interference processing method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020224271A1 (en) * | 2019-05-06 | 2020-11-12 | 歌尔股份有限公司 | Anti-interference method and device for tof camera module |
| CN110703270A (en) * | 2019-10-08 | 2020-01-17 | 歌尔股份有限公司 | Depth module ranging method and device, readable storage medium and depth camera |
| CN115056818A (en) * | 2022-06-22 | 2022-09-16 | 中车青岛四方车辆研究所有限公司 | Asynchronous control method and device for 3D measurement module and three-dimensional detection system for rail vehicle |
| CN115056818B (en) * | 2022-06-22 | 2024-04-09 | 中车青岛四方车辆研究所有限公司 | Asynchronous control method and device for 3D measurement module and three-dimensional detection system for railway vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110095780B (en) | 2024-04-09 |
| WO2020224271A1 (en) | 2020-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110095780A (en) | Anti-interference method and equipment based on TOF camera mould group | |
| CN110537124A (en) | Accurate photo-detector measurement for LIDAR | |
| KR100770805B1 (en) | Method and device for recording a three-dimensional distance-measuring image | |
| US6084658A (en) | Distance measuring apparatus | |
| CN105100638A (en) | Optical area monitoring with spot matrix illumination | |
| CN113661407A (en) | Method for measuring optical crosstalk in a time-of-flight sensor and corresponding time-of-flight sensor | |
| CN108732553A (en) | A kind of laser radar waveform moment discrimination method and online range-measurement system | |
| EP1906142A2 (en) | Electro-optical distance measuring method, distance measuring program and distance measuring siystem | |
| CN110632577B (en) | Time code demodulation processing circuit and method | |
| JP2011505545A (en) | Clutter removal in an active object detection system. | |
| EP3690487A1 (en) | System and method for acquiring depth information, camera module and electronic device | |
| CN108205142A (en) | A kind of laser radar system and distance measuring method | |
| CN107003408B (en) | Distance measuring equipment and the method for determining distance | |
| CN109791109A (en) | Fluorescence lifetime sensor module and the method for determining fluorescence lifetime using sensor module | |
| CN111308449B (en) | Built-in calibration of time-of-flight depth imaging system | |
| US11313680B2 (en) | Positioning device, positioning method, and program | |
| EP3788402A1 (en) | Time of flight ranging with varying fields of emission | |
| CN108495014A (en) | A kind of camera module, mobile terminal and control method | |
| US11782155B2 (en) | Distance measurement device and distance measurement system | |
| CN111397586A (en) | Measuring system | |
| RU2349929C2 (en) | Optical and optoelectronic device detector | |
| CN112713628A (en) | Charging pile for autonomous charging machine, charging control method of charging pile and storage medium | |
| JP2760509B2 (en) | Fire alarm | |
| JP2779380B2 (en) | Distance measuring device | |
| CN109510950A (en) | Supplementary lighting sources control method, device, camera assembly, electronic equipment and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201013 Address after: 261031, north of Jade East Street, Dongming Road, Weifang hi tech Zone, Shandong province (GoerTek electronic office building, Room 502) Applicant after: GoerTek Optical Technology Co.,Ltd. Address before: 261031 Dongfang Road, Weifang high tech Industrial Development Zone, Shandong, China, No. 268 Applicant before: GOERTEK Inc. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |