CN110095780B - Anti-interference method and device based on TOF camera module - Google Patents
Anti-interference method and device based on TOF camera module Download PDFInfo
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- CN110095780B CN110095780B CN201910373448.0A CN201910373448A CN110095780B CN 110095780 B CN110095780 B CN 110095780B CN 201910373448 A CN201910373448 A CN 201910373448A CN 110095780 B CN110095780 B CN 110095780B
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- 238000005286 illumination Methods 0.000 claims description 27
- 230000003287 optical effect Effects 0.000 claims description 27
- 230000007613 environmental effect Effects 0.000 claims description 17
- 230000000737 periodic effect Effects 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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Abstract
The invention discloses an anti-interference method and device based on a TOF camera module, wherein the TOF camera module comprises a first depth camera, and the anti-interference method based on the TOF camera module comprises the following steps: opening a shutter of the first depth camera to perform pulse time sequence searching, and generating a first search result; generating a first time offset for starting the first depth camera to perform depth measurement according to the first search result; and starting to perform depth measurement according to the first time offset. The technical scheme of the invention can avoid the mutual interference of the pulse light sources of the TOF camera module and effectively ensure the normal measurement.
Description
Technical Field
The invention relates to the technical field of TOF camera ranging, in particular to an anti-interference method and device for a TOF camera module.
Background
TOF (Time of flight) cameras are three-dimensional imaging cameras, the principle of which is to continuously emit light pulses, then record and receive light reflected from the surface of an object through a sensor, calculate the round trip distance of the light pulses through Time multiplied by light speed, obtain depth information of the object, and further obtain depth point cloud images, the conventional TOF cameras are generally used in 360-degree three-dimensional imaging or face recognition technologies, a single TOF camera is difficult to form a comprehensive depth point cloud image, a plurality of TOF cameras are required to cooperate to form a more accurate comprehensive depth point cloud image, but the plurality of TOF cameras are used simultaneously in the same space scene, so that the emitted pulse light sources are mutually interfered, the error of measured data is caused, and the problem that normal measurement cannot be carried out is solved.
Disclosure of Invention
The invention mainly aims to provide an anti-interference method and device based on a TOF camera module, which aim to avoid the problem of mutual interference of pulse light sources of the TOF camera module and effectively ensure normal measurement.
In order to achieve the above object, the present invention provides an anti-interference method based on a TOF camera module, where the TOF camera module includes a first depth camera, and the anti-interference method based on a TOF camera module includes:
opening a shutter of the first depth camera to perform pulse time sequence searching, and generating a first search result;
generating a first time offset for starting the first depth camera to perform depth measurement according to the first search result;
and controlling the first depth camera to start depth measurement according to the first time offset.
Optionally, the TOF camera module further includes a second depth camera and a third depth camera, and the step of controlling the first depth camera to start depth measurement according to the first time offset includes:
opening a shutter of the second depth camera to perform pulse time sequence searching, and generating a second searching result;
generating a second time offset for starting the second depth camera to perform depth measurement according to the second search result;
Controlling the second depth camera to start depth measurement according to the second time offset;
opening a shutter of the third depth camera to perform pulse time sequence searching, and generating a third searching result;
generating a third time offset for starting the third depth camera to perform depth measurement according to the third search result;
and controlling the third depth camera to start depth measurement according to the third time offset.
Optionally, the first depth camera includes a first shutter, a second shutter, and a third shutter, and the step of controlling the first depth camera to start depth measurement according to the first time offset includes:
controlling the first depth camera to emit pulse laser and simultaneously opening the first shutter;
after the pulse laser is emitted, simultaneously closing the first shutter and opening the second shutter, and receiving the reflected pulse laser;
closing the second shutter and opening the third shutter, and collecting the environmental illumination data information;
the third shutter is closed.
Optionally, the first depth camera further includes an optical shutter, and the step of opening the shutter of the first depth camera for pulse timing search includes:
Controlling the first depth camera to open the optical shutter;
an external illumination data signal is acquired.
Optionally, the step of generating a first time offset for starting the first depth camera to perform depth measurement according to the first search result includes:
analyzing the first search result;
determining whether the first search result has the same data signal as the pulse laser emitted by the first depth camera;
and generating a first time offset for the first depth camera to perform depth measurement according to the determined result.
In addition, in order to achieve the above object, the present invention further provides an anti-interference device based on a TOF camera module, where the TOF camera module includes a first depth camera, and the anti-interference device based on the TOF camera module includes:
the power-on module is used for starting a shutter of the first depth camera to search pulse time sequences;
the generation module is used for generating a first search result and generating a first time offset for starting the first depth camera to perform depth measurement according to the first search result;
and the operation module is used for controlling the first depth camera to start depth measurement according to the first time offset.
Optionally, the TOF camera module further includes a second depth camera and a third depth camera, and the power-on module is further configured to open a shutter of the second depth camera to perform pulse timing search, and open a shutter of the third depth camera to perform pulse timing search;
the generating module is further configured to generate a second search result, generate a second time offset for starting the second depth camera to perform depth measurement according to the second search result, generate a third search result, and generate a third time offset for starting the third depth camera to perform depth measurement according to the third search result;
the operation module is further configured to control the second depth camera to start depth measurement according to the second time offset, and control the third depth camera to start depth measurement according to the third time offset.
Optionally, the first depth camera includes a first shutter, a second shutter, and a third shutter, and the operation module includes a control unit for controlling the first depth camera to emit pulsed laser light while opening the first shutter; after the pulse laser is emitted, simultaneously controlling to close the first shutter and open the second shutter, and receiving the reflected pulse laser; closing the second shutter and opening the third shutter, and collecting the environmental illumination data information; the third shutter is closed.
Optionally, the first depth camera further comprises an optical shutter, and the control unit is further configured to control the first depth camera to open the optical shutter;
the anti-interference device based on the TOF camera module further comprises: the light sensing module is used for acquiring an ambient light data signal, an external illumination data signal or a pulse laser data signal.
Optionally, the generating module includes an analyzing unit, where the analyzing unit is configured to analyze the first search result and determine whether the first search result has the same data signal as the pulse laser emitted by the first depth camera.
According to the technical scheme, the pulse time sequence of the first depth camera is used for searching, the optical signal characteristics in the space environment are detected, a first search result is generated, and a first time offset is generated according to whether an interference signal affecting the measurement accuracy of the first depth camera exists in the first search result, namely, the offset of the initial time of the depth measurement of the first depth camera is used for avoiding the interference of the interference signal in the space environment, so that the normal measurement is effectively ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a first embodiment of an anti-interference method for a TOF camera module according to the present invention;
FIG. 2 is a schematic time diagram of pulse timing search and depth measurement performed by a first depth camera in the anti-interference method of the TOF camera module of the present invention shown in FIG. 1;
FIG. 3 is a flowchart of a second embodiment of an anti-interference method for a TOF camera module according to the present invention;
FIG. 4 is a schematic time chart of depth measurement performed by a plurality of depth cameras of the anti-interference method of the TOF camera module of the present invention shown in FIG. 3;
FIG. 5 is a flowchart of a third embodiment of an anti-interference method for a TOF camera module according to the present invention;
FIG. 6 is a flowchart of a fourth embodiment of an anti-interference method for a TOF camera module according to the present invention;
FIG. 7 is a flowchart of a fifth embodiment of an anti-interference method for a TOF camera module according to the present invention;
fig. 8 is a schematic diagram of a connection structure of the anti-interference device of the TOF camera module of the present invention.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the name |
| 110 | Power-on module | 130 | Operation module |
| 120 | Generating module | 131 | Control unit |
| 121 | Analysis unit | 140 | Photosensitive module |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, in a first embodiment of the present invention, an anti-interference method based on a TOF camera module, where the TOF camera module includes a first depth camera, the anti-interference method based on the TOF camera module includes:
step S10, a shutter of the first depth camera is started to conduct pulse time sequence searching to generate a first searching result, specifically, the first depth camera is powered on, the first depth camera enters a pulse time sequence searching state, the pulse time sequence searching is to detect pulse signals through technical means such as pulse screening, pulse positioning and pulse matching on the pulse signals in a space environment so as to capture target pulse signals, the first depth camera emits pulse laser, the first depth camera further comprises a first photosensitive element, and the first photosensitive element receives the pulse laser.
Step S20, generating a first time offset for starting the first depth camera to perform depth measurement according to the first search result, detecting whether the light signal features in the space environment have the same pulse signals as the pulse laser emitted by the first depth camera or not according to the first search result, recording the environmental light signal features if the light signal features are not the same, taking the environmental light signal features as the environmental background, when the pulse laser is emitted by the first depth camera, facilitating the comparison of the pulse laser from the environmental background, and delaying the starting of the first depth camera to perform depth measurement if the light signal features are the same, namely, starting the first depth camera to perform depth measurement from the end of pulse time sequence search, wherein the time interval is the first time offset, and the first time offset is a variable time value automatically generated, so that interference of other pulse laser signals in the external environment can be effectively avoided through the first time offset.
Step S30, controlling the first depth camera to start depth measurement according to the first time offset, and after generating the first time offset, determining and obtaining the time starting point of the first depth camera for starting depth measurement, so that the first depth camera can effectively avoid interference of other pulse laser signals in the external environment through the first time offset, and accuracy of a measurement result is ensured.
According to the technical scheme, through pulse time sequence search of the first depth camera, the optical signal characteristics in the space environment are detected, a first search result is generated, and a first time offset is generated according to whether an interference signal affecting the measurement accuracy of the first depth camera exists in the generated first search result, namely, the offset of the starting time of the depth measurement of the first depth camera is utilized, so that the interference of the interference signal in the space environment is avoided, and the normal measurement is effectively ensured.
Further, referring to fig. 3 and 4, a second embodiment of the present invention is proposed based on the first implementation, the TOF camera module further includes a second depth camera and a third depth camera, and step S30 includes:
step S40, a shutter of the second depth camera is started to conduct pulse time sequence searching to generate a second searching result, specifically, the second depth camera is powered on, the second depth camera enters a pulse time sequence searching state, the pulse time sequence searching is to detect pulse signals through technical means such as pulse screening, pulse positioning and pulse matching on the pulse signals in a space environment so as to capture target pulse signals, the second depth camera emits pulse laser which is the same as the first depth camera, and the second depth camera further comprises a second photosensitive element, and the second photosensitive element receives the pulse laser.
And S50, generating a second time offset for starting the second depth camera to perform depth measurement according to the second search result, detecting whether the light signal features in the space environment have pulse signals identical to those of the pulse laser emitted by the first depth camera or not according to the second search result, recording the characteristics of the environment light signals if the light signal features are not identical to those of the pulse laser, taking the characteristics of the environment light signals as an environment background, distinguishing the pulse laser from the environment background when the pulse laser is emitted by the second depth camera, and delaying starting the second depth camera to perform depth measurement if the pulse laser is identical to the pulse laser, wherein a time interval from the completion of pulse time sequence search to the starting of the second depth camera is a time interval which is the second time offset, and the second time offset is a variable time value automatically generated, so that the working time of the depth measurement of the first depth camera can be effectively avoided through the second time offset, and the interference of the pulse laser signal of the first depth camera is avoided.
Step S60, controlling the second depth camera to start depth measurement according to the second time offset, and after generating the second time offset, determining and obtaining the time starting point of the second depth camera for starting depth measurement, so that the second depth camera can effectively avoid interference of pulse laser signals of the first depth camera through the second time offset, and accuracy of measurement results is ensured.
Step S70, a shutter of the third depth camera is started to perform pulse time sequence searching, a third searching result is generated, specifically, the third depth camera is powered on, the third depth camera enters a pulse time sequence searching state, the pulse time sequence searching is to detect pulse signals by technical means of pulse screening, pulse positioning, pulse matching and the like on the pulse signals in a space environment so as to capture target pulse signals, the third depth camera emits pulse laser which is the same as that of the first depth camera and the second depth camera, the third depth camera further comprises a third photosensitive element, the third photosensitive element receives the pulse laser, and the first photosensitive element, the second photosensitive element and the third photosensitive element are all light sensors.
And S80, generating a third time offset for starting the third depth camera to perform depth measurement according to the third search result, detecting whether the light signal features in the space environment have pulse signals identical to those of the pulse laser emitted by the first depth camera and the second depth camera or not according to the third search result, recording the environment light signal features if the light signal features are not identical, taking the environment light signal features as environment backgrounds, distinguishing and comparing the pulse laser from the environment backgrounds when the third depth camera emits the pulse laser, and delaying starting the third depth camera to perform depth measurement if the light signal features are identical, namely, starting the third depth camera to perform depth measurement from the pulse time sequence search, wherein the time interval is the third time offset, and the third time offset is a variable time value automatically generated, so that the working time of the first depth camera and the second depth camera for performing depth measurement can be effectively avoided, and interference of the pulse laser signals of the first depth camera and the second depth camera can be avoided.
Step S90, according to the third time offset, the third depth camera is controlled to start depth measurement, and after the third time offset is generated, a time starting point of the third depth camera for starting depth measurement can be determined and obtained, so that the third depth camera can effectively avoid interference of pulse laser signals of the first depth camera and the second depth camera through the third time offset, and accuracy of measurement results is ensured.
The protection scheme of the invention is not limited to three depth cameras, pulse laser emission has a certain periodic time interval, and based on the first embodiment and the second embodiment of the invention, the time for carrying out depth measurement is just the periodic time interval, for example, the time interval for each time the depth camera carries out work, namely, the time interval for emitting pulse laser is 10000ns, the unit nanosecond, and the time for carrying out depth measurement is 100ns, thus the time interval for fully utilizing the emitted pulse laser can effectively avoid the mutual interference of the depth cameras, and simultaneously, the invention adopts the automatic generation time offset to determine the working time of the next depth camera, thus the invention can automatically generate the starting point of the time for carrying out depth measurement and avoid the working time of the depth camera.
Referring to fig. 5, the first depth camera includes a first shutter, a second shutter, and a third shutter, and step S30 includes:
in step S301, the first depth camera is controlled to emit pulse laser light, and the first shutter is opened at the same time, specifically, the opening time of the first shutter, the second shutter and the third shutter are generally in the range of a few nanoseconds, the first depth camera has a first emitting unit for emitting pulse laser light and a first photosensitive element for receiving pulse laser light, and the first emitting unit emits pulse laser light and simultaneously opens the first shutter, so that the first photosensitive element can timely receive all reflected pulse laser light.
Step S302, the first shutter is closed and the second shutter is opened at the same time, the reflected pulse laser is received, the second shutter is opened, the reflected pulse laser is continuously received, and after the reflected pulse laser is received, the second shutter is closed at a certain interval, therefore, the time period from the opening of the first shutter to the closing of the second shutter for receiving the reflected pulse laser can be conveniently and rapidly distinguished from the time starting point for receiving the reflected pulse laser.
Step S303, the second shutter is closed, the third shutter is opened, the environmental illumination data information is collected, and the environmental illumination data information is collected by opening the third shutter, so that the light signal characteristics of the space environment are further determined, and the light signal characteristics of the pulse laser are effectively distinguished from the light signal characteristics of the space environment.
Step S304, the third shutter is closed, and the depth measurement work is completed by the first depth camera.
Likewise, the second depth camera and the third depth camera have the same structural components as the first depth camera, wherein the second depth camera has a second emitting unit emitting pulsed laser light and a second photosensitive element receiving the pulsed laser light, the second depth camera further includes a fourth shutter, a fifth shutter, and a sixth shutter, and the step of the second depth camera starting to perform depth measurement includes: controlling the second depth camera to emit pulse laser and simultaneously opening a fourth shutter; after the pulse laser is emitted, simultaneously closing a fourth shutter and opening a fifth shutter, wherein the second photosensitive element receives the reflected pulse laser; closing the fifth shutter and opening the sixth shutter to collect the ambient light data signal; the sixth shutter is closed. The third depth camera has a third emitting unit emitting pulsed laser light and a third photosensitive element receiving the pulsed laser light, the third depth camera further includes a seventh shutter, an eighth shutter, and a ninth shutter, and the step of the third depth camera starting to perform depth measurement includes: controlling the third depth camera to emit pulse laser and simultaneously opening a seventh shutter; after the pulse laser is emitted, simultaneously closing a seventh shutter and opening an eighth shutter, and receiving the reflected pulse laser by a third photosensitive element; closing the eighth shutter and opening the ninth shutter to collect the ambient light data signal; the ninth shutter is closed.
Referring to fig. 6, the first depth camera further includes an optical shutter, and step S10 includes:
step S101, controlling the first depth camera to open the optical shutter, specifically, the first depth camera is powered on, the optical shutter is opened, and the opening time of the optical shutter is generally about 1 second and is longer than the opening time of the first shutter, the second shutter or the third shutter at nanosecond level, so that external illumination data can be conveniently and comprehensively acquired in time.
In step S102, an external illumination data signal is obtained, specifically, the first depth camera includes a first photosensitive element that receives a pulsed laser, where the first photosensitive element receives the external illumination data signal, and the external illumination data signal includes values such as an illumination wavelength and an illumination intensity.
As can be seen from the above, the second depth camera and the third depth camera both have optical shutters, and when the second depth camera performs pulse timing search, the optical shutters of the second depth camera are opened, and the second photosensitive element acquires an external illumination data signal; when the third depth camera performs pulse time sequence searching, an optical shutter of the third depth camera is opened, and the third photosensitive element acquires an external illumination data signal.
Further, referring to fig. 7, step S20 includes:
In step S201, the first search result is analyzed, specifically, the external illumination data signal is matched with the pulse laser information of the first depth camera, so as to determine whether there is an interference signal in the external illumination data signal.
Step S202, determining whether the first search result has the same data signal as the pulse laser emitted by the first depth camera, if not, generating a first time offset, that is, determining the starting time of the first depth camera to start the depth measurement, if so, generating another first time offset, so that the same data signal is dissipated in the space environment, and then starting the first depth camera to perform the depth measurement, thereby avoiding the interference of the same data signal and ensuring the normal measurement.
Step S203, a first time offset for the first depth camera to perform depth measurement is generated according to the determined result, and after the first time offset is generated, a time starting point for the first depth camera to start performing depth measurement can be determined and obtained, so that the first depth camera can effectively avoid interference of the same data signal in the external environment through the first time offset, and accuracy of the measurement result is ensured.
Referring to fig. 8, the invention further provides an anti-interference device based on a TOF camera module, where the TOF camera module includes a first depth camera, and the anti-interference device based on the TOF camera module includes:
the power-on module 110 is used for starting a shutter of the first depth camera to perform pulse time sequence search, the power-on module 110 powers on the first depth camera, the first depth camera enters a pulse time sequence search state, the pulse time sequence search is to detect pulse signals by technical means of pulse screening, pulse positioning, pulse matching and the like on the pulse signals in a space environment so as to capture target pulse signals, the first depth camera emits pulse laser, the first depth camera further comprises a first photosensitive element, and the first photosensitive element receives the pulse laser.
The generating module 120 is configured to generate a first search result, generate a first time offset for starting the first depth camera to perform depth measurement according to the first search result, detect, according to the first search result, whether there is a pulse signal identical to a pulse laser emitted by the first depth camera in a spatial environment, record the characteristics of the environmental light signals if there is no pulse signal identical to the pulse laser, and use the characteristics of the environmental light signals as an environmental background, when the first depth camera emits the pulse laser, it is beneficial to distinguish the pulse laser from the environmental background, and delay starting the first depth camera to perform depth measurement if there is an identical pulse signal, that is, there is a time interval from the time when the pulse timing search is completed to the time when the first depth camera is started to perform depth measurement, where the time interval is the first time offset, and the first time offset is an automatically generated variable time value, and by using the first time offset to effectively avoid interference of other pulse laser signals in an external environment.
The operation module 130 is configured to control the first depth camera to start depth measurement according to the first time offset, and after the first time offset is generated, a time starting point of the first depth camera for starting depth measurement can be determined and obtained, so that the first depth camera can effectively avoid interference of other pulse laser signals in an external environment through the first time offset, and accuracy of a measurement result is ensured.
After the first depth camera is electrified through the electrifying module 110, the first depth camera enters a pulse time sequence searching state, a first searching result is generated, the optical signal characteristics in the space environment are detected, the generating module 120 generates a first time offset according to whether an interference signal affecting the measurement accuracy of the first depth camera exists in the first searching result, namely, the offset of the initial time of the depth measurement of the first depth camera is used for avoiding the interference of the interference signal in the space environment, and the operating module 130 further controls the first depth camera, so that the normal measurement is effectively ensured.
Further, the TOF camera module further includes a second depth camera and a third depth camera, the power-on module 110 is further configured to open a shutter of the second depth camera to perform pulse timing search, and open a shutter of the third depth camera to perform pulse timing search, and the power-on module 110 powers on the second depth camera and the third depth camera respectively, where the second depth camera and the third depth camera enter a pulse timing search state respectively.
The generating module 120 is further configured to generate a second search result, generate a second time offset for starting the second depth camera to perform depth measurement according to the second search result, generate a third search result, and generate a third time offset for starting the third depth camera to perform depth measurement according to the third search result;
the operation module 130 is further configured to control the second depth camera to start depth measurement according to the second time offset, and control the third depth camera to start depth measurement according to the third time offset.
It can be understood that the TOF camera module not only includes a first depth camera, a second depth camera and a third depth camera, the pulse laser is emitted at a certain periodic time interval, the time for performing depth measurement just uses the periodic time interval, for example, the time interval of each time the depth camera performs work, that is, the time interval of emitting the pulse laser is 10000ns, the unit nanosecond, and the time for performing depth measurement is 100ns, so that it can be known that on the basis of fully using the time interval of emitting the pulse laser, 100 depth cameras can be accommodated for measurement, and mutual interference of the depth cameras is effectively avoided.
Further, the first depth camera further includes a first shutter, a second shutter, and a third shutter, the operation module 130 includes a control unit 131, where the control unit 131 is configured to control the first depth camera to emit pulsed laser light and open the first shutter, the first depth camera includes a first emission unit (not shown) that emits pulsed laser light and a first photosensitive element (not shown) that receives the pulsed laser light, and the first emission unit emits the pulsed laser light and open the first shutter at the same time, so as to ensure that the first photosensitive element can timely receive all the reflected pulsed laser light; after the reflected pulse laser is received, a certain time interval is reserved between the first shutter and the second shutter, and the second shutter is closed, so that the time period from the opening of the first shutter to the closing of the second shutter is convenient to quickly distinguish the time starting point of the reflected pulse laser; the second shutter is controlled to be closed and the third shutter is controlled to be opened, ambient light data information is collected, and the light signal characteristics of the space environment are further determined conveniently by opening the third shutter and collecting the ambient light data information, so that the light signal characteristics of the pulse laser are effectively distinguished from the light signal characteristics of the space environment; and controlling to close the third shutter, so that the first depth camera finishes the depth measurement work.
Further, the first depth camera further comprises an optical shutter, and the control unit 131 is further configured to control the first depth camera to open the optical shutter.
Anti-interference equipment based on TOF camera module still includes: the photosensitive module 140, the photosensitive module 140 is used for obtaining the data information of the ambient light, the external light data signal and the data signal of the pulse laser, and the photosensitive module 140 is a sensor for receiving the light signal. Further, the generating module 120 includes an analyzing unit 121, where the analyzing unit 121 is configured to analyze the first search result, determine whether the first search result has the same data signal as the pulse laser emitted by the first depth camera, and match the external illumination data signal with the pulse laser information of the first depth camera, so as to determine whether there is an interference signal in the external illumination data signal.
The invention also provides an anti-interference device based on the TOF camera module, which comprises: the anti-interference device comprises a memory, a processor and an anti-interference program which is stored on the memory and can run on the processor and is based on a TOF camera module; the anti-interference device based on the TOF camera module invokes an anti-interference program based on the TOF camera module stored in a memory through a processor, and performs the following operations:
Opening a shutter of the first depth camera to perform pulse time sequence searching, and generating a first search result;
generating a first time offset for starting the first depth camera to perform depth measurement according to the first search result;
and controlling the first depth camera to start depth measurement according to the first time offset.
Further, the TOF camera module further includes a second depth camera and a third depth camera, and the processor invokes an anti-interference program stored in the memory and based on the TOF camera module, and further performs the following operations:
opening a shutter of the second depth camera to perform pulse time sequence searching, and generating a second searching result;
generating a second time offset for starting the second depth camera to perform depth measurement according to the second search result;
controlling the second depth camera to start depth measurement according to the second time offset;
opening a shutter of the third depth camera to perform pulse time sequence searching, and generating a third searching result;
generating a third time offset for starting the third depth camera to perform depth measurement according to the third search result;
and controlling the third depth camera to start depth measurement according to the third time offset.
Further, the first depth camera includes a first shutter, a second shutter, and a third shutter, and the processor invokes an anti-interference program stored in the memory and based on the TOF camera module, and further performs the following operations:
controlling the first depth camera to emit pulse laser and simultaneously opening the first shutter;
after the pulse laser is emitted, simultaneously closing the first shutter and opening the second shutter, and receiving the reflected pulse laser;
closing the second shutter and opening the third shutter, and collecting the environmental illumination data information;
the third shutter is closed.
Further, the first depth camera further includes an optical shutter, and the processor invokes an anti-interference program stored in the memory and based on the TOF camera module, and further performs the following operations:
controlling the first depth camera to open the optical shutter;
an external illumination data signal is acquired.
Further, the processor invokes an anti-interference program stored in the memory and based on the TOF camera module, and further performs the following operations:
analyzing the first search result;
determining whether the first search result has the same data signal as the pulse laser emitted by the first depth camera;
And generating a first time offset for the first depth camera to perform depth measurement according to the determined result.
According to the technical scheme, the first search result is generated through pulse time sequence search of the first depth camera, the optical signal characteristics in the space environment are detected, and the first time offset is generated according to whether the first search result has an interference signal affecting the measurement accuracy of the first depth camera or not, namely, the offset of the starting time of the depth measurement of the first depth camera is used for avoiding the interference of the interference signal in the space environment, so that the normal measurement is effectively ensured.
In addition, the invention also provides a computer readable storage medium, on which an anti-interference program based on a TOF camera module is stored, the anti-interference program based on the TOF camera module being executable by one or more processors for:
opening a shutter of the first depth camera to perform pulse time sequence searching, and generating a first search result;
generating a first time offset for starting the first depth camera to perform depth measurement according to the first search result;
and controlling the first depth camera to start depth measurement according to the first time offset.
Further, the TOF camera module further includes a second depth camera and a third depth camera, and when the TOF camera module anti-interference program is executed by the processor, the following operations are further implemented:
opening a shutter of the second depth camera to perform pulse time sequence searching, and generating a second searching result;
generating a second time offset for starting the second depth camera to perform depth measurement according to the second search result;
controlling the second depth camera to start depth measurement according to the second time offset;
opening a shutter of the third depth camera to perform pulse time sequence searching, and generating a third searching result;
generating a third time offset for starting the third depth camera to perform depth measurement according to the third search result;
and controlling the third depth camera to start depth measurement according to the third time offset.
Further, the first depth camera includes a first shutter, a second shutter, and a third shutter, and when the anti-interference program based on the TOF camera module is executed by the processor, the following operations are further implemented:
controlling the first depth camera to emit pulse laser and simultaneously opening the first shutter;
After the pulse laser is emitted, simultaneously closing the first shutter and opening the second shutter, and receiving the reflected pulse laser;
closing the second shutter and opening the third shutter, and collecting the environmental illumination data information;
the third shutter is closed.
Further, the first depth camera further includes an optical shutter, and the anti-interference program based on the TOF camera module further performs the following operations when executed by the processor:
controlling the first depth camera to open the optical shutter;
an external illumination data signal is acquired.
Further, the anti-interference program based on the TOF camera module further realizes the following operations when being executed by the processor:
analyzing the first search result;
determining whether the first search result has the same data signal as the pulse laser emitted by the first depth camera;
and generating a first time offset for the first depth camera to perform depth measurement according to the determined result.
According to the technical scheme, the first search result is generated through pulse time sequence search of the first depth camera, the optical signal characteristics in the space environment are detected, and the first time offset is generated according to whether the first search result has an interference signal affecting the measurement accuracy of the first depth camera or not, namely, the offset of the starting time of the depth measurement of the first depth camera is used for avoiding the interference of the interference signal in the space environment, so that the normal measurement is effectively ensured.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. An anti-interference method based on a TOF camera module is characterized in that the TOF camera module comprises a first depth camera, wherein the first depth camera comprises a unit for emitting pulse laser, a first photosensitive element and a shutter; the anti-interference method based on the TOF camera module comprises the following steps:
opening a shutter of the first depth camera to perform pulse time sequence searching, and generating a first search result;
generating a first time offset for starting the first depth camera to perform depth measurement according to the first search result and the time interval of the first depth camera for emitting pulse laser;
controlling the first depth camera to start depth measurement according to the first time offset;
the TOF camera module further includes a second depth camera, and the step of controlling the first depth camera to start depth measurement according to the first time offset includes:
Opening a shutter of the second depth camera to perform pulse time sequence searching, and generating a second searching result;
generating a second time offset for starting the second depth camera to perform depth measurement according to the second search result;
and controlling the second depth camera to start depth measurement according to the second time offset.
2. The method of claim 1, wherein the TOF camera module further comprises a second depth camera and a third depth camera, and the step of controlling the first depth camera to start depth measurement according to the first time offset comprises:
opening a shutter of the second depth camera to perform pulse time sequence searching, and generating a second searching result;
generating a second time offset for starting the second depth camera to perform depth measurement according to the second search result;
controlling the second depth camera to start depth measurement according to the second time offset;
opening a shutter of the third depth camera to perform pulse time sequence searching, and generating a third searching result;
generating a third time offset for starting the third depth camera to perform depth measurement according to the third search result;
And controlling the third depth camera to start depth measurement according to the third time offset.
3. The method of claim 1, wherein the first depth camera includes a first shutter, a second shutter, and a third shutter, and wherein the step of controlling the first depth camera to begin depth measurement according to the first time offset includes:
controlling the first depth camera to emit pulse laser and simultaneously opening the first shutter;
after the pulse laser is emitted, simultaneously closing the first shutter and opening the second shutter, and receiving the reflected pulse laser;
closing the second shutter and opening the third shutter, and collecting the environmental illumination data information;
the third shutter is closed.
4. The method of claim 3, wherein the first depth camera further comprises an optical shutter, and wherein the step of opening the shutter of the first depth camera for pulse timing search comprises:
controlling the first depth camera to open the optical shutter;
an external illumination data signal is acquired.
5. The method of claim 4, wherein generating a first time offset for turning on the first depth camera for depth measurement based on the first search result comprises:
Analyzing the first search result;
determining whether the first search result has the same data signal as the pulse laser emitted by the first depth camera;
and generating a first time offset for the first depth camera to perform depth measurement according to the determined result.
6. An anti-interference device based on a TOF camera module is characterized in that the TOF camera module comprises a first depth camera, wherein the first depth camera comprises a unit for emitting pulse laser, a first photosensitive element and a shutter; the anti-interference device based on TOF camera module includes:
the power-on module is used for starting a shutter of the first depth camera to search pulse time sequences;
the generating module is used for generating a first search result and generating a first time offset for starting the first depth camera to perform depth measurement according to the first search result and the time interval of the first depth camera for emitting pulse laser;
the operation module is used for controlling the first depth camera to start depth measurement according to the first time offset;
the TOF camera module further comprises a second depth camera, the power-on module is further used for starting a shutter of the second depth camera to perform pulse time sequence search and starting a shutter of the third depth camera to perform pulse time sequence search after controlling the first depth camera to start performing the depth measurement step according to the first time offset; the second search result is generated by starting a shutter of the second depth camera to perform pulse time sequence search;
The generating module is further configured to generate a second search result, and generate a second time offset for starting the second depth camera to perform depth measurement according to the second search result;
and the operation module is further used for controlling the second depth camera to start depth measurement according to the second time offset.
7. The anti-interference device of claim 6, wherein the TOF camera module further comprises a third depth camera, the power-on module further configured to open a shutter of the third depth camera for pulse timing search;
the generating module is further configured to generate a third search result, and generate a third time offset for starting the third depth camera to perform depth measurement according to the third search result;
and the operation module is further used for controlling the third depth camera to start depth measurement according to the third time offset.
8. The anti-jamming device based on a TOF camera module according to claim 6, wherein said first depth camera includes a first shutter, a second shutter, and a third shutter, said run module including a control unit for controlling said first depth camera to emit pulsed laser light while opening said first shutter; after the pulse laser is emitted, simultaneously controlling to close the first shutter and open the second shutter, and receiving the reflected pulse laser; closing the second shutter and opening the third shutter, and collecting the environmental illumination data information; the third shutter is closed.
9. The TOF camera module-based interference-free device of claim 8, wherein the first depth camera further comprises an optical shutter, the control unit further configured to control the first depth camera to open the optical shutter;
the anti-interference device based on the TOF camera module further comprises: the light sensing module is used for acquiring environmental illumination data information, external illumination data signals and data signals of pulse laser.
10. The anti-jamming device based on a TOF camera module according to claim 9, wherein the generating module includes an analyzing unit for analyzing the first search results to determine whether the first search results have the same data signals as the pulsed laser light emitted by the first depth camera.
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| 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 |
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| CN110703270B (en) * | 2019-10-08 | 2022-02-22 | 歌尔光学科技有限公司 | Depth module ranging method and device, readable storage medium and depth camera |
| 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 |
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