CN111751833A - Method and device for obtaining polishing and reflected light data - Google Patents

Method and device for obtaining polishing and reflected light data Download PDF

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Publication number
CN111751833A
CN111751833A CN202010592495.7A CN202010592495A CN111751833A CN 111751833 A CN111751833 A CN 111751833A CN 202010592495 A CN202010592495 A CN 202010592495A CN 111751833 A CN111751833 A CN 111751833A
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China
Prior art keywords
light source
light
source group
sub
reflected
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CN202010592495.7A
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Chinese (zh)
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李晨静
陈华
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Shenzhen Goodix Technology Co Ltd
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Shenzhen Goodix Technology Co Ltd
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Priority to CN202010592495.7A priority Critical patent/CN111751833A/en
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • 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

Abstract

The embodiment of the application provides a method and a device for acquiring polishing and reflected light data and electronic equipment. The method comprises the following steps: driving a first sub light source group and a second sub light source group of a light source group to polish a target object, wherein in the same polishing, the light intensity of the first sub light source group is different from that of the second sub light source group; acquiring reflected light data generated by polishing the target object by the first sub light source group and the second sub light source group in the same polishing; and screening the reflected light data according to a preset reflected light dynamic range to obtain reflected light data meeting the preset reflected light dynamic range. According to the method, reflected light data corresponding to two light intensities can be acquired by one-time light striking-reflected light data acquisition, so that the data acquisition efficiency is greatly improved, and the data acquisition power consumption is reduced.

Description

Method and device for obtaining polishing and reflected light data
Technical Field
The present disclosure relates to sensor technologies, and in particular, to a method and an apparatus for obtaining data of light emission and reflected light.
Background
In the field of optical data application processing, it is a common optical data application processing method to obtain required scene information by lighting a target object to obtain corresponding reflected light and further performing data processing on the reflected light. For example, in an application scheme of ranging using Time-of-Flight (ToF), a target object is illuminated (e.g., near infrared light is emitted) to obtain corresponding reflected light data, the obtained reflected light data is processed to obtain Time-of-Flight information of the light, and the distance or depth of an object in a scene is measured using the Time-of-Flight information of the light.
When processing reflected light data, a specific reflected light dynamic range is usually defined, and only reflected light data within the reflected light dynamic range can be smoothly processed and a desired processing result can be obtained. Therefore, to ensure that the reflected light data is within the reflected light dynamic range, different illumination intensities may be used for different application scenarios. For example, in an application scheme of ranging using indirect Time-of-Flight (iToF), the light source is driven to illuminate with different driving powers for target objects in different distance ranges, a lower light source driving power is used for a target object closer to the target object, and a higher light source driving power is used for a target object farther away from the target object.
However, in an actual application scenario, the specific application state of the application scenario cannot be confirmed before polishing, and thus, what degree of the polishing light intensity should be adopted cannot be preferred, which may cause the situation that the polishing light intensity is too strong or too weak, so that the finally obtained reflected light data exceeds the reflected light dynamic range, and finally the expected reflected light data processing result cannot be obtained.
Disclosure of Invention
The application provides a method and a device for polishing and acquiring reflected light data, aiming at the problem that reflected light data in a reflected light dynamic range cannot be acquired in the prior art.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a method for obtaining data of polished and reflected light, including:
driving a light source group to illuminate a target object, wherein the light source group comprises a first sub light source group and a second sub light source group, the first sub light source group comprises a plurality of light sources, the second sub light source group comprises another plurality of light sources, in the same illumination, the light intensities of the plurality of light sources of the first sub light source group are different from the light intensities of the other plurality of light sources of the second sub light source group, the illumination positions of the plurality of light sources of the first sub light source group and the other plurality of light sources of the second sub light source group for illuminating the target object are not coincident with each other, and the light beams of the light source group for illuminating the target object are reflected by the target object and then irradiate on the same light sensor to generate reflected light data;
acquiring the reflected light data generated by the first sub light source group and the second sub light source group for polishing the target object in the same polishing;
and screening the reflected light data according to a preset reflected light dynamic range to obtain reflected light data meeting the preset reflected light dynamic range.
In one possible implementation manner of the first aspect, the first sub light source group and the second sub light source group are driven based on different driving powers, respectively.
In a feasible implementation manner of the first aspect, the driving light source set illuminates a target object, wherein:
in a lighting range in which the first sub light source group lights the target object, lighting positions of the plurality of light sources of the first sub light source group are uniformly distributed;
and the number of the first and second groups,
in a lighting range where the second sub light source group lights the target object, lighting positions of the other light sources of the second sub light source group are uniformly distributed.
In a feasible implementation manner of the first aspect, a lighting range in which the first sub light source group lights the target object and a lighting range in which the second sub light source group lights the target object are in the same lighting range.
In a feasible implementation manner of the first aspect, the light source group is a light source lattice, where:
the first sub light source group is point light sources in odd rows of the light source dot matrix, and the second sub light source group is point light sources in even rows of the light source dot matrix;
alternatively, the first and second electrodes may be,
the first sub light source group is a point light source of an odd number row of the light source dot matrix, and the second sub light source group is a point light source of an even number row of the light source dot matrix.
In a feasible implementation manner of the first aspect, the light source group further includes one or more other sub light source groups other than the first sub light source group and the second sub light source group, and in the same lighting, light intensities of light sources of different sub light source groups in the light source group are different from each other, and lighting positions of all light sources in the light source group for lighting the target object are not overlapped with each other.
In one possible implementation of the first aspect described above:
the number of the sub light source groups in the light source group is a preset number of the sub light source groups, and the light intensity of light emitted by each sub light source group in the light source group is uniformly distributed in a preset light intensity effective interval;
alternatively, the first and second electrodes may be,
the number of the sub light source groups in the light source group is the number of dividing nodes obtained by dividing the preset light intensity effective interval based on a preset step length, and the light intensity of light striking by each sub light source group in the light source group is uniformly distributed in the preset light intensity effective interval;
alternatively, the first and second electrodes may be,
the number of the light source groups in the light source group corresponds to the number of the gears in the preset light-striking gear setting, and the light intensity of the light source groups in the light source group for striking light is the light intensity of the corresponding light-striking gear in the preset light-striking gear setting.
In a feasible implementation manner of the first aspect, the number of the sub light source groups in the light source group and the light intensity of the light emitted by each sub light source group are matched with an application scene requirement for processing the reflected light data.
In a feasible implementation manner of the first aspect, an application scenario for processing the reflected light data is indirect light time-of-flight ranging, where:
the number of the sub light source groups in the light source group corresponds to the grading number of an effective ranging range grading strategy of indirect light flight time ranging, and each sub light source group in the light source group corresponds to an effective ranging range;
the light intensity of the light source group in the light source group is the light intensity corresponding to the effective distance measuring range corresponding to the sub light source group.
In a possible implementation manner of the first aspect, an application scenario for processing the reflected light data is indirect light time-of-flight ranging;
the obtaining reflected light data generated by lighting the target object by the first sub light source group and the second sub light source group in the same lighting comprises: acquiring light spot data of light spots generated by the first sub light source group and the second sub light source group for polishing the target object in the same polishing;
the screening the reflected light data according to a preset reflected light dynamic range to obtain reflected light data meeting the preset reflected light dynamic range includes: and screening out light spot data corresponding to the light spots meeting a preset gray value interval from the light spot data.
In a possible implementation manner of the first aspect, the method further includes:
and calculating the phase offset of the optical signal in the process that the light source is polished and then reflected by the target object until the light spot data is collected according to the light spot data corresponding to the screened light spots meeting the preset gray value interval, and performing depth calculation according to the phase offset of the optical signal.
In a second aspect, an embodiment of the present application provides a lighting control and reflected light data acquisition apparatus, including:
the light source control module is used for driving a light source group to illuminate a target object, wherein the light source group comprises a first sub light source group and a second sub light source group, the first sub light source group comprises a plurality of light sources, the second sub light source group comprises a plurality of other light sources, in the same illumination, the light intensities of the plurality of light sources of the first sub light source group are different from the light intensities of the plurality of other light sources of the second sub light source group, the illumination positions of the plurality of light sources of the first sub light source group and the plurality of other light sources of the second sub light source group for illuminating the target object are not overlapped with each other, and the light beams of the light source group for illuminating the target object are reflected by the target object and then irradiate on the same light sensor to generate reflected light data;
a reflected light obtaining module, configured to obtain the reflected light data generated by lighting the target object with the first sub light source group and the second sub light source group in the same lighting;
and the data screening module is used for screening the reflected light data according to a preset reflected light dynamic range so as to obtain reflected light data meeting the preset reflected light dynamic range.
In a third aspect, an embodiment of the present application provides a device for collecting data of light striking and reflected light, including:
a light source group including a first sub light source group and a second sub light source group, the first sub light source group including a plurality of light sources, the second sub light source group including another plurality of light sources, the plurality of light sources of the first sub light source group and the another plurality of light sources of the second sub light source group not coinciding with each other at lighting positions where a target object is lighted, the light source group reflecting the target object and irradiating the same light sensor to generate reflected light data;
the light source group control module is used for driving the light source group to polish a target object;
the reflected light acquisition module is used for acquiring the reflected light data generated by the first sub light source group and the second sub light source group for polishing the target object in the same polishing;
a data processing module to:
sending a control instruction to the light source group control module, so that the light intensity of the plurality of light sources of the first sub light source group is different from the light intensity of the other plurality of light sources of the second sub light source group in the same lighting;
and screening the reflected light data according to a preset reflected light dynamic range to obtain reflected light data meeting the preset reflected light dynamic range.
In a fourth aspect, an embodiment of the present application provides an electronic device comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the electronic device to perform the method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when run on an electronic device, causes the electronic device to perform the method according to the first aspect.
According to the technical scheme provided by the embodiment of the application, at least the following technical effects can be realized: according to the method, the reflected light data corresponding to two light intensities can be acquired by one-time light-reflection light data acquisition, and two-time light-reflection light data acquisition is not required, so that the data acquisition efficiency is greatly improved, and the data acquisition power consumption is reduced.
Drawings
FIG. 1 is a flow chart of one embodiment of iToF ranging;
FIG. 2 is a flow chart illustrating an embodiment of a method for obtaining light and reflected light data according to the present application;
FIG. 3 is a schematic view of a light source arrangement of a light source group according to an embodiment of the present application;
fig. 4 is a schematic view illustrating a light spot arrangement generated by the light source assembly according to an embodiment of the present application;
fig. 5 is a schematic view illustrating arrangement of light spots generated on the optical sensor after the light beam is reflected by the target object according to an embodiment of the present application;
FIG. 6 is a block diagram of one embodiment of a light and reflected light data acquisition device according to the present application;
FIG. 7 is a block diagram of an embodiment of an apparatus for collecting light and reflected light data according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terminology used in the description of the embodiments section of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application.
The application provides a method for obtaining the light reflection data, aiming at the problem that the reflected light data in the dynamic range of the reflected light can not be obtained in the prior art.
In practical applications, the inability to obtain reflected light data within the dynamic range of the reflected light is usually caused by too high or insufficient intensity of the illumination. Thus, one possible solution is to perform multiple polishing-reflected light data acquisition operations, using different light intensities in each polishing operation until reflected light data within the reflected light dynamic range is acquired. For example, in one solution of iToF ranging, the effective ranging range of the iToF device is divided into two stages, namely, a short-distance stage and a long-distance stage, and the corresponding light source driving power W11 and light source driving power W12 are set for the short-distance stage and the long-distance stage respectively (W11< W12). When the distance measurement is carried out, the light source is driven to shine based on W11 and W12 respectively, corresponding reflected light data is obtained, reflected light data meeting the dynamic range of the reflected light is selected from the obtained two reflected light data to carry out distance measurement calculation, or the feedback distance measurement fails when the two reflected light data do not meet the dynamic range of the reflected light.
Fig. 1 is a flow chart of an embodiment of iToF ranging. As shown in fig. 1, the ranging process includes the following steps:
step 110, driving a light source to shine based on the driving power W11;
step 111, collecting first reflected light data generated by the lighting in the step 110;
step 120, driving a light source to shine based on the driving power W12;
step 121, collecting second reflected light data generated by the lighting in the step 120;
step 130, selecting reflected light data meeting the dynamic range of reflected light from the first reflected light data and the second reflected light data;
and 140, performing distance measurement calculation according to the reflected light data screened in the step 130.
Although the operation of collecting the data based on multiple times of lighting and reflected light can still obtain the reflected light data generated based on the optimal light intensity under the condition that the lighting light intensity cannot be determined in advance, the reflected light data in the dynamic range of the reflected light can be obtained. However, since multiple times of lighting and multiple times of reflected light data acquisition operations are required, the reflected light data acquisition process is prolonged, the reflected light data acquisition efficiency is greatly reduced, and the processing power consumption is greatly increased. For example, in the embodiment shown in fig. 1, two lighting operations and two reflected light data acquisition operations need to be performed, and the performance efficiency and the performance power consumption of the iToF ranging are affected.
In order to improve the efficiency of acquiring reflected light data and reduce processing power consumption, in an embodiment of the present application, a scheme of multiple light sources is adopted to reduce the number of times of executing the operation of collecting the light-reflected light data. Specifically, a plurality of light sources are used simultaneously in one time of lighting, and each light source generates corresponding reflected light data when being lighted. Thus, if different light sources are illuminated with different light intensities, reflected light data corresponding to a plurality of different light intensities can be generated. On the premise that the light intensity capable of generating the reflected light data satisfying the dynamic range of the reflected light exists, the reflected light data satisfying the dynamic range of the reflected light is included in the reflected light data acquired by one-time polishing. By screening the acquired reflected light data, the reflected light data meeting the dynamic range of the reflected light can be acquired by one-time polishing without adopting different light intensities to perform multiple times of polishing, so that the data acquisition efficiency is greatly improved, and the data acquisition power consumption is reduced.
Fig. 2 is a flowchart illustrating an embodiment of a method for obtaining light and reflected light data according to the present application. As shown in fig. 2, in an embodiment of the present application, the following steps are performed to acquire reflected light data within the dynamic range of reflected light:
step 210, driving a light source group to illuminate a target object, wherein the light source group includes a first sub light source group and a second sub light source group, the first sub light source group includes a plurality of light sources, the second sub light source group includes another plurality of light sources, and in the same illumination, the light intensities of the plurality of light sources of the first sub light source group are different from the light intensities of the other plurality of light sources of the second sub light source group, the illumination positions of the plurality of light sources of the first sub light source group and the other plurality of light sources of the second sub light source group do not coincide with each other, and the light beams illuminated by the light source group for the target object are reflected by the target object and then illuminate the same light sensor to generate reflected light data;
step 220, obtaining reflected light data generated by lighting the target object by the first sub light source group and the second sub light source group in the same lighting;
and step 230, screening the reflected light data according to the preset reflected light dynamic range to obtain reflected light data meeting the preset reflected light dynamic range.
In the embodiment shown in fig. 2, the target object is illuminated by using two sub light source groups of the light source groups, and the light intensity of the illumination of the two sub light source groups is different. Therefore, reflected light data corresponding to two light intensities can be acquired by one-time light striking-reflected light data acquisition, and two-time light striking-reflected light data acquisition is not required, so that the data acquisition efficiency is greatly improved, and the data acquisition power consumption is reduced.
Further, in an embodiment of the present application, the light source group further includes one or more other sub light source groups other than the first sub light source group and the second sub light source group, and in the same lighting, light intensities of light sources of different sub light source groups in the light source group are different from each other, and lighting positions of all light sources in the light source group for lighting the target object are not overlapped with each other.
Because a plurality of sub light source groups of the light source groups are used for lighting the target object, and the lighting intensity of different sub light source groups is different; therefore, reflected light data corresponding to a plurality of different light intensities can be generated. Thus, on the premise that the reflected light data satisfying the dynamic range of the reflected light can be generated, the reflected light data satisfying the dynamic range of the reflected light is included in the reflected light data acquired by one time of polishing. This ensures that reflected light data satisfying the dynamic range of reflected light can be acquired, thereby ensuring smooth reflected light data processing of the reflected light data and acquiring a desired reflected light data processing result.
Furthermore, a plurality of sub light source groups of the light source groups are used for polishing the target object in one polishing process; therefore, according to the method provided by the embodiment of the application, reflected light data meeting the dynamic range of reflected light can be acquired in a single light-reflected light data acquisition operation period by only one light-emitting operation, and multiple light-reflected light data acquisition operations are not required, so that the data acquisition efficiency is greatly improved, and the data acquisition power consumption is reduced. Further, in an embodiment of the present application, the light intensity when the light source is illuminated is adjusted by adjusting the driving power of the light source. That is, in the process of simultaneously using a plurality of sub light source groups of the light source groups to illuminate the target object, the plurality of sub light source groups are respectively driven based on different driving powers. Specifically, in one implementation of step 210, the first sub light source group and the second sub light source group are driven based on different driving powers, respectively.
Further, in an embodiment of the present application, the light intensity when the light source is illuminated may also be adjusted by other means than adjusting the driving power of the light source. For example, a lens of different transmittance is added to the light source; or, the number of the light sources activated in the sub light source group is changed. Further, in the solution of the embodiment of the present application, the light source group may be configured in any feasible structure. Specifically, in an embodiment of the present application, the light source group is a light source lattice, and the light source group includes a plurality of point light sources arranged in a matrix. Fig. 3 is a schematic view illustrating a light source arrangement of a light source group according to an embodiment of the present application. As shown in FIG. 3, L1-L8 are the column numbers of the light source lattices, and H1-H16 are the row numbers of the light source lattices. The light source group comprised 128 point light sources arranged at 8x 16.
Further, in order to ensure that different sub-light source groups are illuminated with different light intensities simultaneously, it is necessary that the sub-light source groups can be controlled independently. That is, when the light source group is divided into a plurality of sub light source groups, it is necessary to divide based on the control mode of the light sources. Specifically, in one embodiment, in the light source lattice shown in fig. 3, when the light source group is driven by rows, that is, each row of light sources has one set of driving circuit, the driving power of the light sources in a row can be individually adjusted. Therefore, when the sub light source groups are divided, the division is performed in units of rows, and the light sources in the same row cannot be divided into different sub light source groups. For example, each row of light sources is divided into one sub-light source group, or each two rows of light sources are divided into one sub-light source group.
Specifically, in one embodiment, in the light source lattice shown in fig. 3, when the light source group is driven by columns, that is, each column of light sources has a set of driving circuits, the driving power of the light sources in a column can be individually adjusted. Therefore, when the sub light source groups are divided, the division is performed in units of columns, and the light sources in the same column cannot be divided into different sub light source groups. For example, each column of light sources is divided into one sub-light source group, or each two columns of light sources are divided into one sub-light source group.
Specifically, in an embodiment, in the light source lattice shown in fig. 3, when the light source group is point-driven, that is, each light source has a set of driving lines, the driving power of any one light source can be adjusted independently. Therefore, when the sub light source group division is performed, the division is performed in units of a single light source. For example, each light source is divided into one sub light source group, or each two light sources are divided into one sub light source group, for example, two adjacent light sources are divided into one sub light source group.
Further, in order to ensure uniform lighting, in an embodiment of the present application, lighting positions of the plurality of light sources of the sub light source group are uniformly distributed in a lighting range where the sub light source group lights the target object. Specifically, in an embodiment as shown in fig. 2, in a lighting range where the first sub light source group lights the target object, lighting positions of the plurality of light sources of the first sub light source group are uniformly distributed; and in the lighting range of the second sub light source group for lighting the target object, the lighting positions of the other light sources of the second sub light source group are uniformly distributed.
Further, in an embodiment of the present application, the lighting ranges of the different sub light source groups for lighting the target object are the same lighting range. Therefore, when the sub light source group is used for polishing the target object, the polishing positions with different light intensities in the polishing range are uniformly distributed. Specifically, in an embodiment as shown in fig. 2, a lighting range of the first sub light source group for lighting the target object and a lighting range of the second sub light source group for lighting the target object are the same lighting range.
Specifically, in an embodiment as shown in fig. 2, the light source groups are light source lattices, the first sub light source group is a point light source in an odd-numbered row of the light source lattice, and the second sub light source group is a point light source in an even-numbered row of the light source lattice. Or the first sub light source group is a point light source of an odd number row of the light source dot matrix, and the second sub light source group is a point light source of an even number row of the light source dot matrix.
For example, in the light source lattice as shown in fig. 3, when dividing two sub light source groups, the light source group includes a first sub light source group and a second sub light source group.
When the light source groups are driven by columns, the first sub light source group is a point light source of odd columns (L1, L3, L5 and L7 columns) of the light source lattice, and the second sub light source group is a point light source of even columns (L2, L4, L6 and L8 columns) of the light source lattice. When the light is turned on, 64 dots in total of 4 columns of odd-numbered columns are driven with the first drive power, and 64 dots in total of 4 columns of even-numbered columns are driven with the second drive power.
When the light source groups are driven by rows, the first sub light source group is a point light source of an odd-numbered row (rows H1, H3, H5, H7, H9, H11, H13, and H15) of the light source lattice, and the second sub light source group is a point light source of an even-numbered row (rows H2, H4, H6, H8, H10, H12, H14, and H16) of the light source lattice. When the light emission is performed, 64 dots in total of the 8 rows of the odd-numbered lines are driven with the first drive power, and 64 dots in total of the 8 rows of the even-numbered lines are driven with the second drive power.
For another example, in the light source dot matrix shown in fig. 3, four sub light source groups are divided, and when the light source groups adopt dot driving, four light sources in two rows and two columns adjacent to each other respectively belong to the four sub light source groups. For example, the light sources (L1, H1), the light sources (L1, H2), the light sources (L2, H1), and the light sources (L2, H2) belong to four sub-light source groups, the light sources (L3, H1), (L5, H1), (L7, H1) belong to the same sub-light source group as the light sources (L1, H1), the light sources (L3, H2), (L5, H2), (L2, H2) belong to the same sub-light source group as the light sources (L2, H2), (L2, H2) belong to the same sub-light source group as the light sources (L2, H2).
Specifically, in an application scene, after the light sources of the light source group polish the target object, the polishing light of each light source generates a light spot on the surface of the target object.
Fig. 4 is a schematic view illustrating arrangement of light spots of a light source assembly according to an embodiment of the present application. As shown in fig. 4, light emitted from the light source lattice 401 shown in fig. 3 is collimated by the collimating lens into small-angle illuminating light, the illuminating light is arranged into an illuminating light array according to the light source arrangement of the light source lattice 401, the illuminating light array is replicated into multiple parts (for example, 3 × 3) by the diffraction grating, and finally projected onto the target object, so that the light spot array shown in fig. 4 is formed on the surface of the target object, and the light spots of the light spot array are 1152 points in total.
The photographing device 402 photographs 1152 light spots of the surface of the target object to acquire light spot data (reflected light data). Specifically, the light spot data captured by the capturing device 402 is light spot data of a light spot generated when the light emitted by the light source lattice 401 is reflected to the optical sensor of the capturing device 402 after being irradiated on the target object.
Fig. 5 is a schematic view illustrating arrangement of light spots generated on the optical sensor after the light beam is reflected by the target object according to an embodiment of the present application. The light beam for forming the spot array shown in fig. 4 is reflected by the target object, and the reflected light beam generates 1152 spots (spot array) corresponding to the spot array shown in fig. 4 on the optical sensor of the photographing device 402. A portion of 1152 spots on the light sensor of camera 402 is shown in fig. 5. Each grid shown in fig. 5 represents one pixel of the photosensor, and each circle (701, 702, 703, 711, 712, 721, 722, and 723) represents one spot generated on the photosensor by the reflected light of the target object, each spot covering a plurality of pixels.
When the light source groups are driven by rows, the first sub light source group is a point light source in an odd row of the light source lattice 401, and the second sub light source group is a point light source in an even row of the light source lattice 401. When the light source lattice 401 is illuminated, the first sub light source group and the second sub light source group are respectively driven based on the first driving power and the second driving power. The 1152 spots shown in fig. 4 correspond to 576 of the first driving power and 576 of the second driving power.
As shown in fig. 5, light spots 701, 702, 703, 721, 722, and 723 are light spots generated by the first sub light source group after the light beams are reflected by the target object. Light spots 711 and 712 are light spots generated by the second sub light source group after the light rays are reflected by the target object.
Further, in an embodiment of the present application, the number of the sub light source groups in the light source group and the light intensity of each sub light source group for lighting are determined according to the status parameters of the light sources.
Specifically, in an actual application scenario, the light source has an upper light intensity limit and a lower light intensity limit that can be reached when the light source normally works. For example, in an application scenario, when the driving power of the light source is lower than the first driving power, the light source cannot be driven, and the light intensity when the light source is driven by the first driving power is set as the lower light intensity limit; when the driving power of the light source is higher than the second driving power, the light source is in an overload state, and the light intensity when the light source is driven by the second driving power is set as the upper light intensity limit. The upper light intensity limit and the lower light intensity limit form an effective light intensity interval of the light source. In order to cover all selectable light intensities as much as possible in one light irradiation, in an embodiment of the present application, the number of sub light source groups in a light source group and the light intensity of light irradiation of each sub light source group are determined according to the light intensity effective interval of a light source.
Specifically, in an embodiment of the present application, the number of the sub light source groups in the light source group is a preset number of the sub light source groups, and the light intensity of the light emitted by each sub light source group in the light source group is uniformly distributed in a preset light intensity effective interval.
For example, the light sources in the light source group are based on the lowest driving power W211And maximum driving power W221The lower limit light intensity and the upper limit light intensity in the design thereof can be realized. Assuming that the number of the preset sub light source groups is 3, the light source group is divided into three sub light source groups when the sub light source groups are divided, and the light source driving powers of the three sub light source groups are respectively W21 when the light is applied1、(W211+W221)/2、W221。
Specifically, in this application embodiment, the number of the light source groups in the light source group is the number of the division nodes obtained by dividing the preset light intensity effective interval based on the preset step length, and the light intensity of the light emitted by each light source group in the light source group is uniformly distributed in the preset light intensity effective interval.
For example, the light sources in the light source group are based on the lowest driving power W212And maximum driving power W222The lower limit light intensity and the upper limit light intensity in the design thereof can be realized. If the preset step size is w, the light source group is divided into n sub-light source groups when the sub-light source groups are divided, wherein:
W212+(n-2)*w≤W222≤W212+(n-1)*w；(1)
when lighting, the light source driving power of the n sub light source groups is W212、W212+w、W212+2w、…W212+(n-2)*w、W222。
Furthermore, in some application scenarios, the light source is preset with a polishing gear setting, and the light source can only adjust the polishing light intensity according to the preset polishing gear setting. Therefore, in an embodiment of the present application, the number of the sub light source groups in the light source group and the lighting intensity of each sub light source group are determined according to the lighting gear setting of the light source.
Specifically, in this application embodiment, the number of light source group neutron light source group corresponds with the gear number in the gear setting of predetermineeing to polish, and the light intensity that light source group neutron light source group polished corresponds the light intensity of the gear of polishing in the gear setting of predetermineeing to polish for the light intensity of presetting.
For example, the light sources in the light source group are set to three-level lighting modes (first-level lighting, second-level lighting and third-level lighting), and the three-level lighting modes respectively correspond to the preset light source driving powers (W21)3、W223、W233) So as to realize the corresponding three-gear light intensity. When the sub light source groups are divided into three sub light source groups, the light source driving powers of the three sub light source groups are respectively W213、W223、W233。
Further, in an embodiment of the present application, a dividing manner of the sub light source groups in the light source groups and a light intensity of light emitted by each sub light source group are determined according to an application scene requirement for processing the reflected light data. Specifically, in an embodiment of the present application, the number of sub light source groups in a light source group and the light intensity of light emitted by each sub light source group are matched with the application scene requirement for processing the reflected light data.
For example, in a certain application scenario, only three lighting modes need to be considered, when the sub-light source groups are divided, the light source groups are divided into three sub-light source groups, and when lighting is performed, the lighting intensities of the three sub-light source groups are the light intensities of the three lighting modes respectively. In another application scenario, during the process of processing the reflected light data, the reflected light data generated by the light intensity exceeding the preset upper limit Q1 and being lower than the preset lower limit Q2 is set as invalid data, i.e., if the light intensity of the sub-light source group exceeds the preset upper limit Q1 or is lower than the preset lower limit Q2, the generated reflected light data cannot be used, and therefore, when the light intensity of the sub-light source group is set, the light intensity of the sub-light source group cannot exceed the preset upper limit Q1 or be lower than the preset lower limit Q2.
Specifically, in an embodiment of the present application, an application scenario for processing reflected light data is iToF ranging, where:
the number of the sub light source groups in the light source groups corresponds to the grading number of an effective distance measuring range grading strategy for indirect light flight time distance measurement, and each sub light source group in the light source groups corresponds to an effective distance measuring range;
the light intensity of the light source group in the light source group is the light intensity corresponding to the effective distance measuring range corresponding to the sub light source group.
For example, assume that in a certain iToF ranging application scenario, the range is 1 meter to 7 meters. In this application scenario, the effective ranging range stepping strategy is:
for a target object with the distance of 1-3 meters, driving a light source to perform lighting by using driving power W31 to generate reflected light data for distance measurement calculation;
for a target object with a distance of 3-5 meters, driving a light source to perform lighting by using driving power W32 to generate reflected light data for distance measurement calculation;
for a target object with a distance of 5-7 meters, the driving power W31 is used to drive the light source to generate reflected light data for distance measurement calculation.
When the distance range of the target object is unclear, it is necessary to perform three times of lighting based on the driving powers W31, W32, and W33, respectively, to acquire reflected light data that meets the distance measurement calculation requirements, or to confirm that the target object is not within the distance measurement range. According to the method of the embodiment of the present application, the light source group is divided into three sub light source groups, and the driving powers of the three sub light source groups are W31, W32, and W33 respectively during the same light emitting. Therefore, reflected light data meeting the distance measurement calculation requirement can be acquired in the same lighting process, or the target object is confirmed not to be in the distance measurement range.
For another example, assume that in an application scenario of iToF ranging, the effective range of ranging is 3 meters to 7 meters. In this application scenario, the effective ranging range stepping strategy is:
for a target object with a distance of 3-5 meters, driving a light source to perform lighting by using driving power W41 to generate reflected light data for distance measurement calculation;
for a target object with a distance of 5-7 meters, the driving power W42 is used to drive the light source to generate reflected light data for distance measurement calculation.
When the distance range of the target object is unclear, it is necessary to perform secondary lighting based on the drive powers W41 and W42, respectively, to acquire reflected light data that meets the distance measurement calculation requirement, or to confirm that the target object is not within the distance measurement range. According to the method of the embodiment of the present application, the light source group is divided into two sub light source groups, and the driving powers of the two sub light source groups are W41 and W42 respectively during the same light emitting operation. Therefore, reflected light data meeting the distance measurement calculation requirement can be acquired in the same lighting process, or the target object is confirmed not to be in the distance measurement range.
Further, in an embodiment of the present application, in the process of screening the reflected light data according to the preset reflected light dynamic range, the reflected light data is screened according to the light spot gray value. Specifically, in an application scenario, the application scenario for processing the reflected light data is indirect light time-of-flight ranging; the process of obtaining the reflected light data generated by lighting the target object by the first sub light source group and the second sub light source group in the same lighting comprises the following steps: acquiring light spot data of light spots generated by the first sub light source group and the second sub light source group in the same lighting process for the target object; the process of screening the reflected light data according to the preset reflected light dynamic range to obtain reflected light data satisfying the preset reflected light dynamic range includes: and screening out light spot data corresponding to the light spots meeting the preset gray value interval from the light spot data.
Further, in an embodiment of the present application, the method further includes:
and according to the screened light spot data corresponding to the light spots meeting the preset gray value interval, calculating the phase deviation of the optical signals in the process that the light source is polished and then reflected by the target object until the light spot data is collected, and performing depth calculation according to the phase deviation of the optical signals.
In an embodiment of the present application, the reflected light data is filtered according to a preset reflected light dynamic range to obtain reflected light data satisfying the reflected light dynamic range. Here, the reflected light data satisfying the dynamic range of reflected light to be finally acquired is obtained by sorting all the reflected light data, not by sorting according to the light source driving power. The reflected light data satisfying the reflected light dynamic range may be reflected light data generated by lighting a certain sub light source group, or may be reflected light data generated by lighting a plurality of sub light source groups. Specifically, in an embodiment of the present application, it is assumed that the light source group is divided into a first sub light source group and a second sub light source group, the first sub light source group generates the first reflected light data by emitting light, and the second sub light source group generates the second reflected light data by emitting light. When the light is emitted, the first sub light source group and the second sub light source group emit light simultaneously to generate first reflected light data and second reflected light data. Then the following possible scenarios exist:
the first reflected light data or the second reflected light data satisfies a reflected light dynamic range;
the first reflected light data and the second reflected light data both satisfy a reflected light dynamic range;
the first reflected light data and the second reflected light data do not satisfy the dynamic range of the reflected light, for example, the light fails to be struck, the target object is not in the measuring range, for example, when the target object is too close to the imaging device or too far away from the imaging device, the returned data are too explosive or too weak, and the data are not suitable for calculating the depth.
For example, in an application scenario of an iToF ranging, the effective range of the ranging is 3 meters to 7 meters. In this application scenario, the effective ranging range stepping strategy is: for a target object with a distance of 3-5 meters, driving a light source to perform lighting by using driving power W41 to generate reflected light data for distance measurement calculation; for a target object with a distance of 5-7 meters, the driving power W42 is used to drive the light source to generate reflected light data for distance measurement calculation. However, it is appropriate to drive the light source for illumination with the drive power W41 for a target object at a distance of 3 to 5 meters, and it is not equivalent to that, for a target object at a distance of 3 to 5 meters, reflected light data satisfying the dynamic range of reflected light can be generated only by driving the light source for illumination with the drive power W42. For example:
for a target object with a distance of about 3.5 meters, reflected light data generated by driving a light source to perform polishing by using driving power W41 meets the dynamic range of reflected light, and simultaneously reflected light data generated by driving the light source to perform polishing by using driving power W42 does not meet the dynamic range of reflected light;
for a target object with a distance of about 6.5 meters, reflected light data generated by driving a light source to perform polishing by using driving power W41 does not meet the dynamic range of reflected light, and simultaneously reflected light data generated by driving the light source to perform polishing by using driving power W42 meets the dynamic range of reflected light;
for a target object with a distance of about 5 meters, reflected light data generated by driving a light source to perform lighting by using driving power W41 meets the dynamic range of reflected light, and simultaneously reflected light data generated by driving the light source to perform lighting by using driving power W42 also meets the dynamic range of reflected light;
for a target object with a distance of about 2 meters, reflected light data generated by driving a light source to perform lighting by using the driving power W41 does not meet the dynamic range of reflected light, and reflected light data generated by driving the light source to perform lighting by using the driving power W42 also does not meet the dynamic range of reflected light;
for a target object at a distance of about 8 meters, reflected light data generated by driving the light source with the driving power W41 for illumination does not satisfy the reflected light dynamic range, and reflected light data generated by driving the light source with the driving power W42 for illumination does not satisfy the reflected light dynamic range.
Further, it is considered that reflected light data generated by lighting a plurality of light sources in the same sub light source group may be different.
For example, if the target object has an uneven surface, distances from the ion light source groups to points at different positions on the surface of the target object are different with respect to one sub light source group, that is, distances traveled by light reflected by different light sources of the sub light source group after being irradiated to different positions of the target object are different, which results in that radiated light data generated by different light sources when being irradiated by the same sub light source may be different.
For another example, in the application scenario shown in fig. 4, under the same driving power, the light spot at the center may have a higher brightness than the light spot at the edge due to light scattering.
Therefore, for the same sub-light source group, some of the reflected light data generated by the illumination of the light sources included in the sub-light source group may satisfy the reflected light dynamic range and some may not satisfy the reflected light dynamic range.
Specifically, in an embodiment of the present application, it is assumed that the light source group is divided into a first sub light source group and a second sub light source group, the first sub light source group generates the first reflected light data by emitting light, and the second sub light source group generates the second reflected light data by emitting light. When the light is emitted, the first sub light source group and the second sub light source group emit light simultaneously to generate first reflected light data and second reflected light data.
Then the following possible scenarios also exist:
a part of the reflected light data in the first reflected light data or a part of the reflected light data in the second reflected light data satisfies a reflected light dynamic range;
a part of the reflected light data in the first reflected light data and a part of the reflected light data in the second reflected light data satisfy a reflected light dynamic range;
a part of the reflected light data in the first reflected light data and the second reflected light data satisfy a reflected light dynamic range;
the first reflected light data and a part of the second reflected light data satisfy a reflected light dynamic range.
For example, in an application scenario of an iToF ranging, the effective range of the ranging is 3 meters to 7 meters. In this application scenario, the effective ranging range stepping strategy is: for a target object with a distance of 3-5 meters, driving a light source to perform lighting by using driving power W41 to generate reflected light data for distance measurement calculation; for a target object with a distance of 5-7 meters, the driving power W42 is used to drive the light source to generate reflected light data for distance measurement calculation. If for a certain sub-light source group, a part of the target object is about 4 meters away from the sub-light source group, and another part of the target object is about 6 meters away from the sub-light source group. Then, when the light source of the sub light source group is driven to perform lighting at W41, reflected light data generated by lighting a portion of the target object having a distance of about 4 meters from the sub light source group satisfies the reflected light dynamic range; reflected light data generated by lighting a portion of the target object located at a distance of about 6 meters from the sub light source group does not satisfy the reflected light dynamic range.
For another example, assume that in an application scenario of iToF ranging, the effective range of ranging is 3 meters to 7 meters. In this application scenario, the effective ranging range stepping strategy is: for a target object with a distance of 3-5 meters, driving a light source to perform lighting by using driving power W41 to generate reflected light data for distance measurement calculation; for a target object with a distance of 5-7 meters, the driving power W42 is used to drive the light source to generate reflected light data for distance measurement calculation. If a sub-light source group is driven to illuminate a target object based on the same driving power, the light intensity in the central portion of the illumination range is higher than that in the peripheral portion. Then, when the light sources of the sub light source group are driven for lighting at W41 or W42, when the reflected light data at the center portion of the lighting range satisfies the reflected light dynamic range, the reflected light data at the peripheral portion of the lighting range may not satisfy the reflected light dynamic range; alternatively, when the reflected light data in the peripheral portion of the polishing range satisfies the reflected light dynamic range, the reflected light data in the central portion of the polishing range may not satisfy the reflected light dynamic range.
Further, in an actual application scenario, different processing resolutions can be realized according to the difference of the number of sub light source groups corresponding to the reflected light data satisfying the reflected light dynamic range.
For example, in an application scenario, the effective ranging range grading strategy of the iToF ranging is 3 meters to 5 meters, and 5 meters to 7 meters, and for a target object with a distance of 3 meters to 5 meters, it is appropriate to use the driving power W41 to drive the light source to perform lighting so as to generate reflected light data for ranging calculation; for a target object with a distance of 5-7 meters, the driving power W42 is used to drive the light source to generate reflected light data for distance measurement calculation. Then, the light source group is divided into two sub-light source groups (for example, the odd rows in the light source lattice shown in fig. 3 are divided into one sub-light source group, and the even rows are divided into one sub-light source group). During lighting, two sub-light source groups are driven to light on the target object based on W51 and W52, respectively, and 1152 light spots are generated on the surface of the target object, wherein the 1152 light spots correspond to 576 of W51 and 576 of W52, and the two light spots are shown in FIG. 4.
The photographing device 402 photographs 1152 light spots to acquire light spot data (reflected light data) of 1152 light spots. Analyzing the light spot data of each light spot to determine the light spot gray value of each light spot, and then the following four conditions exist in an application scene:
a, the gray values of the light spots corresponding to 576 light spots of W51 meet the dynamic range of reflected light, the gray values of the light spots corresponding to 576 light spots of W52 do not meet the dynamic range of the reflected light, and then the data of the light spots corresponding to 576 light spots of W51 are used for distance measurement calculation, wherein the resolution of the distance measurement at the moment is 576 distance measurement points;
b, the gray values of the light spots corresponding to the 576 light spots of W52 meet the dynamic range of reflected light, the gray values of the light spots corresponding to the 576 light spots of W51 do not meet the dynamic range of the reflected light, and then the data of the light spots corresponding to the 576 light spots of W52 are used for distance measurement calculation, wherein the distance measurement resolution at the moment is 576 distance measurement points;
c, enabling the gray values of the light spots of 1152 light spots to meet the dynamic range of reflected light, and then using 1152 light spots to perform ranging calculation, wherein the ranging resolution is 1152 ranging points, and the ranging resolution is 2 times of that of the cases a and b;
and d, the gray values of the light spots of 1152 light spots do not meet the dynamic range of reflected light, and the distance measurement fails.
Further, in some practical scenarios, the reflected light data generated when a light source driven based on the same light source driving power is illuminated may be different. For example, in the application scenario shown in fig. 4, the light spot at the center may have a higher brightness than the light spot at the edge, with the same driving power. In this case, the number of spots satisfying the dynamic range of the reflected light may not be 576 or 1152.
It is to be understood that some or all of the steps or operations in the above-described embodiments are merely examples, and other operations or variations of various operations may be performed by the embodiments of the present application. Further, the various steps may be performed in a different order presented in the above-described embodiments, and it is possible that not all of the operations in the above-described embodiments are performed.
Further, based on the method for obtaining the polishing and reflected light data provided in an embodiment of the present application, an embodiment of the present application further provides a device for controlling polishing and obtaining the reflected light data. Fig. 6 is a block diagram of an embodiment of a light and reflected light data acquisition device according to the present application. In an embodiment of the present application, as shown in fig. 6, in an embodiment of the present application, the illumination control and reflected light data acquisition apparatus 500 includes:
a light source control module 510, configured to drive a light source group to illuminate a target object, where the light source group includes a first sub light source group and a second sub light source group, the first sub light source group includes a plurality of light sources, the second sub light source group includes another plurality of light sources, and in the same illumination, light intensities of the plurality of light sources of the first sub light source group are different from light intensities of the other plurality of light sources of the second sub light source group, illumination positions where the plurality of light sources of the first sub light source group and the other plurality of light sources of the second sub light source group illuminate the target object are not overlapped with each other, and light rays illuminated by the light source group to the target object are reflected by the target object and then illuminate the same light sensor to generate reflected light data;
a reflected light obtaining module 520, configured to obtain reflected light data generated by lighting the target object with the first sub light source group and the second sub light source group in the same lighting;
a data filtering module 530 for filtering the reflected light data according to the preset reflected light dynamic range to obtain reflected light data satisfying the preset reflected light dynamic range.
Further, based on the method for acquiring the polishing and reflected light data provided in the embodiment of the present application, the embodiment of the present application further provides a device for acquiring the polishing and reflected light data. FIG. 7 is a block diagram of an embodiment of an apparatus for collecting light and reflected light data according to the present application. In an embodiment of the present application, as shown in fig. 7, in an embodiment of the present application, the light striking and reflected light data acquisition apparatus 600 includes:
the light source group 601 comprises a first sub light source group and a second sub light source group, the first sub light source group comprises a plurality of light sources, the second sub light source group comprises another plurality of light sources, the lighting positions of the light sources of the first sub light source group and the other light sources of the second sub light source group for lighting the target object are not overlapped with each other, and the light beams of the light sources of the light source group for lighting the target object are reflected by the target object and then irradiate on the same optical sensor to generate reflected light data;
a light source group control module 610 for driving the light source group to illuminate the target object;
the reflected light acquisition module 620 is configured to acquire reflected light data generated when the first sub light source group and the second sub light source group perform lighting on the target object in the same lighting;
a data processing module 630 for:
sending a control instruction to a light source group control module to enable the light intensity of a plurality of light sources of a first sub light source group to be different from the light intensity of another plurality of light sources of a second sub light source group in the same lighting;
and screening the reflected light data according to the preset reflected light dynamic range to obtain reflected light data meeting the preset reflected light dynamic range.
The apparatus provided in the embodiment of the present application shown in fig. 6 or fig. 7 may be used to implement the technical solution of the embodiment of the present application shown in fig. 2, and the implementation principle and the technical effect may be further described with reference to the related description in the method embodiment. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the description of the embodiments of the present application, for convenience of description, the device is described as being divided into various modules/units by functions, the division of each module/unit is only a division of logic functions, and the functions of each module/unit can be implemented in one or more pieces of software and/or hardware when the embodiments of the present application are implemented.
The embodiments herein are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments herein. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
An embodiment of the present application also proposes an electronic device comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the electronic device to perform the method steps as described in the embodiments of the present application.
Specifically, in an embodiment of the present application, the one or more computer programs are stored in the memory, and the one or more computer programs include instructions that, when executed by the apparatus, cause the apparatus to perform the method steps described in the embodiment of the present application.
Specifically, in an embodiment of the present application, the processor of the electronic device may be a Central Processing Unit (CPU), and may further include other types of processors. The processor may have the capability to operate one or more software programs, which may be stored on the storage medium.
In particular, in an embodiment of the present application, the memory of the electronic device may be any computer-readable medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
In particular, in an embodiment of the present application, the processor and the memory may be combined into a processing device, and more generally, independent components, and the processor is configured to execute the program code stored in the memory to implement the method described in the embodiment of the present application. In particular implementations, the memory may be integrated within the processor or may be separate from the processor.
Further, the apparatuses, devices, modules, or units illustrated in the embodiments of the present application may be specifically implemented by a computer chip or an entity, or implemented by a product with certain functions.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
In the several embodiments provided in the present application, any function, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application.
Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the medium.
Specifically, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute the method provided by the embodiment of the present application.
An embodiment of the present application further provides a computer program product, which includes a computer program, when it runs on a computer, causes the computer to execute the method provided by the embodiment of the present application.
In the embodiments of the present application, "at least one" means one or more, "and" a plurality "means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
In the embodiments of the present application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the specific embodiments of the present application, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims (15)

1. A method for obtaining polishing and reflected light data is characterized by comprising the following steps:
driving a light source group to illuminate a target object, wherein the light source group comprises a first sub light source group and a second sub light source group, the first sub light source group comprises a plurality of light sources, the second sub light source group comprises another plurality of light sources, in the same illumination, the light intensities of the plurality of light sources of the first sub light source group are different from the light intensities of the other plurality of light sources of the second sub light source group, the illumination positions of the plurality of light sources of the first sub light source group and the other plurality of light sources of the second sub light source group for illuminating the target object are not coincident with each other, and the light beams of the light source group for illuminating the target object are reflected by the target object and then irradiate on the same light sensor to generate reflected light data;
acquiring the reflected light data generated by the first sub light source group and the second sub light source group for polishing the target object in the same polishing;
and screening the reflected light data according to a preset reflected light dynamic range to obtain reflected light data meeting the preset reflected light dynamic range.
2. The method of claim 1, wherein the first sub light source group and the second sub light source group are driven based on different driving powers, respectively.
3. The method of claim 1, wherein the set of driven light sources illuminates a target object, wherein:
in a lighting range in which the first sub light source group lights the target object, lighting positions of the plurality of light sources of the first sub light source group are uniformly distributed;
and the number of the first and second groups,
in a lighting range where the second sub light source group lights the target object, lighting positions of the other light sources of the second sub light source group are uniformly distributed.
4. The method according to claim 3, wherein a lighting range for lighting the target object by the first sub light source group and a lighting range for lighting the target object by the second sub light source group are the same lighting range.
5. The method of claim 4, wherein the set of light sources is a lattice of light sources, wherein:
the first sub light source group is point light sources in odd rows of the light source dot matrix, and the second sub light source group is point light sources in even rows of the light source dot matrix;
alternatively, the first and second electrodes may be,
the first sub light source group is a point light source of an odd number row of the light source dot matrix, and the second sub light source group is a point light source of an even number row of the light source dot matrix.
6. The method according to any one of claims 1 to 5, wherein the light source groups further include one or more other sub light source groups other than the first sub light source group and the second sub light source group, and in the same lighting, the light intensities of the light sources of different sub light source groups in the light source groups are different from each other, and the lighting positions of all the light sources in the light source groups for lighting the target object do not coincide with each other.
7. The method of claim 6, wherein:
the number of the sub light source groups in the light source group is a preset number of the sub light source groups, and the light intensity of light emitted by each sub light source group in the light source group is uniformly distributed in a preset light intensity effective interval;
alternatively, the first and second electrodes may be,
the number of the sub light source groups in the light source group is the number of dividing nodes obtained by dividing the preset light intensity effective interval based on a preset step length, and the light intensity of light striking by each sub light source group in the light source group is uniformly distributed in the preset light intensity effective interval;
alternatively, the first and second electrodes may be,
the number of the light source groups in the light source group corresponds to the number of the gears in the preset light-striking gear setting, and the light intensity of the light source groups in the light source group for striking light is the light intensity of the corresponding light-striking gear in the preset light-striking gear setting.
8. The method of claim 6, wherein the number of sub-banks of light sources in the bank of light sources and the intensity of light striking each of the sub-banks of light sources is matched to the application scene requirements for processing the reflected light data.
9. The method of claim 8, wherein the application scenario for processing the reflected light data is indirect light time-of-flight ranging, wherein:
the number of the sub light source groups in the light source group corresponds to the grading number of an effective ranging range grading strategy of indirect light flight time ranging, and each sub light source group in the light source group corresponds to an effective ranging range;
the light intensity of the light source group in the light source group is the light intensity corresponding to the effective distance measuring range corresponding to the sub light source group.
10. The method according to any one of claims 1 to 9, wherein the application scenario for processing the reflected light data is indirect light time-of-flight ranging, and each light source of the light source set irradiates the light sensor with light rays shining on the target object after being reflected by the target object to generate a light spot;
the obtaining reflected light data generated by lighting the target object by the first sub light source group and the second sub light source group in the same lighting comprises: acquiring the light spot data generated by the first sub light source group and the second sub light source group for polishing the target object in the same polishing;
the screening the reflected light data according to a preset reflected light dynamic range to obtain reflected light data meeting the preset reflected light dynamic range includes: and screening out light spot data corresponding to the light spots meeting a preset gray value interval from the light spot data.
11. The method of claim 10, further comprising:
and calculating the phase offset of the optical signal in the process that the light source is polished and then reflected by the target object until the light spot data is collected according to the light spot data corresponding to the screened light spots meeting the preset gray value interval, and performing depth calculation according to the phase offset of the optical signal.
12. A lighting control and reflected light data acquisition device, comprising:
the light source control module is used for driving a light source group to illuminate a target object, wherein the light source group comprises a first sub light source group and a second sub light source group, the first sub light source group comprises a plurality of light sources, the second sub light source group comprises a plurality of other light sources, in the same illumination, the light intensities of the plurality of light sources of the first sub light source group are different from the light intensities of the plurality of other light sources of the second sub light source group, the illumination positions of the plurality of light sources of the first sub light source group and the plurality of other light sources of the second sub light source group for illuminating the target object are not overlapped with each other, and the light beams of the light source group for illuminating the target object are reflected by the target object and then irradiate on the same light sensor to generate reflected light data;
a reflected light obtaining module, configured to obtain the reflected light data generated by lighting the target object with the first sub light source group and the second sub light source group in the same lighting;
and the data screening module is used for screening the reflected light data according to a preset reflected light dynamic range so as to obtain reflected light data meeting the preset reflected light dynamic range.
13. A kind of polishing and reflected light data acquisition unit, characterized by that, comprising:
a light source group including a first sub light source group and a second sub light source group, the first sub light source group including a plurality of light sources, the second sub light source group including another plurality of light sources, the plurality of light sources of the first sub light source group and the another plurality of light sources of the second sub light source group not coinciding with each other at lighting positions where a target object is lighted, the light source group reflecting the target object and irradiating the same light sensor to generate reflected light data;
the light source group control module is used for driving the light source group to polish a target object;
the reflected light acquisition module is used for acquiring the reflected light data generated by the first sub light source group and the second sub light source group for polishing the target object in the same polishing;
a data processing module to:
sending a control instruction to the light source group control module, so that the light intensity of the plurality of light sources of the first sub light source group is different from the light intensity of the other plurality of light sources of the second sub light source group in the same lighting;
and screening the reflected light data according to a preset reflected light dynamic range to obtain reflected light data meeting the preset reflected light dynamic range.
14. An electronic device, comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the electronic device to perform the method of any of claims 1-11.
15. A computer-readable storage medium, having stored thereon a computer program which, when run on an electronic device, causes the electronic device to perform the method of any one of claims 1-11.
CN202010592495.7A 2020-06-24 2020-06-24 Method and device for obtaining polishing and reflected light data Pending CN111751833A (en)

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