CN112098979A

CN112098979A - Interference preventing method for combined work of multiple TOF cameras, TOF camera and electronic equipment

Info

Publication number: CN112098979A
Application number: CN202010972628.3A
Authority: CN
Inventors: 王立民
Original assignee: Qingdao Weigan Technology Co ltd
Current assignee: Qingdao Weigan Technology Co ltd
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2020-12-18

Abstract

The embodiment of the disclosure discloses a method for preventing interference when a plurality of TOF cameras work together, the TOF cameras, electronic equipment and a computer storage medium. The method comprises the following steps: s102: receiving a synchronization signal when the TOF camera is in a slave device operating mode; s104: responding to the synchronous signal, reading a preset time delay from a memory, wherein the time delay is the time delay before single image data acquisition is executed in the current frame image; s106: starting a preset time timing equal to the time delay; s108: when the preset time is timed out, executing the operation of collecting the image data; s110: and repeating the steps S106-S108 according to the preset times until the operation of acquiring the image data of the current frame is finished. The method provided by the embodiment of the disclosure is simple to operate and good in stability, can solve the problem of mutual interference generated when a plurality of TOF cameras work synchronously from a laser layer, and avoids the occurrence of image distortion acquired by the TOF cameras.

Description

Interference preventing method for combined work of multiple TOF cameras, TOF camera and electronic equipment

Technical Field

The embodiment of the disclosure relates to the technical field of camera ranging, in particular to a method for preventing interference during joint work of multiple TOF cameras, the TOF cameras, electronic equipment and a computer storage medium.

Background

TOF is an abbreviation of Time of Flight (TOF) technology, i.e. a camera emits light to irradiate the surface of an object and then the light is reflected and received by a sensor, and the distance of the photographed object is calculated by calculating the Time difference between the emission and the reception of the light to generate depth information. Compared with the traditional method based on binocular ranging or structured light ranging, the TOF ranging has the advantages of being less affected by ambient light and having no requirement on the surface texture characteristics of the object.

At present, the technology of using TOF cameras to measure distance is widely applied, wherein most commonly, a plurality of TOF cameras are applied to the same working scene, but the problem that depth images are abnormal due to mutual interference exists when the plurality of TOF cameras work simultaneously. In the prior art, a network clock synchronization mode is used for realizing simultaneous work of multiple TOF cameras, namely, a network device such as a switch or a router is installed in a system, the TOF cameras are communicated with a remote server or a PC (personal computer), each camera in the system performs clock synchronization, a main camera generally controls the operation of the multiple TOF cameras, and the main camera controls the initial working time point of each slave camera, so that the aim of time-sharing work of the multiple TOF cameras is fulfilled.

However, in the prior art, because the synchronization precision of the network clock synchronization technology is far lower than the precision of the laser working time sequence of the TOF camera, the method cannot control the working of the TOF camera from a laser layer, and only can control the time sequences of a plurality of TOF cameras through an image frame layer, so that interference exists when a plurality of TOF cameras acquire image data of each frame, and the image acquired by the TOF camera is distorted.

Disclosure of Invention

An object of the embodiments of the present disclosure is to provide a TOF camera combined work interference prevention method, a TOF camera, an electronic device, and a computer storage medium, so as to avoid occurrence of a situation that a plurality of cameras work simultaneously to generate laser interference, which leads to distortion of an acquired image.

According to a first aspect of embodiments of the present disclosure, there is provided a method for preventing interference in combined operation of a plurality of TOF cameras, the method comprising the steps of:

s102: receiving a synchronization signal when the TOF camera is in a slave device operating mode;

s104: responding to the synchronous signal, reading a preset time delay from a memory, wherein the time delay is the time delay before single image data acquisition is executed in the current frame;

s106: starting a preset time timing equal to the time delay;

s108: when the preset time is timed out, executing the operation of collecting the image data;

s110: and repeating the steps S106-S108 according to the preset times until the operation of acquiring the image data of the current frame is finished.

According to a second aspect of embodiments of the present disclosure, there is provided a TOF camera comprising:

a synchronization signal input module for receiving a synchronization signal when the TOF camera is in a slave device operating mode;

the reading module is used for responding to the synchronous signal and reading a preset time delay from a memory, wherein the time delay is the time delay before single image data acquisition is executed in the current frame;

the timing module is used for starting the preset time timing equal to the time delay;

the acquisition module is used for executing the operation of acquiring the image data after the preset time is timed;

and the counting module is used for counting the operation of executing image data acquisition.

According to a third aspect of embodiments of the present disclosure, there is provided an electronic apparatus including:

a second aspect of the disclosed embodiments provides a TOF camera; alternatively, the first and second electrodes may be,

a processor and a memory, the memory configured to store executable instructions for controlling the processor to perform a method for preventing interference in a joint operation of a plurality of TOF cameras according to a first aspect of an embodiment of the disclosure.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the multiple TOF camera joint work interference prevention method provided according to the first aspect of embodiments of the present disclosure.

According to the embodiment of the disclosure, a method for preventing interference in combined work of multiple TOF cameras is provided, the method uses a hard-wire synchronization method for multiple TOF cameras, performs hard-wire connection between multiple cameras, or performs hard-wire connection between multiple cameras and a main control device, so as to perform mutual information interaction, sets a time delay for the TOF cameras according to laser emission time and receiving time of the TOF cameras, stores the time delay in a memory, receives a synchronization signal sent by a main device (which may be one of the TOF cameras or other main control devices) when the TOF cameras are in a slave device working mode, reads a preset time delay from the memory and starts a preset time timing equal to the time delay, performs a laser emission operation and an exposure operation after the preset time timing is over, because the preset time delays of the TOF cameras are different, therefore, the time points of the TOF cameras executing the laser emission operation are different, so that laser interference cannot be generated, and each TOF camera executes multiple laser emission operations and exposure operations in each frame according to the preset time delay cycle until the image data acquisition operation of the current frame is completed. The method provided by the embodiment of the disclosure is simple to operate and good in stability, can solve the problem of mutual interference generated when a plurality of TOF cameras work synchronously from a laser layer, and avoids the occurrence of image distortion acquired by the TOF cameras.

Other features of embodiments of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.

Fig. 1 is a block diagram of a hardware configuration structure of an electronic device that can be used to implement an embodiment of the present disclosure.

Fig. 2 is a TOF camera operational schematic diagram of an embodiment of the disclosure.

FIG. 3 is a schematic diagram of interference generated by multiple TOF cameras during operation according to an embodiment of the present disclosure.

Fig. 4 is a flowchart of a method for preventing interference when multiple TOF cameras work in combination according to an embodiment of the disclosure.

Fig. 5 is a block diagram of a TOF camera configuration according to an embodiment of the disclosure.

Fig. 6 is an application scenario diagram of an embodiment of the present disclosure.

Fig. 7 is an interactive application between a master device and a TOF camera according to an embodiment of the disclosure.

Fig. 8 is a diagram of an interactive application between TOF cameras of an embodiment of the disclosure.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the embodiments of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the embodiments of the disclosure, their application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< hardware configuration >

Fig. 1 is a block diagram showing a configuration of hardware of an electronic apparatus 1000 that can implement an embodiment of the present invention.

The electronic device 1000 may be a TOF camera, a laptop, a desktop computer, a cell phone, a tablet computer, etc.

As shown in fig. 1, the configuration of electronic device 1000 includes, but is not limited to, a processor 1031, a memory 1032, an interface device 1033, a communication device 1034, a GPU (Graphics Processing Unit) 1035, a display device 1036, an input device 1037, a speaker 1038, a microphone 1039, and a camera 1030. The processor 1031 includes, but is not limited to, a central processing unit CPU, a microprocessor MCU, and the like. The memory 1032 includes, but is not limited to, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. Interface device 1033 includes, but is not limited to, a USB interface, a serial interface, a parallel interface, and the like. The communication device 1034 is capable of wired or wireless communication, for example, and specifically may include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The GPU 1035 is used to process the image. The display device 1036 may include, but is not limited to, a liquid crystal screen, a touch screen, or the like. Input devices 1037 may include, but are not limited to, a keyboard, a mouse, a touch screen, and the like.

The electronic device shown in fig. 1 is merely illustrative and is in no way meant to limit the invention, its application, or uses. In an embodiment of the present invention, the memory 1032 of the electronic device 1000 is configured to store instructions, where the instructions are used to control the processor 1031 to operate to execute any method for preventing interference during combined operation of multiple TOF cameras provided by the embodiment of the present invention. It will be appreciated by those skilled in the art that although a plurality of means are shown for the electronic device 1000 in fig. 1, the present invention may relate to only some of the means therein, for example, the electronic device 1000 may relate to only the processor 1031 and the memory 1032. The skilled person can design the instructions according to the disclosed solution. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.

< method examples >

Before describing the method for preventing interference in combined operation of a plurality of TOF cameras provided by the embodiments of the present specification, the operation principle of the TOF cameras and how interference occurs between the TOF cameras will be described.

As shown in fig. 2, which is a working schematic diagram of a TOF camera, the TOF camera mainly consists of a laser, a laser driver, a lens, a receiving system and a processing control system. And the processing control system of the TOF camera controls the laser driver to drive the laser to emit modulated light to the measured object, the TOF camera receives reflected light to the receiving system through the lens, and the depth value of the image data is calculated by the processing control system.

As shown in fig. 3, a schematic diagram of a laser timing sequence when the TOF camera is in single-machine operation, multiple laser emission operations and exposure operations are required to acquire one frame of image, when one laser emission operation and one exposure operation are completed, exposure acquisition is performed while laser emission is performed, an exposure phase SUB0 acquires light quantity as E _ s0, an exposure phase SUB1 acquires light quantity as E _ s1, an exposure phase SUB2 acquires light quantity as E _ s2, where E _ s2 is an ambient light quantity. The depth value calculation formula is as follows:

D＝(E_s1-E_s2)/(E_S0+E_s1-2＊E_s2)

however, when a plurality of TOF cameras are simultaneously operated, the TOF cameras receive laser interference from other cameras, and as shown in fig. 3, the light collected by the exposure phase SUB0 is Er _ s0 plus interference amount Es _ s0, the light collected by the exposure phase SUB1 is Er _ s1 plus Es _ s1, and the light collected by the exposure phase SUB2 is Er _ s2, wherein Er _ s2 is ambient light. The depth value calculation formula at this time is as follows:

De＝(Er_s1+s_s1-Er_s2)/(Er_s0+Es_s0+Er_s1+Es_s1-2*Er_s2)

as can be seen from the above formula, two calculated depth values are different, and there may be a relatively large difference, which may cause image distortion, and it indicates that a plurality of TOF cameras may interfere with each other when operating simultaneously.

Referring to fig. 4, an interference prevention method for combined operation of multiple TOF cameras provided in the embodiment of the present disclosure is described below. In the interference prevention method for combined work of multiple TOF cameras of the embodiment, the multiple TOF cameras are all connected by using hard wires, so that signal transmission can be realized among the TOF cameras, and the method comprises the following steps:

s102: receiving a synchronization signal when the TOF camera is in a slave device operating mode.

Specifically, each TOF camera has three operation modes, a master device operation mode, a slave device operation mode and a normal operation mode.

When the TOF camera is in the main device operation mode, the TOF camera can send synchronization signals to other TOF cameras so that the TOF camera can achieve synchronous operation. It should be noted that the TOF camera serving as the master device may perform synchronization operation together with other TOF cameras, or may transmit only a synchronization signal.

And when the TOF camera is in the slave equipment working mode, the TOF camera only receives the synchronous signal sent by the master equipment and completes synchronous work according to the synchronous signal.

When the TOF camera is in a common working mode, only a conventional image acquisition working process is carried out, synchronous signals are not sent or received, and synchronous work is also not carried out with other TOF cameras.

It should be noted that, when the TOF camera is turned on, the operation mode is already set, and the operation mode may be set by setting a button for switching the operation mode on the TOF camera, and of course, other setting manners may be provided, which is not limited herein.

Therefore, as described above, when the TOF camera is in the slave device operation mode, the TOF camera may receive a synchronization signal that enables the plurality of TOF cameras to perform synchronous operation, as shown in fig. 8, the synchronization signal may be transmitted by one of the plurality of TOF cameras, as shown in fig. 7, or the synchronization signal may be transmitted by another master device that can perform signal transmission with the TOF camera.

Optionally, after the TOF camera receives the synchronization signal, the TOF camera determines validity of the synchronization signal according to whether the frequency range, the polarity, and the maintaining time of the received synchronization signal are within a preset range, and as long as the frequency range, the polarity, and the maintaining time of the synchronization signal are within the preset range, it indicates that the received synchronization signal is valid, and synchronization operation of the TOF camera is established on the premise that the received synchronization signal is a valid signal.

Optionally, after step S102, the method further includes:

resetting the working timing sequence of the TOF camera.

Specifically, the resetting operation of the operation timing refers to that if the TOF camera is performing another work flow when receiving the synchronization signal, at this time, the ongoing work flow needs to be stopped, and the operation timing of the TOF camera is restored to the initial state to prepare for performing the synchronization with the other TOF camera.

S104: and responding to the synchronous signal, and reading a preset time delay from a memory, wherein the time delay is the time delay before single image data acquisition is executed in the current frame.

Specifically, when the synchronization signal received by the TOF camera is an effective synchronization signal, the TOF camera responds to the synchronization signal to perform an operation of reading a time delay, where the time delay refers to a time delay before the TOF camera completes single image data acquisition in a current frame image, that is, a time delay before performing a laser emission operation and an exposure operation. The time delay is set in advance and stored in the memory, and the time delay of each TOF camera is different, so that laser interference cannot be generated when a plurality of TOF cameras work synchronously.

Optionally, the time delay is calculated according to the laser emission time and the receiving time of the TOF camera of each camera, and the time delays of the TOF camera in completing multiple laser emission operations and exposure operations in one frame of image are the same.

S106: starting a predetermined time count equal to the time delay.

Specifically, after the time delay is obtained from the memory, the timing of a predetermined time is started according to the time delay, and the predetermined time is consistent with the read time delay.

specifically, after one timing is finished, the TOF camera may perform one laser light emission operation and an exposure operation in the current frame image acquisition to acquire image data of the target object.

Specifically, the current frame image can be acquired through multiple laser emission operations and exposure operations, so that the TOF camera can perform time delay reading once, perform multiple laser emission operations and exposure operations, wherein the time delay between each laser emission operation and each laser emission operation is the same, and the time delays between different TOF cameras are different, so that when multiple TOF cameras work simultaneously, mutual laser interference is not generated.

Optionally, when the operation mode of the TOF camera is the main device operation mode, the method includes:

and executing the operation of outputting the synchronous signal according to the output instruction of the synchronous signal.

Specifically, when the TOF camera is in the master device operation mode, the TOF camera may send a synchronization signal to other TOF cameras to enable the other TOF cameras to perform synchronous operation, or may perform synchronous operation with the TOF camera serving as a master device and the other TOF cameras serving as slave devices. The instruction for outputting the synchronization signal may be sent to the synchronization signal output module by a control module in the TOF camera, and the synchronization signal output module performs the sending operation of the synchronization signal. When the TOF camera is used as the main equipment to send the synchronization signal to other TOF cameras, other main control equipment does not need to be set in the whole synchronization work flow, and therefore cost can be saved.

The operation of sending the synchronization signal can also be that other equipment sends the synchronization signal to all TOF cameras, the equipment is in hard-wired connection with all TOF cameras, and the TOF cameras are also in hard-wired connection, so that signal transmission can be carried out between two parties or three parties, and the synchronous work of a plurality of TOF cameras is realized.

As shown in fig. 6, in a specific embodiment, three TOF cameras need to perform synchronous operation, the three TOF cameras may receive a synchronization signal sent by one of the TOF cameras, or receive synchronization signals sent by other main control devices, and read a preset time delay from respective memories according to the synchronization signal, for example, the preset time delay of the TOF camera 1 is 5, the preset time delay of the TOF camera 2 is 10, and the preset time delay of the TOF camera 3 is 15, then the three TOF cameras start timing equal to the time delay according to their own time delays, and perform a laser emission operation and an exposure operation after the timing is ended, so as to perform a cycle operation, and perform a laser emission operation and an exposure operation after each time delay is ended until an image acquisition operation of the synchronous operation is completed. As can be seen from fig. 6, laser interference does not occur between TOF cameras, and distortion of images acquired by the TOF cameras is avoided.

The embodiment of the disclosure provides a method for preventing interference in combined work of multiple TOF cameras, which uses a hard-wire synchronization method for multiple TOF cameras, performs hard-wire connection between multiple cameras, or performs hard-wire connection between multiple cameras and a main control device so as to perform mutual information interaction, sets a time delay for the TOF cameras according to laser emission time and receiving time of the TOF cameras, stores the time delay in a memory, receives a synchronization signal sent by a main device (which can be one TOF camera or other main control devices) when the TOF cameras are in a slave device working mode, reads a preset time delay from the memory, starts a preset time timing equal to the time delay, performs a laser emission operation and an exposure operation after the preset time timing is over, because the preset time delays of the TOF cameras are different, therefore, the time points of the TOF cameras executing the laser emission operation are different, so that laser interference cannot be generated, and each TOF camera executes multiple laser emission operations and exposure operations in each frame according to the preset time delay cycle until the image data acquisition operation of the current frame is completed. The method provided by the embodiment of the disclosure is simple to operate and good in stability, can solve the problem of mutual interference generated when a plurality of TOF cameras work synchronously from a laser layer, and avoids the occurrence of image distortion acquired by the TOF cameras.

< apparatus embodiment >

In another embodiment of the present disclosure, a TOF camera 500 is provided, please refer to fig. 5, which is a block diagram of a structure of the TOF camera 500 according to an embodiment of the present disclosure. As shown, TOF camera 300 includes: a synchronization signal input module 501, a reading module 502, a timing module 503, an acquisition module 504 and a counting module 505.

The synchronization signal input module 501 is configured to receive a synchronization signal when the TOF camera is in a slave device operating mode;

the reading module 502 is configured to read a preset time delay from a memory in response to the synchronization signal, where the time delay is a time delay before single image data acquisition is performed in a current frame;

the timing module 503 is configured to start timing at a predetermined time equal to the time delay;

the acquisition module 504 is configured to execute an operation of acquiring image data after a predetermined time is timed;

the counting module 505 is configured to count operations for performing image data acquisition.

Optionally, the TOF camera further comprises a synchronization signal output module 507, a storage module 506 and a control module 508.

The synchronization signal output module 507 is configured to, when the TOF camera is in a working mode of a main device, execute an operation of outputting a synchronization signal according to a synchronization signal output instruction sent by the control module.

The storage module 506 is configured to store a preset time delay.

The control module 508 is configured to send instructions to the modules to control the modules to perform corresponding operations.

In a specific example, the synchronization signal input module 501 and the synchronization signal output module 507 may be implemented in hardware by providing a synchronization signal input pin and a synchronization signal output pin on the TOF camera, where the synchronization signal input pin has a function of receiving a synchronization signal, the synchronization signal output pin has a function of sending a synchronization signal, and both the pins are controlled by the control module to perform corresponding operations.

< computer-readable storage Medium >

Finally, according to yet another embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of preventing interference in a joint operation of a plurality of TOF cameras according to any embodiment of the present disclosure.

Embodiments of the present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement aspects of embodiments of the disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations for embodiments of the present disclosure may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the disclosed embodiments by personalizing the custom electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of the computer-readable program instructions.

Various aspects of embodiments of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, 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/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the embodiments of the present disclosure is defined by the appended claims.

Claims

1. A method for preventing interference during combined work of a plurality of TOF cameras is characterized by comprising the following steps:

s104: responding to the synchronous signal, reading a preset time delay from a memory, wherein the time delay is the time delay before single image data acquisition is executed in the current frame image;

s106: starting a preset time timing equal to the time delay;

2. The method of claim 1, wherein after step S102, the method comprises:

and judging the validity of the synchronous signal according to whether the frequency range, the polarity and the maintaining time of the synchronous signal are within a preset range.

3. The method of claim 1, wherein after step S102, the method further comprises:

resetting the working timing sequence of the TOF camera.

4. The method of claim 1, wherein prior to step S102, the method includes setting a time delay for the TOF camera according to a laser emission time and a reception time of the TOF camera and storing in a memory.

5. The method of claim 1, wherein the operation mode of the TOF camera further comprises a master device operation mode, the method comprising:

6. The method of claim 1, wherein after step S110, the method comprises: and processing and transmitting the image data.

7. A TOF camera, comprising:

8. The TOF camera of claim 7, further comprising:

and the synchronous signal output module is used for executing the operation of outputting the synchronous signal according to the output instruction of the synchronous signal.

9. An electronic device, comprising:

a TOF camera according to any one of claims 7-8; alternatively, the first and second electrodes may be,

a processor and a memory, the memory for storing executable instructions for controlling the processor to perform the method of preventing interference in the joint operation of multiple TOF cameras according to any one of claims 1 to 6.

10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements a method of preventing interference in the joint operation of multiple TOF cameras according to any one of claims 1 to 6.