WO2020224271A1 - 基于tof相机模组的抗干扰方法及设备 - Google Patents

基于tof相机模组的抗干扰方法及设备 Download PDF

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Publication number
WO2020224271A1
WO2020224271A1 PCT/CN2019/128796 CN2019128796W WO2020224271A1 WO 2020224271 A1 WO2020224271 A1 WO 2020224271A1 CN 2019128796 W CN2019128796 W CN 2019128796W WO 2020224271 A1 WO2020224271 A1 WO 2020224271A1
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Prior art keywords
depth camera
shutter
depth
camera
search result
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French (fr)
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宋林东
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Goertek Inc
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Goertek Inc
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means

Definitions

  • the invention relates to the technical field of TOF camera ranging, in particular to an anti-interference method and equipment for a TOF camera module.
  • TOF (Time of flight) camera is a three-dimensional imaging camera. Its principle is to continuously emit light pulses, and then use the sensor to record and receive the light reflected from the surface of the object, and calculate the light pulse by multiplying time by the speed of light The round-trip distance and the depth information of the object are obtained to further obtain the depth point cloud image.
  • the current TOF camera is generally used in 360 stereo imaging or face recognition technology. Among them, a single TOF camera is difficult to form a comprehensive depth point cloud image. For this reason Multiple TOF cameras are required to cooperate to form a more accurate and comprehensive depth point cloud image. However, the simultaneous use of multiple TOF cameras in the same space scene will cause the emitted pulsed light sources to interfere with each other, resulting in the confusion of measurement data and the problem of inability to perform normal measurements. .
  • the main purpose of the present invention is to propose an anti-interference method and equipment based on TOF camera module, aiming to avoid the problem of mutual interference of pulse light sources of TOF camera module and effectively ensure the normal measurement.
  • the present invention proposes an anti-interference method based on a TOF camera module, the TOF camera module includes a first depth camera, and the anti-interference method based on the TOF camera module includes:
  • the first depth camera is controlled to start depth measurement.
  • the TOF camera module further includes a second depth camera and a third depth camera, and the step of controlling the first depth camera to start depth measurement according to the first time offset includes:
  • the third depth camera is controlled to start depth measurement.
  • the first depth camera includes a first shutter, a second shutter, and a third shutter
  • the step of controlling the first depth camera to start depth measurement according to the first time offset includes:
  • the first shutter is closed and the second shutter is opened at the same time to receive the reflected pulsed laser;
  • the first depth camera further includes an optical shutter
  • the step of opening the shutter of the first depth camera for pulse timing search includes:
  • the step of generating a first time offset for turning on the first depth camera for depth measurement according to the first search result includes:
  • the first time offset for the depth measurement performed by the first depth camera is generated according to the determined result.
  • the present invention also provides an anti-jamming device based on a TOF camera module, the TOF camera module including a first depth camera, and the anti-jamming device based on a TOF camera module including:
  • the power-on module is used to open the shutter of the first depth camera to search for pulse timing
  • a generating module configured to generate a first search result, and according to the first search result, generate a first time offset for turning on the first depth camera for depth measurement;
  • the running module is used to control the first depth camera to start depth measurement according to the first time offset.
  • the TOF camera module further includes a second depth camera and a third depth camera, and the power-on module is also used to open the shutter of the second depth camera for pulse timing search, and open the third depth camera.
  • the shutter of the depth camera performs pulse timing search
  • the generating module is further configured to generate a second search result, and according to the second search result, generate a second time offset for turning on the second depth camera for depth measurement, and generate a third search result, and According to the third search result, generating a third time offset for turning on the third depth camera for depth measurement;
  • the running module is further configured to control the second depth camera to start depth measurement according to the second time offset, and control the third depth camera to start according to the third time offset Take a depth measurement.
  • the first depth camera includes a first shutter, a second shutter, and a third shutter
  • the operating module includes a control unit for controlling the first depth camera to emit pulsed laser light and simultaneously turn on The first shutter; the pulsed laser is emitted, and the first shutter is closed and the second shutter is opened at the same time to receive the reflected pulsed laser; the second shutter is closed and the third shutter is opened to collect ambient light Data information; close the third shutter.
  • the first depth camera further includes an optical shutter
  • the control unit is further configured to control the first depth camera to turn on the optical shutter
  • the anti-jamming device based on the TOF camera module further includes: a photosensitive module for obtaining ambient light data signals, external light data signals, or pulsed laser data signals.
  • the generating module includes an analysis unit configured to analyze the first search result and determine whether the first search result contains the same data as the pulsed laser emitted by the first depth camera signal.
  • the technical scheme of the present invention uses the pulse timing search of the first depth camera to detect the characteristics of the light signal in the space environment, and generates the first search result, and generates the first search result according to whether there are interference signals that affect the measurement accuracy of the first depth camera.
  • the first time offset that is, the offset of the start time of depth measurement by the first depth camera, avoids the interference of interference signals in the space environment, and effectively guarantees the normal progress of the measurement.
  • FIG. 1 is a schematic flowchart of the first embodiment of the anti-interference method of the TOF camera module of the present invention
  • FIG. 2 is a schematic diagram of the timing of pulse timing search and depth measurement performed by the first depth camera in the anti-interference method of the TOF camera module of the present invention in FIG. 1;
  • FIG. 3 is a schematic flowchart of the second embodiment of the anti-interference method of the TOF camera module of the present invention.
  • FIG. 4 is a schematic diagram of the time of depth measurement performed by several depth cameras of the TOF camera module anti-interference method of the present invention in FIG. 3;
  • FIG. 5 is a schematic flowchart of a third embodiment of the anti-interference method for a TOF camera module of the present invention.
  • FIG. 6 is a schematic flowchart of a fourth embodiment of the anti-interference method of a TOF camera module of the present invention.
  • FIG. 7 is a schematic flowchart of the fifth embodiment of the anti-interference method of the TOF camera module of the present invention.
  • FIG. 8 is a schematic diagram of the connection structure of the anti-jamming device of the TOF camera module of the present invention.
  • the first embodiment proposed by the present invention is an anti-interference method based on a TOF camera module.
  • the TOF camera module includes a first depth camera, and the TOF camera module-based Anti-interference methods include:
  • Step S10 Turn on the shutter of the first depth camera to perform a pulse timing search to generate a first search result.
  • the first depth camera is powered on, the first depth camera enters a pulse timing search state, and the pulse timing search is
  • the pulse signal is detected by pulse filtering, pulse positioning, pulse matching and other technical means of pulse signals in the space environment to capture the target pulse signal.
  • the first depth camera emits pulsed lasers, and the first depth camera also includes the first depth camera.
  • a photosensitive element receives pulsed laser light through the first photosensitive element.
  • Step S20 According to the first search result, generate a first time offset for turning on the first depth camera for depth measurement, and use the first search result to detect the optical signal characteristics in the spatial environment, whether there is a
  • the pulse laser emitted by the depth camera has the same pulse signal. If there is no identical pulse signal, record these characteristics of the ambient light signal, and use these characteristics of the ambient light signal as the environmental background. When the first depth camera emits the pulse laser, it is helpful to The pulsed laser is distinguished and compared from the environmental background. If there is the same pulse signal, the first depth camera is turned on for depth measurement, that is, there is a period of time from the completion of the pulse timing search to the turning on of the first depth camera for depth measurement.
  • the time interval is the first time offset, and the first time offset is a variable time value automatically generated.
  • the first time offset can effectively avoid interference from other pulsed laser signals in the external environment.
  • Step S30 controlling the first depth camera to start depth measurement according to the first time offset, and after generating the first time offset, the time starting point for the first depth camera to start depth measurement can also be determined Therefore, the first depth camera can effectively avoid the interference of other pulsed laser signals in the external environment through the first time offset, and ensure the accuracy of the measurement result.
  • the technical solution of the present invention uses the pulse timing search of the first depth camera to detect the characteristics of the light signal in the spatial environment, and generates the first search result, based on whether the generated first search result has interference signals that affect the measurement accuracy of the first depth camera,
  • the first time offset is generated, that is, by offsetting the start time of the depth measurement of the first depth camera, the interference of interference signals in the space environment is avoided, and the normal measurement is effectively ensured.
  • the TOF camera module further includes a second depth camera and a third depth camera, and after step S30, it includes:
  • Step S40 Turn on the shutter of the second depth camera to perform a pulse timing search to generate a second search result.
  • the second depth camera is powered on, and the second depth camera enters a pulse timing search state.
  • the pulse timing search is Through the pulse filtering, pulse positioning, pulse matching and other technical means of pulse signals in the space environment, the pulse signal can be detected to capture the target pulse signal.
  • the second depth camera emits the same pulse laser as the first depth camera.
  • the second depth camera further includes a second photosensitive element through which the pulse laser is received.
  • Step S50 according to the second search result, generate a second time offset for turning on the second depth camera for depth measurement, and use the second search result to detect the optical signal characteristics in the space environment, whether there is a
  • the pulse laser emitted by the depth camera has the same pulse signal. If there is no same pulse signal, record these characteristics of the ambient light signal, and use these characteristics of the ambient light signal as the environmental background.
  • the second depth camera emits the pulsed laser, it is beneficial to The pulsed laser is distinguished and compared from the environmental background. If there is the same pulse signal, the second depth camera is turned on for depth measurement. That is, there is a period of time from the completion of the pulse timing search to the turning on of the second depth camera for depth measurement.
  • the time interval is the second time offset.
  • the second time offset is a variable time value that is automatically generated. The second time offset can effectively avoid the working time of the first depth camera for depth measurement. , To avoid the interference of the pulse laser signal of the first depth camera.
  • Step S60 controlling the second depth camera to start depth measurement according to the second time offset, and after generating the second time offset, the time starting point for the second depth camera to start depth measurement can also be determined. Therefore, the second depth camera can effectively avoid the interference of the pulsed laser signal of the first depth camera through the second time offset, and ensure the accuracy of the measurement result.
  • Step S70 Turn on the shutter of the third depth camera to perform a pulse timing search, and generate a third search result.
  • the third depth camera is powered on, and the third depth camera enters a pulse timing search state.
  • the pulse timing search is Through the pulse filtering, pulse positioning, pulse matching and other technical means of the pulse signal in the space environment, the pulse signal is detected to capture the target pulse signal.
  • the third depth camera emits the first depth camera and the second depth camera. With the same pulsed laser, the third depth camera further includes a third photosensitive element, which receives the pulsed laser through the third photosensitive element.
  • the first photosensitive element, the second photosensitive element and the third photosensitive element are all light sensors.
  • a third time offset for turning on the third depth camera for depth measurement is generated, and the third search result is used to detect the optical signal characteristics in the space environment, whether there is a
  • the depth camera and the second depth camera emit the same pulse signal of the pulsed laser. If there is no same pulse signal, record the characteristics of these ambient light signals, and use these characteristics of the ambient light signal as the environmental background.
  • the third depth camera emits the pulsed laser It is helpful to distinguish and compare the pulsed laser from the environmental background. If there is the same pulse signal, the third depth camera will be delayed for depth measurement, that is, there is a period from the completion of the pulse timing search to the third depth camera for depth measurement.
  • Time interval This time interval is the third time offset.
  • the third time offset is a variable time value automatically generated. The third time offset can effectively avoid the first depth camera and The working time of the second depth camera for depth measurement avoids the interference of the pulsed laser signals of the first depth camera and the second depth camera.
  • step S90 the third depth camera is controlled to start depth measurement according to the third time offset. After the third time offset is generated, the time starting point for the third depth camera to start depth measurement can also be determined. Therefore, the third depth camera can effectively avoid the interference of the pulsed laser signals of the first depth camera and the second depth camera through the third time offset, and ensure the accuracy of the measurement result.
  • the protection scheme of the present invention is not limited to three depth cameras.
  • the pulsed laser emission has a certain periodic time interval.
  • the time for depth measurement is exactly the use of periodicity.
  • the time interval for each depth camera to work that is, the time interval for emitting pulsed laser is 10000ns, the unit is nanosecond, and the time for depth measurement is 100ns, which shows that the time interval for emitting pulsed laser can be fully utilized
  • the mutual interference of depth cameras is effectively avoided.
  • the present invention adopts the automatic generation of time offset to determine the working time of the next depth camera. Therefore, the present invention can automatically generate the starting point for depth measurement, avoiding the working time of the depth camera.
  • the first depth camera includes a first shutter, a second shutter, and a third shutter
  • step S30 includes:
  • Step S301 Control the first depth camera to emit pulsed laser light and open the first shutter at the same time.
  • the opening time of the first shutter, the second shutter, and the third shutter is generally within a few nanoseconds.
  • the depth camera has a first emitting unit that emits pulsed laser light and a first photosensitive element that receives pulsed laser light. When the first emitting unit emits pulsed laser light, the first shutter is opened to ensure that the first photosensitive element can receive all reflected pulsed laser light in time. .
  • Step S302 After the pulse laser is emitted, the first shutter is closed and the second shutter is opened, receiving the reflected pulse laser, opening the second shutter, and continuing to receive the reflected pulse laser, and after receiving the reflected pulse laser , Close the second shutter at a certain time interval, it can be seen that the time period for receiving the reflected pulsed laser is within the time period from opening the first shutter to closing the second shutter, so as to quickly distinguish the time for receiving the reflected pulsed laser Starting point.
  • step S303 the second shutter is closed and the third shutter is opened to collect environmental illumination data information.
  • the environmental illumination data information is collected, which is convenient for further determining the optical signal characteristics of the space environment and effectively reduces the pulse laser
  • the optical signal characteristics are distinguished from the optical signal characteristics of the space environment.
  • step S304 the third shutter is closed, so far the first depth camera completes the depth measurement work.
  • the second depth camera and the third depth camera have the same structural components as the first depth camera, wherein the second depth camera has a second emitting unit that emits pulsed laser light and a second photosensitive element that receives pulsed laser light.
  • the second depth camera also includes a fourth shutter, a fifth shutter, and a sixth shutter.
  • the step of starting the depth measurement by the second depth camera includes: controlling the second depth camera to emit a pulsed laser while opening the fourth shutter; the pulsed laser is emitted. , Simultaneously closing the fourth shutter and opening the fifth shutter, the second photosensitive element receives the reflected pulsed laser; closing the fifth shutter and opening the sixth shutter to collect ambient light data signals; closing the sixth shutter.
  • the third depth camera has a third emitting unit that emits pulsed laser light and a third photosensitive element that receives pulsed laser light.
  • the third depth camera also includes a seventh shutter, an eighth shutter, and a ninth shutter.
  • the third depth camera The measurement steps include: controlling the third depth camera to emit pulsed laser light and opening the seventh shutter at the same time; after emitting the pulsed laser light, close the seventh shutter and open the eighth shutter at the same time, and the third photosensitive element receives the reflected pulsed laser light; Eight shutters and open the ninth shutter to collect ambient light data signals; close the ninth shutter.
  • the first depth camera further includes an optical shutter
  • step S10 includes:
  • Step S101 controlling the first depth camera to turn on the optical shutter.
  • the first depth camera is powered on and the optical shutter is turned on.
  • the opening time of the optical shutter is about 1 second, which is longer than the first shutter, second shutter, or The opening time of the third shutter at the nanosecond level facilitates timely and comprehensive acquisition of external light data.
  • Step S102 Obtain an external light data signal.
  • the first depth camera includes a first photosensitive element that receives pulsed laser light, and the first photosensitive element receives an external light data signal, where the external light data signal includes light wavelength and light intensity, etc. Numerical value.
  • both the second depth camera and the third depth camera have optical shutters.
  • the optical shutter of the second depth camera is turned on, and the second photosensitive element obtains external light data signals;
  • the third depth camera When the pulse timing search is performed, the optical shutter of the third depth camera is opened, and the third photosensitive element obtains the external light data signal.
  • step S20 includes:
  • Step S201 Analyze the first search result, specifically, the external illumination data signal matches the pulsed laser information of the first depth camera, so as to determine whether there is an interference signal in the external illumination data signal.
  • Step S202 Determine whether the first search result has the same data signal as the pulse laser emitted by the first depth camera. If there is no same data signal, generate a first time offset, that is, determine the first depth camera The starting time for depth measurement. If there is the same data signal, another first time offset is generated, after the same data signal is dissipated in the space environment, the first depth camera is turned on for depth measurement, thereby avoiding The interference of the same data signal is turned on to ensure the normal progress of the measurement.
  • Step S203 Generate a first time offset for depth measurement performed by the first depth camera according to the determined result. After the first time offset is generated, the time starting point for the first depth camera to start depth measurement can also be determined. Therefore, the first depth camera can effectively avoid the interference of the same data signal in the external environment through the first time offset, and ensure the accuracy of the measurement result.
  • the present invention also provides an anti-jamming device based on a TOF camera module, the TOF camera module includes a first depth camera, and the anti-jamming device based on a TOF camera module includes:
  • the power-on module 110 is used to open the shutter of the first depth camera to perform a pulse timing search.
  • the power-on module 110 powers on the first depth camera, and the first depth camera enters a pulse timing search state.
  • the pulse timing search is based on a spatial environment In order to capture the target pulse signal, the pulse signal in the pulse signal is subjected to pulse screening, pulse positioning, pulse matching and other technical means to realize the detection of the pulse signal to capture the target pulse signal.
  • the first depth camera emits pulsed laser, and the first depth camera also includes a first photosensitive element. The pulse laser is received through the first photosensitive element.
  • the generating module 120 is configured to generate a first search result, and according to the first search result, generate a first time offset for turning on the first depth camera for depth measurement, and use the first search result to detect the spatial environment
  • the optical signal characteristics of the first depth camera whether there is the same pulse signal as the pulse laser emitted by the first depth camera, if there is no same pulse signal, record these environmental light signal characteristics, and use these environmental light signal characteristics as the environmental background. When the depth camera emits a pulsed laser, it is helpful to distinguish the pulsed laser from the environmental background. If there is the same pulse signal, the first depth camera will be turned on for depth measurement, that is, from the completion of the pulse sequence search to the turn on of the first depth camera There is a time interval for depth measurement. This time interval is the first time offset.
  • the first time offset is a variable time value automatically generated. The first time offset can effectively avoid the outside world. Interference from other pulsed laser signals in the environment.
  • the running module 130 is configured to control the first depth camera to start depth measurement according to the first time offset. After the first time offset is generated, the time starting point for the first depth camera to start depth measurement can also be It is determined that the first depth camera can effectively avoid the interference of other pulsed laser signals in the external environment through the first time offset, and ensure the accuracy of the measurement result.
  • the first depth camera After the first depth camera is powered on through the power-on module 110, the first depth camera enters the pulse sequence search state, generates the first search result, detects the light signal characteristics in the space environment, and the generating module 120 according to the first search result Whether there are interference signals that affect the accuracy of the first depth camera's measurement, generate the first time offset, that is, avoid the interference of interference signals in the space environment by offsetting the start time of the first depth camera's depth measurement , The running module 130 further controls the first depth camera to effectively ensure the normal measurement.
  • the TOF camera module further includes a second depth camera and a third depth camera
  • the power-on module 110 is also used to open the shutter of the second depth camera for pulse timing search, and open the third depth camera.
  • the shutter of the camera performs a pulse timing search
  • the power-on module 110 respectively powers the second depth camera and the third depth camera, and the second depth camera and the third depth camera enter the pulse timing search state respectively.
  • the generating module 120 is further configured to generate a second search result, and according to the second search result, generate a second time offset for turning on the second depth camera for depth measurement, and generate a third search result, and According to the third search result, generating a third time offset for turning on the third depth camera for depth measurement;
  • the running module 130 is further configured to control the second depth camera to start depth measurement according to the second time offset, and control the third depth camera to start according to the third time offset Take a depth measurement.
  • the TOF camera module includes not only a first depth camera, a second depth camera, and a third depth camera.
  • the pulse laser emission has a certain periodic time interval, and the time for depth measurement is exactly The use of periodic time intervals, for example, the time interval for each depth camera to work, that is, the time interval for emitting pulsed laser is 10000ns, the unit is nanosecond, and the time for depth measurement is 100ns, so it can be seen that the emission pulse is fully utilized Based on the time interval of the laser, it can accommodate 100 depth cameras for measurement and effectively avoid the mutual interference of depth cameras.
  • the first depth camera further includes a first shutter, a second shutter, and a third shutter.
  • the operating module 130 includes a control unit 131 for controlling the first depth camera to emit pulsed laser light. , And the first shutter is opened at the same time.
  • the first depth camera has a first emitting unit (not shown) that emits pulsed laser light and a first photosensitive element (not shown) that receives pulsed laser light. The first emitting unit emits pulsed laser light.
  • the period of receiving the reflected pulsed laser is from the opening of the first shutter to Within the time period when the second shutter is closed, so as to quickly distinguish the time starting point of receiving the reflected pulse laser; control to close the second shutter and open the third shutter, collect ambient light data information, and open the third shutter, Collect environmental lighting data information to facilitate further determination of the optical signal characteristics of the space environment, and effectively distinguish the optical signal characteristics of the pulsed laser from the optical signal characteristics of the space environment; control to close the third shutter, so far the first depth camera completes the depth Measuring work.
  • the first depth camera further includes an optical shutter
  • the control unit 131 is further configured to control the first depth camera to turn on the optical shutter.
  • the anti-jamming device based on the TOF camera module also includes: a photosensitive module 140, which is used to obtain ambient light data information, external light data signals, and pulsed laser data signals, and the photosensitive module 140 is a type of light receiving signal sensor.
  • the generating module 120 includes an analysis unit 121 configured to analyze the first search result and determine whether the first search result has the same pulse laser as the pulse laser emitted by the first depth camera. Match the external light data signal and the pulse laser information of the first depth camera to determine whether there is an interference signal in the external light data signal.
  • the present invention also provides an anti-jamming device based on the TOF camera module.
  • the anti-jamming device based on the TOF camera module includes: a memory, a processor, and a storage device that is stored on the memory and can run on the processor.
  • the anti-jamming program based on the TOF camera module; the anti-jamming device based on the TOF camera module calls the anti-jamming program based on the TOF camera module stored in the memory through the processor, and performs the following operations:
  • the first depth camera is controlled to start depth measurement.
  • the TOF camera module further includes a second depth camera and a third depth camera
  • the processor calls an anti-jamming program based on the TOF camera module stored in the memory, and also performs the following operations:
  • the third depth camera is controlled to start depth measurement.
  • the first depth camera includes a first shutter, a second shutter, and a third shutter
  • the processor invokes an anti-interference program based on the TOF camera module stored in the memory, and also performs the following operations:
  • the first shutter is closed and the second shutter is opened at the same time to receive the reflected pulsed laser;
  • the first depth camera further includes an optical shutter
  • the processor calls an anti-jamming program based on the TOF camera module stored in the memory, and also performs the following operations:
  • the processor calls the anti-jamming program based on the TOF camera module stored in the memory, and also performs the following operations:
  • the first time offset for the depth measurement performed by the first depth camera is generated according to the determined result.
  • the technical solution of the present invention generates a first search result through the pulse timing search of the first depth camera, detects the light signal characteristics in the space environment, and generates the first search result according to whether there are interference signals that affect the measurement accuracy of the first depth camera
  • the first time offset that is, the offset of the start time of depth measurement by the first depth camera, avoids the interference of interference signals in the space environment, and effectively guarantees the normal progress of the measurement.
  • the present invention also provides a computer-readable storage medium that stores an anti-jamming program based on the TOF camera module, and the anti-jamming program based on the TOF camera module can be one or one
  • the above processor is executed for:
  • the first depth camera is controlled to start depth measurement.
  • the TOF camera module further includes a second depth camera and a third depth camera
  • the TOF camera module anti-jamming program is executed by the processor and further implements the following operations:
  • the third depth camera is controlled to start depth measurement.
  • the first depth camera includes a first shutter, a second shutter, and a third shutter, and the following operations are also implemented when the anti-interference program based on the TOF camera module is executed by the processor:
  • the first shutter is closed and the second shutter is opened at the same time to receive the reflected pulsed laser;
  • the first depth camera further includes an optical shutter, and the following operations are also implemented when the anti-interference program based on the TOF camera module is executed by the processor:
  • the first time offset for the depth measurement performed by the first depth camera is generated according to the determined result.
  • the technical solution of the present invention generates a first search result through the pulse timing search of the first depth camera, detects the light signal characteristics in the space environment, and generates the first search result according to whether there are interference signals that affect the measurement accuracy of the first depth camera
  • the first time offset that is, the offset of the start time of depth measurement by the first depth camera, avoids the interference of interference signals in the space environment, and effectively guarantees the normal progress of the measurement.
  • the technical solution of the present invention essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , Magnetic disk, optical disk), including several instructions to make a terminal device (can be a mobile phone, computer, server, or network device, etc.) execute the method described in each embodiment of the present invention.

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  • Length Measuring Devices By Optical Means (AREA)

Abstract

一种基于TOF相机模组的抗干扰方法及设备， TOF相机模组包括第一深度相机，其中基于TOF相机模组的抗干扰方法步骤包括：开启第一深度相机的快门进行脉冲时序搜索，生成第一搜索结果（S10）；依据第一搜索结果，生成开启第一深度相机进行深度测量的第一时间偏移量（S20）；依据第一时间偏移量，开始进行深度测量（S30）。能够避免TOF相机模组的脉冲光源相互干扰，有效保证测量的正常进行。

Description

基于TOF相机模组的抗干扰方法及设备 技术领域
本发明涉及TOF相机测距技术领域，特别涉及一种TOF相机模组的抗干扰方法及设备。
背景技术
TOF(Time of flight，飞行时间测距法)相机是一种三维成像相机，其原理是连续发射光脉冲，然后通过传感器记录接收从物体表面反射回的光，通过时间乘以光速计算光脉冲的往返距离，并得出物体的深度信息，进一步得到深度点云图，目前的TOF相机一般用于360的立体成像或人脸识别技术中，这其中单一TOF相机难以形成全面的深度点云图，为此需要多个TOF相机配合能够形成更加准确全面的深度点云图，但是多个TOF相机在同一空间场景下同时使用，会造成发射的脉冲光源相互干扰，导致测量数据的错乱，无法进行正常测量的问题。
发明内容
本发明的主要目的是提出一种基于TOF相机模组的抗干扰方法及设备，旨在避免TOF相机模组的脉冲光源相互干扰的问题，有效保证测量的正常进行。
为实现上述目的，本发明提出的一种基于TOF相机模组的抗干扰方法，所述TOF相机模组包括第一深度相机，所述基于TOF相机模组的抗干扰方法包括：
开启所述第一深度相机的快门进行脉冲时序搜索，生成第一搜索结果；
依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量；
依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量。
可选地，所述TOF相机模组还包括第二深度相机和第三深度相机，所述依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量的步骤 之后包括：
开启所述第二深度相机的快门进行脉冲时序搜索，生成第二搜索结果；
依据所述第二搜索结果，生成开启所述第二深度相机进行深度测量的第二时间偏移量；
依据所述第二时间偏移量，控制所述第二深度相机开始进行深度测量；
开启所述第三深度相机的快门进行脉冲时序搜索，生成第三搜索结果；
依据所述第三搜索结果，生成开启所述第三深度相机进行深度测量的第三时间偏移量；
依据所述第三时间偏移量，控制所述第三深度相机开始进行深度测量。
可选地，所述第一深度相机包括第一快门、第二快门和第三快门，所述依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量的步骤包括：
控制所述第一深度相机发射脉冲激光，同时开启所述第一快门；
发射完毕脉冲激光，同时关闭所述第一快门并开启所述第二快门，接收反射的脉冲激光；
关闭所述第二快门并开启所述第三快门，采集环境光照数据信息；
关闭所述第三快门。
可选地，所述第一深度相机还包括光学快门，所述开启所述第一深度相机的快门进行脉冲时序搜索的步骤包括：
控制所述第一深度相机开启所述光学快门；
获取外部光照数据信号。
可选地，所述依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量的步骤包括：
分析所述第一搜索结果；
确定所述第一搜索结果中是否具有与所述第一深度相机发射的脉冲激光相同的数据信号；
依据确定的结果生成所述第一深度相机进行深度测量的第一时间偏移量。
此外，为了实现上述目的，本发明还提供一种基于TOF相机模组的抗干扰设备，所述TOF相机模组包括第一深度相机，所述基于TOF相机模组的抗干扰设备包括：
通电模块，用于开启所述第一深度相机的快门进行脉冲时序搜索；
生成模块，用于生成第一搜索结果，并依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量；
运行模块，用于依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量。
可选地，所述TOF相机模组还包括第二深度相机和第三深度相机，所述通电模块，还用于开启所述第二深度相机的快门进行脉冲时序搜索，以及开启所述第三深度相机的快门进行脉冲时序搜索；
所述生成模块，还用于生成第二搜索结果，并依据所述第二搜索结果，生成开启所述第二深度相机进行深度测量的第二时间偏移量，以及生成第三搜索结果，并依据所述第三搜索结果，生成开启所述第三深度相机进行深度测量的第三时间偏移量；
所述运行模块，还用于依据所述第二时间偏移量，控制所述第二深度相机开始进行深度测量，以及，依据所述第三时间偏移量，控制所述第三深度相机开始进行深度测量。
可选地，所述第一深度相机包括第一快门、第二快门和第三快门，所述运行模块包括控制单元，所述控制单元用于控制所述第一深度相机发射脉冲激光，同时开启所述第一快门；发射完毕脉冲激光，同时控制关闭所述第一快门并开启所述第二快门，接收反射的脉冲激光；关闭所述第二快门并开启所述第三快门，采集环境光照数据信息；关闭所述第三快门。
可选地，所述第一深度相机还包括光学快门，所述控制单元还用于控制所述第一深度相机开启所述光学快门；
所述基于TOF相机模组的抗干扰设备还包括：感光模块，所述感光模块用于获取环境光数据信号、外部光照数据信号或脉冲激光数据信号。
可选地，所述生成模块包括分析单元，所述分析单元用于分析所述第一搜索结果，确定所述第一搜索结果中是否具有与所述第一深度相机发射的脉冲激光相同的数据信号。
本发明技术方案通过第一深度相机的脉冲时序搜索，检测空间环境中的光信号特征，生成第一搜索结果，依据第一搜索结果中是否具有影响第一深度相机测量准确性的干扰信号，生成第一时间偏移量，即通过对第一深度相 机进行深度测量的起始时间的偏移，避开空间环境中干扰信号的干扰，有效保证测量的正常进行。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明TOF相机模组抗干扰方法的第一实施例流程示意图；
图2为图1中本发明TOF相机模组抗干扰方法中第一深度相机进行脉冲时序搜索和深度测量工作的时间示意图；
图3为本发明TOF相机模组抗干扰方法的第二实施例流程示意图；
图4为图3中本发明TOF相机模组抗干扰方法的若干深度相机进行深度测量的时间示意图；
图5为本发明TOF相机模组抗干扰方法的第三实施例流程示意图；
图6为本发明TOF相机模组抗干扰方法的第四实施例流程示意图；
图7为本发明TOF相机模组抗干扰方法的第五实施例流程示意图；
图8为本发明TOF相机模组抗干扰设备的连接结构示意图。
附图标号说明：
标号 名称 标号 名称
110 通电模块 130 运行模块
120 生成模块 131 控制单元
121 分析单元 140 感光模块
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参阅图1和图2所示，本发明提出的第一实施例，一种基于TOF相机模组的抗干扰方法，所述TOF相机模组包括第一深度相机，所述基于TOF相机模组的抗干扰方法包括：
步骤S10，开启所述第一深度相机的快门进行脉冲时序搜索，生成第一搜索结果，具体地，第一深度相机接通电源，第一深度相机进入脉冲时序搜索状态，所述脉冲时序搜索是通过对空间环境中的脉冲信号进行脉冲筛选、脉冲定位、脉冲匹配等技术手段实现对脉冲信号的检测，以捕捉目标脉冲信号，第一深度相机发射的是脉冲激光，第一深度相机还包括第一感光元件，通过第一感光元件接收脉冲激光。
步骤S20，依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量，通过第一搜索结果，检测空间环境中的光信号特征，是否有和第一深度相机发射的脉冲激光相同的脉冲信号，若没有相同的脉冲信号则记录下这些环境光信号特征，并以这些环境光信号特征为环境背景，当第一深度相机发射脉冲激光时，有利于将该脉冲激光从环境背景中区别对比出来，若有相同的脉冲信号则延迟开启第一深度相机进行深度测量，即从脉冲时序搜索完毕至开启第一深度相机进行深度测量有一段时间间隔，该段时间间隔即为第一时间偏移量，第一时间偏移量是自动生成的一个可变化的时间值，通过该第一时间偏移量能够有效避免外界环境中其他脉冲激光信号的干扰。
步骤S30，依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量，生成第一时间偏移量后，第一深度相机开始进行深度测量的时间起点同样能够确定得出，由此第一深度相机通过该第一时间偏移量能够有效避免外界环境中其他脉冲激光信号的干扰，保证测量结果的准确性。
本发明技术方案通过第一深度相机的脉冲时序搜索，检测空间环境中的光信号特征，生成第一搜索结果，依据生成第一搜索结果中是否具有影响第一深度相机测量准确性的干扰信号，生成第一时间偏移量，即通过对第一深 度相机进行深度测量的起始时间的偏移，避开空间环境中干扰信号的干扰，有效保证测量的正常进行。
进一步地，参阅图3和图4所示，基于第一实施提出本发明的第二实施例，所述TOF相机模组还包括第二深度相机和第三深度相机，步骤S30之后包括：
步骤S40，开启所述第二深度相机的快门进行脉冲时序搜索，生成第二搜索结果，具体地，第二深度相机接通电源，第二深度相机进入脉冲时序搜索状态，所述脉冲时序搜索是通过对空间环境中的脉冲信号进行脉冲筛选、脉冲定位、脉冲匹配等技术手段实现对脉冲信号的检测，以捕捉目标脉冲信号，第二深度相机发射的是和第一深度相机相同的脉冲激光，第二深度相机还包括第二感光元件，通过第二感光元件接收脉冲激光。
步骤S50，依据所述第二搜索结果，生成开启所述第二深度相机进行深度测量的第二时间偏移量，通过第二搜索结果，检测空间环境中的光信号特征，是否有和第一深度相机发射的脉冲激光相同的脉冲信号，若没有相同的脉冲信号则记录下这些环境光信号特征，并以这些环境光信号特征为环境背景，当第二深度相机发射脉冲激光时，有利于将该脉冲激光从环境背景中区别对比出来，若有相同的脉冲信号则延迟开启第二深度相机进行深度测量，即从脉冲时序搜索完毕至开启第二深度相机进行深度测量有一段时间间隔，该段时间间隔即为第二时间偏移量，第二时间偏移量是自动生成的一个可变化的时间值，通过该第二时间偏移量能够有效避开第一深度相机进行深度测量的工作时间，避免第一深度相机的脉冲激光信号的干扰。
步骤S60，依据所述第二时间偏移量，控制所述第二深度相机开始进行深度测量，生成第二时间偏移量后，第二深度相机开始进行深度测量的时间起点同样能够确定得出，由此第二深度相机通过该第二时间偏移量能够有效避免第一深度相机的脉冲激光信号的干扰，保证测量结果的准确性。
步骤S70，开启所述第三深度相机的快门进行脉冲时序搜索，生成第三搜索结果，具体地，第三深度相机接通电源，第三深度相机进入脉冲时序搜索状态，所述脉冲时序搜索是通过对空间环境中的脉冲信号进行脉冲筛选、脉冲定位、脉冲匹配等技术手段实现对脉冲信号的检测，以捕捉目标脉冲信号，第三深度相机发射的是和第一深度相机以及第二深度相机相同的脉冲激光， 第三深度相机还包括第三感光元件，通过第三感光元件接收脉冲激光，第一感光元件、第二感光元件和第三感光元件均是光传感器。
步骤S80，依据所述第三搜索结果，生成开启所述第三深度相机进行深度测量的第三时间偏移量，通过第三搜索结果，检测空间环境中的光信号特征，是否有和第一深度相机以及第二深度相机发射的脉冲激光相同的脉冲信号，若没有相同的脉冲信号则记录下这些环境光信号特征，并以这些环境光信号特征为环境背景，当第三深度相机发射脉冲激光时，有利于将该脉冲激光从环境背景中区别对比出来，若有相同的脉冲信号则延迟开启第三深度相机进行深度测量，即从脉冲时序搜索完毕至开启第三深度相机进行深度测量有一段时间间隔，该段时间间隔即为第三时间偏移量，第三时间偏移量是自动生成的一个可变化的时间值，通过该第三时间偏移量能够有效避开第一深度相机以及第二深度相机进行深度测量的工作时间，避免第一深度相机以及第二深度相机的脉冲激光信号的干扰。
步骤S90，依据所述第三时间偏移量，控制所述第三深度相机开始进行深度测量，生成第三时间偏移量后，第三深度相机开始进行深度测量的时间起点同样能够确定得出，由此第三深度相机通过该第三时间偏移量能够有效避免第一深度相机以及第二深度相机的脉冲激光信号的干扰，保证测量结果的准确性。
本发明的保护方案不仅限于三个深度相机，脉冲激光发射有一定的周期性的时间间隔，基于本发明的第一实施例和第二实施例可知，进行深度测量的时间正是利用了周期性的时间间隔，例如深度相机每次进行工作的时间间隔，即发射脉冲激光的时间间隔为10000ns，单位纳秒，而进行深度测量的时间为100ns，由此可知充分利用发射脉冲激光的时间间隔能够有效避免深度相机的相互干扰，同时本发明采用自动生成时间偏移量，来确定下一个深度相机的工作时间，本发明因此能够自动生成进行深度测量时间起点，避开深度相机的工作时间。
参阅图5所示，所述第一深度相机包括第一快门、第二快门和第三快门，步骤S30包括：
步骤S301，控制所述第一深度相机发射脉冲激光，同时开启所述第一快门，具体地，第一快门、第二快门和第三快门的开启时间一般在几个纳秒范 围内，第一深度相机具有发射脉冲激光的第一发射单元和接收脉冲激光的第一感光元件，第一发射单元发射脉冲激光的同时开启第一快门，保证第一感光元件能够及时接收到全部反射回的脉冲激光。
步骤S302，发射完毕脉冲激光，同时关闭所述第一快门并开启所述第二快门，接收反射的脉冲激光，开启第二快门，继续接收反射的脉冲激光，且在接收完毕反射的脉冲激光后，间隔一定时间间隔，再关闭第二快门，由此可知，接收反射的脉冲激光的时间段在开启第一快门至关闭第二快门的时间段之内，以便于快速区别接收反射脉冲激光的时间起始点。
步骤S303，关闭所述第二快门并开启所述第三快门，采集环境光照数据信息，通过开启第三快门，采集环境光照数据信息，便于进一步确定空间环境的光信号特征，有效将脉冲激光的光信号特征从空间环境的光信号特征中区分出来。
步骤S304，关闭所述第三快门，至此第一深度相机完成深度测量工作。
同样地，第二深度相机和第三深度相机具有和第一深度相机相同的结构部件，其中第二深度相机具有发射脉冲激光的第二发射单元和接收脉冲激光的第二感光元件，所述第二深度相机还包括第四快门、第五快门和第六快门，第二深度相机开始进行深度测量的步骤包括：控制所述第二深度相机发射脉冲激光，同时开启第四快门；发射完毕脉冲激光，同时关闭第四快门并开启第五快门，所述第二感光元件接收反射的脉冲激光；关闭第五快门并开启第六快门，以采集环境光数据信号；关闭第六快门。第三深度相机具有发射脉冲激光的第三发射单元和接收脉冲激光的第三感光元件，所述第三深度相机还包括第七快门、第八快门和第九快门，第三深度相机开始进行深度测量的步骤包括：控制所述第三深度相机发射脉冲激光，同时开启第七快门；发射完毕脉冲激光，同时关闭第七快门并开启第八快门，第三感光元件接收反射的脉冲激光；关闭第八快门并开启第九快门，以采集环境光数据信号；关闭第九快门。
参阅图6所示，所述第一深度相机还包括光学快门，步骤S10包括：
步骤S101，控制所述第一深度相机开启所述光学快门具体地，第一深度相机接通电源，光学快门开启，一般光学快门的开启时间在1秒左右，大于第一快门、第二快门或第三快门纳秒级别的开启时间，便于及时全面的获取 外部光照数据。
步骤S102，获取外部光照数据信号，具体地，所述第一深度相机包括接收脉冲激光的第一感光元件，第一感光元件接收外部光照数据信号，其中外部光照数据信号包括光照波长和光照强度等数值。
同样可知，第二深度相机和第三深度相机均具有光学快门，第二深度相机进行脉冲时序搜索时，开启第二深度相机的光学快门，第二感光元件获取外部光照数据信号；第三深度相机进行脉冲时序搜索时，开启第三深度相机的光学快门，第三感光元件获取外部光照数据信号。
进一步地，参阅图7所示，步骤S20包括：
步骤S201，分析所述第一搜索结果，具体地，外部光照数据信号和第一深度相机的脉冲激光信息相匹配，以便确定外部光照数据信号中是否有干扰信号。
步骤S202，确定所述第一搜索结果中是否具有与所述第一深度相机发射的脉冲激光相同的数据信号，若没有相同数据信号，生成一个第一时间偏移量，即确定第一深度相机开始进行深度测量的起始时间，若有相同数据信号，则生成另一个第一时间偏移量，使相同数据信号在空间环境中消散后，再开启第一深度相机进行深度测量，由此避开了该相同数据信号的干扰，保证测量的正常进行。
步骤S203，依据确定的结果生成所述第一深度相机进行深度测量的第一时间偏移量，生成第一时间偏移量后，第一深度相机开始进行深度测量的时间起点同样能够确定得出，由此第一深度相机通过该第一时间偏移量能够有效避免外界环境中相同数据信号的干扰，保证测量结果的准确性。
参阅图8所示，本发明还提供一种基于TOF相机模组的抗干扰设备，所述TOF相机模组包括第一深度相机，所述基于TOF相机模组的抗干扰设备包括：
通电模块110，用于开启所述第一深度相机的快门进行脉冲时序搜索，通电模块110给第一深度相机通电，第一深度相机进入脉冲时序搜索状态，所述脉冲时序搜索是通过对空间环境中的脉冲信号进行脉冲筛选、脉冲定位、脉冲匹配等技术手段实现对脉冲信号的检测，以捕捉目标脉冲信号，第一深度相机发射的是脉冲激光，第一深度相机还包括第一感光元件，通过第一感 光元件接收脉冲激光。
生成模块120，用于生成第一搜索结果，并依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量，通过第一搜索结果，检测空间环境中的光信号特征，是否有和第一深度相机发射的脉冲激光相同的脉冲信号，若没有相同的脉冲信号则记录下这些环境光信号特征，并以这些环境光信号特征为环境背景，当第一深度相机发射脉冲激光时，有利于将该脉冲激光从环境背景中区别对比出来，若有相同的脉冲信号则延迟开启第一深度相机进行深度测量，即从脉冲时序搜索完毕至开启第一深度相机进行深度测量有一段时间间隔，该段时间间隔即为第一时间偏移量，第一时间偏移量是自动生成的一个可变化的时间值，通过该第一时间偏移量能够有效避免外界环境中其他脉冲激光信号的干扰。
运行模块130，用于依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量，生成第一时间偏移量后，第一深度相机开始进行深度测量的时间起点同样能够确定得出，由此第一深度相机通过该第一时间偏移量能够有效避免外界环境中其他脉冲激光信号的干扰，保证测量结果的准确性。
本发明技术方案通过通电模块110对第一深度相机进行通电后，第一深度相机进入脉冲时序搜索状态，生成第一搜索结果，检测空间环境中的光信号特征，生成模块120依据第一搜索结果中是否具有影响第一深度相机测量准确性的干扰信号，生成第一时间偏移量，即通过对第一深度相机进行深度测量的起始时间的偏移，避开空间环境中干扰信号的干扰，运行模块130进一步控制第一深度相机，有效保证测量的正常进行。
进一步地，所述TOF相机模组还包括第二深度相机和第三深度相机，所述通电模块110还用于开启所述第二深度相机的快门进行脉冲时序搜索，以及开启所述第三深度相机的快门进行脉冲时序搜索，通电模块110分别给第二深度相机和第三深度相机通电，第二深度相机和第三深度相机分别进入脉冲时序搜索状态。
所述生成模块120还用于生成第二搜索结果，并依据所述第二搜索结果，生成开启所述第二深度相机进行深度测量的第二时间偏移量，以及生成第三搜索结果，并依据所述第三搜索结果，生成开启所述第三深度相机进行深度测量的第三时间偏移量；
所述运行模块130还用于依据所述第二时间偏移量，控制所述第二深度相机开始进行深度测量，以及，依据所述第三时间偏移量，控制所述第三深度相机开始进行深度测量。
由此可以理解的是，所述TOF相机模组不仅仅包括第一深度相机、第二深度相机和第三深度相机，脉冲激光发射有一定的周期性的时间间隔，进行深度测量的时间正是利用了周期性的时间间隔，例如深度相机每次进行工作的时间间隔，即发射脉冲激光的时间间隔为10000ns，单位纳秒，而进行深度测量的时间为100ns，由此可知在充分利用发射脉冲激光的时间间隔基础上，能够容纳100台深度相机进行测量，且有效避免深度相机的相互干扰。
进一步地，所述第一深度相机还包括第一快门、第二快门和第三快门，所述运行模块130包括控制单元131，所述控制单元131用于控制所述第一深度相机发射脉冲激光，同时开启所述第一快门，第一深度相机具有发射脉冲激光的第一发射单元(图未示)和接收脉冲激光的第一感光元件(图未示)，第一发射单元发射脉冲激光的同时开启第一快门，保证第一感光元件能够及时接收到全部反射回的脉冲激光；发射完毕脉冲激光，同时控制关闭所述第一快门并开启所述第二快门，接收反射的脉冲激光，开启第二快门，继续接收反射的脉冲激光，且在接收完毕反射的脉冲激光后，间隔一定时间间隔，再关闭第二快门，由此可知，接收反射的脉冲激光的时间段在开启第一快门至关闭第二快门的时间段之内，以便于快速区别接收反射脉冲激光的时间起始点；控制关闭所述第二快门并开启所述第三快门，采集环境光照数据信息，通过开启第三快门，采集环境光照数据信息，便于进一步确定空间环境的光信号特征，有效将脉冲激光的光信号特征从空间环境的光信号特征中区分出来；控制关闭所述第三快门，至此第一深度相机完成深度测量工作。
进一步地，第一深度相机还包括光学快门，控制单元131还用于控制所述第一深度相机开启光学快门。
基于TOF相机模组的抗干扰设备还包括：感光模块140，所述感光模块140用于获取环境光照数据信息、外部光照数据信号以及脉冲激光的数据信号，感光模块140是一种接收光照信号的传感器。进一步地，所述生成模块120包括分析单元121，所述分析单元121用于分析所述第一搜索结果，确定所述第一搜索结果中是否具有与所述第一深度相机发射的脉冲激光相同的数据信 号，对外部光照数据信号和第一深度相机的脉冲激光信息相匹配，以便确定外部光照数据信号中是否有干扰信号。
本发明还提供一种基于TOF相机模组的抗干扰设备，所述基于TOF相机模组的抗干扰设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的基于TOF相机模组的抗干扰程序；所述基于TOF相机模组的抗干扰设备通过处理器调用存储器中存储的基于TOF相机模组的抗干扰程序，并执行以下操作：
开启所述第一深度相机的快门进行脉冲时序搜索，生成第一搜索结果；
依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量；
依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量。
进一步地，所述TOF相机模组还包括第二深度相机和第三深度相机，处理器调用存储器中存储的基于TOF相机模组的抗干扰程序，还执行以下操作：
开启所述第二深度相机的快门进行脉冲时序搜索，生成第二搜索结果；
依据所述第二搜索结果，生成开启所述第二深度相机进行深度测量的第二时间偏移量；
依据所述第二时间偏移量，控制所述第二深度相机开始进行深度测量；
开启所述第三深度相机的快门进行脉冲时序搜索，生成第三搜索结果；
依据所述第三搜索结果，生成开启所述第三深度相机进行深度测量的第三时间偏移量；
依据所述第三时间偏移量，控制所述第三深度相机开始进行深度测量。
进一步地，所述第一深度相机包括第一快门、第二快门和第三快门，处理器调用存储器中存储的基于TOF相机模组的抗干扰程序，还执行以下操作：
控制所述第一深度相机发射脉冲激光，同时开启所述第一快门；
发射完毕脉冲激光，同时关闭所述第一快门并开启所述第二快门，接收反射的脉冲激光；
关闭所述第二快门并开启所述第三快门，采集环境光照数据信息；
关闭所述第三快门。
进一步地，所述第一深度相机还包括光学快门，处理器调用存储器中存储的基于TOF相机模组的抗干扰程序，还执行以下操作：
控制所述第一深度相机开启所述光学快门；
获取外部光照数据信号。
进一步地，处理器调用存储器中存储的基于TOF相机模组的抗干扰程序，还执行以下操作：
分析所述第一搜索结果；
确定所述第一搜索结果中是否具有与所述第一深度相机发射的脉冲激光相同的数据信号；
依据确定的结果生成所述第一深度相机进行深度测量的第一时间偏移量。
本发明技术方案通过第一深度相机的脉冲时序搜索，生成第一搜索结果，检测空间环境中的光信号特征，依据第一搜索结果中是否具有影响第一深度相机测量准确性的干扰信号，生成第一时间偏移量，即通过对第一深度相机进行深度测量的起始时间的偏移，避开空间环境中干扰信号的干扰，有效保证测量的正常进行。
此外，本发明还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有基于TOF相机模组的抗干扰程序，所述基于TOF相机模组的抗干扰程序可被一个或者一个以上处理器执行以用于：
开启所述第一深度相机的快门进行脉冲时序搜索，生成第一搜索结果；
依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量；
依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量。
进一步地，所述TOF相机模组还包括第二深度相机和第三深度相机，所述TOF相机模组抗干扰程序被处理器执行时还实现如下操作：
开启所述第二深度相机的快门进行脉冲时序搜索，生成第二搜索结果；
依据所述第二搜索结果，生成开启所述第二深度相机进行深度测量的第二时间偏移量；
依据所述第二时间偏移量，控制所述第二深度相机开始进行深度测量；
开启所述第三深度相机的快门进行脉冲时序搜索，生成第三搜索结果；
依据所述第三搜索结果，生成开启所述第三深度相机进行深度测量的第三时间偏移量；
依据所述第三时间偏移量，控制所述第三深度相机开始进行深度测量。
进一步地，所述第一深度相机包括第一快门、第二快门和第三快门，所述基于TOF相机模组的抗干扰程序被处理器执行时还实现如下操作：
控制所述第一深度相机发射脉冲激光，同时开启所述第一快门；
发射完毕脉冲激光，同时关闭所述第一快门并开启所述第二快门，接收反射的脉冲激光；
关闭所述第二快门并开启所述第三快门，采集环境光照数据信息；
关闭所述第三快门。
进一步地，所述第一深度相机还包括光学快门，所述基于TOF相机模组的抗干扰程序被处理器执行时还实现如下操作：
控制所述第一深度相机开启所述光学快门；
获取外部光照数据信号。
进一步地，所述基于TOF相机模组的抗干扰程序被处理器执行时还实现如下操作：
分析所述第一搜索结果；
确定所述第一搜索结果中是否具有与所述第一深度相机发射的脉冲激光相同的数据信号；
依据确定的结果生成所述第一深度相机进行深度测量的第一时间偏移量。
本发明技术方案通过第一深度相机的脉冲时序搜索，生成第一搜索结果，检测空间环境中的光信号特征，依据第一搜索结果中是否具有影响第一深度相机测量准确性的干扰信号，生成第一时间偏移量，即通过对第一深度相机进行深度测量的起始时间的偏移，避开空间环境中干扰信号的干扰，有效保证测量的正常进行。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述 实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种基于TOF相机模组的抗干扰方法，其特征在于，所述TOF相机模组包括第一深度相机，所述基于TOF相机模组的抗干扰方法包括：
    开启所述第一深度相机的快门进行脉冲时序搜索，生成第一搜索结果；
    依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量；
    依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量。
  2. 如权利要求1所述的基于TOF相机模组的抗干扰方法，其特征在于，所述TOF相机模组还包括第二深度相机和第三深度相机，所述依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量的步骤之后包括：
    开启所述第二深度相机的快门进行脉冲时序搜索，生成第二搜索结果；
    依据所述第二搜索结果，生成开启所述第二深度相机进行深度测量的第二时间偏移量；
    依据所述第二时间偏移量，控制所述第二深度相机开始进行深度测量；
    开启所述第三深度相机的快门进行脉冲时序搜索，生成第三搜索结果；
    依据所述第三搜索结果，生成开启所述第三深度相机进行深度测量的第三时间偏移量；
    依据所述第三时间偏移量，控制所述第三深度相机开始进行深度测量。
  3. 如权利要求1所述的基于TOF相机模组的抗干扰方法，其特征在于，所述第一深度相机包括第一快门、第二快门和第三快门，所述依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量的步骤包括：
    控制所述第一深度相机发射脉冲激光，同时开启所述第一快门；
    发射完毕脉冲激光，同时关闭所述第一快门并开启所述第二快门，接收反射的脉冲激光；
    关闭所述第二快门并开启所述第三快门，采集环境光照数据信息；
    关闭所述第三快门。
  4. 如权利要求3所述的基于TOF相机模组的抗干扰方法，其特征在于，所述第一深度相机还包括光学快门，所述开启所述第一深度相机的快门进行脉冲时序搜索的步骤包括：
    控制所述第一深度相机开启所述光学快门；
    获取外部光照数据信号。
  5. 如权利要求4所述的基于TOF相机模组的抗干扰方法，其特征在于，所述依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量的步骤包括：
    分析所述第一搜索结果；
    确定所述第一搜索结果中是否具有与所述第一深度相机发射的脉冲激光相同的数据信号；
    依据确定的结果生成所述第一深度相机进行深度测量的第一时间偏移量。
  6. 一种基于TOF相机模组的抗干扰设备，其特征在于，所述TOF相机模组包括第一深度相机，所述基于TOF相机模组的抗干扰设备包括：
    通电模块，用于开启所述第一深度相机的快门进行脉冲时序搜索；
    生成模块，用于生成第一搜索结果，并依据所述第一搜索结果，生成开启所述第一深度相机进行深度测量的第一时间偏移量；
    运行模块，用于依据所述第一时间偏移量，控制所述第一深度相机开始进行深度测量。
  7. 如权利要求6所述的基于TOF相机模组的抗干扰设备，其特征在于，所述TOF相机模组还包括第二深度相机和第三深度相机，所述通电模块，还用于开启所述第二深度相机的快门进行脉冲时序搜索，以及开启所述第三深度相机的快门进行脉冲时序搜索；
    所述生成模块，还用于生成第二搜索结果，并依据所述第二搜索结果，生成开启所述第二深度相机进行深度测量的第二时间偏移量，以及生成第三搜索结果，并依据所述第三搜索结果，生成开启所述第三深度相机进行深度测量的第三时间偏移量；
    所述运行模块，还用于依据所述第二时间偏移量，控制所述第二深度相机开始进行深度测量，以及，依据所述第三时间偏移量，控制所述第三深度相机开始进行深度测量。
  8. 如权利要求6所述的基于TOF相机模组的抗干扰设备，其特征在于，所述第一深度相机包括第一快门、第二快门和第三快门，所述运行模块包括控制单元，所述控制单元用于控制所述第一深度相机发射脉冲激光，同时开启所述第一快门；发射完毕脉冲激光，同时控制关闭所述第一快门并开启所述第二快门，接收反射的脉冲激光；关闭所述第二快门并开启所述第三快门，采集环境光照数据信息；关闭所述第三快门。
  9. 如权利要求8所述的基于TOF相机模组的抗干扰设备，其特征在于，所述第一深度相机还包括光学快门，所述控制单元还用于控制所述第一深度相机开启所述光学快门；
    所述基于TOF相机模组的抗干扰设备还包括：感光模块，所述感光模块用于获取环境光照数据信息、外部光照数据信号以及脉冲激光的数据信号。
  10. 如权利要求9所述的基于TOF相机模组的抗干扰设备，其特征在于，所述生成模块包括分析单元，所述分析单元用于分析所述第一搜索结果，确定所述第一搜索结果中是否具有与所述第一深度相机发射的脉冲激光相同的数据信号。
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