WO2022133976A1 - Tof模组的检测方法、电子设备及可读存储介质 - Google Patents

Tof模组的检测方法、电子设备及可读存储介质 Download PDF

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Publication number
WO2022133976A1
WO2022133976A1 PCT/CN2020/139227 CN2020139227W WO2022133976A1 WO 2022133976 A1 WO2022133976 A1 WO 2022133976A1 CN 2020139227 W CN2020139227 W CN 2020139227W WO 2022133976 A1 WO2022133976 A1 WO 2022133976A1
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Prior art keywords
tof module
module
tof
electronic device
detection method
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Application number
PCT/CN2020/139227
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English (en)
French (fr)
Inventor
赵东相
王世杰
杨豪
谢敏华
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080071394.3A priority Critical patent/CN114586060A/zh
Priority to PCT/CN2020/139227 priority patent/WO2022133976A1/zh
Publication of WO2022133976A1 publication Critical patent/WO2022133976A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details

Definitions

  • the present application relates to the field of electronic technology, and in particular, to a detection method for a TOF module, an electronic device, and a non-volatile computer-readable storage medium.
  • TOF Time of Flight
  • the TOF module After inserting the TOF (Time of Flight) module, if the TOF module is damaged and cannot work normally, it is difficult for the user to detect the TOF module and the damage.
  • the electronic equipment uses the damaged TOF module to work, it is easy to obtain The obtained data is inaccurate or cannot be obtained, and a method is urgently needed to detect whether the inserted TOF module can work normally.
  • Embodiments of the present application provide a method for detecting a TOF module, an electronic device, and a non-volatile computer-readable storage medium.
  • the detection method of the TOF module includes: when the insertion of the TOF module is detected, the TOF module acquires a detection image; identifies the effective pixel points in the detection image; and according to the effective pixel Click to determine whether the TOF module is working properly.
  • the electronic device of the embodiment of the present application includes a TOF module and a processor.
  • the TOF module obtains a detection image; the processor is connected to the TOF module, and the processing The device is used for: identifying valid pixels in the detected image; and determining whether the TOF module works normally according to the valid pixels.
  • a non-volatile computer-readable storage medium containing a computer program according to an embodiment of the present application when the computer program is executed by one or more processors, the processor enables the processor to implement the detection described in the embodiment of the present application method.
  • the detection method includes: when it is detected that the TOF module is inserted, the TOF module obtains a detection image; the effective pixel point in the detection image is identified; and the TOF module is determined according to the effective pixel point Is it working properly.
  • the TOF module after detecting that the TOF module is inserted, acquires the detection image, and then identifies the effective pixels in the detection image. point, and determine whether the TOF module is working normally according to the effective pixel points. In this way, after inserting the TOF module, it can be more accurately detected whether the TOF module is working normally, so that the electronic equipment can work normally.
  • FIG. 1 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a module of an electronic device according to an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 9 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 10 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 11 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 12 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 13 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • 15 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • 16 is a schematic flowchart of a detection method according to an embodiment of the present application.
  • FIG. 17 is a schematic diagram of a connection relationship between a computer-readable storage medium and a processor according to an embodiment of the present application.
  • the detection method of the TOF module 10 includes the following steps:
  • the TOF module 10 When detecting that the TOF module 10 is inserted, the TOF module 10 obtains a detection image;
  • the electronic device 100 of the embodiment of the present application includes a TOF module 10 and a processor 20.
  • the TOF module 10 obtains a detection image; the processor 20 is connected to the TOF module 10, and the processor 20 uses In: identifying the valid pixels in the detected image; and determining whether the TOF module 10 works normally according to the valid pixels. That is, the TOF module 10 can be used to implement step 01 , and the processor 20 can be used to implement steps 020 and 030 .
  • the TOF module 10 acquires the detection image, and then identifies the effective pixel points in the detection image, and according to the effective pixel Click to determine whether the TOF module 10 is working normally. In this way, after the TOF module 10 is inserted, it can be more accurately detected whether the TOF module 10 is working normally, so that the electronic device 100 can work normally.
  • the electronic device 100 may be a drone, a mobile terminal, a camera, etc.
  • the mobile terminal may be a terminal such as a mobile phone, a tablet, or a smart watch
  • the camera may be a digital camera, a single-lens reflex camera, etc., which are not listed here.
  • the TOF module 10 can be installed on the electronic device 100, and functions such as auxiliary focusing and background blur can be realized through the TOF module 10.
  • the electronic device 100 can use the TOF module 10 to measure the distance of objects in the current scene, and Image data is generated from the measured distance data, which is then processed by the processor 20 and can be output and displayed on the display screen.
  • the electronic device 100 may further include a body 30 and a camera 40 , the camera 40 may be installed on the body 30 , and a visible light image preview function may be realized through the camera electronic device 100 , and a heat dissipation module may also be installed in the body 30 , a power supply module and other functional modules, the TOF module 10 can be installed in the camera 40 , so that functions such as auxiliary focusing and background blur can be realized when the camera 40 is imaging.
  • the electronic device 100 may further include a propeller 50 , and the propeller 50 can drive the fuselage 30 and the camera 40 to fly when the propeller 50 rotates.
  • the electronic device 100 can be provided with an interface for installing the TOF module 10.
  • the TOF module 10 When the TOF module 10 is inserted into the interface, if the TOF module 10 is correctly inserted into the interface, the TOF module 10 can be powered on (power on), so that the TOF module 10 can be powered on.
  • the module 10 can work, but if the TOF module 10 works abnormally, the TOF module 10 will not work normally, which may easily lead to inaccurate data obtained by the TOF module 10, such as the depth of the object measured by the TOF module 10. The information is smaller or larger than the actual depth information of the object. If the TOF module 10 is not correctly inserted into the interface, it is easy to cause inaccurate focus of the obtained preview image, resulting in problems such as image blurring and affecting the image quality.
  • step 020 includes the following steps:
  • the processor 20 may be further configured to: obtain the pixel value of the pixel in the detected image; determine whether the pixel value of the pixel is within a preset range; and if so, determine that the pixel is an effective pixel. That is to say, the processor 20 can also be used to implement step 021 , step 022 and step 023 .
  • a detection image can be generated from the depth information of the TOF module 10, and the detection image includes a plurality of pixel points, and each pixel point corresponds to a pixel value , the pixel value can be in a mapping relationship with the distance data of the detected object, for example, the distance A corresponds to the pixel value a, the distance B corresponds to the pixel value b, and the distance C corresponds to the pixel value c, that is, the detected distance data can be converted according to the mapping relationship. Then, the pixel value of each pixel in the detected image can be obtained, and it can be judged whether the pixel value of the pixel is within the preset range.
  • the pixel point is an invalid pixel point; if the pixel value of the pixel point is within the preset range, the pixel point can be considered as a valid pixel point.
  • the preset range may be obtained through multiple experiments. For example, in an experimental scene, the real distance between the position A and each point on the object can be measured first; then the TOF module 10 that works normally can be used to fix the position A, and the TOF module 10 can be used to obtain the distance between the position A and the object. The distance between each point, and the corresponding depth image is generated. The detection distance is compared with the real distance, and the pixel value where the detection distance is equal to the real distance or the difference between the detection distance and the real distance is less than the predetermined difference can be regarded as the initial preset range; through multiple experiments, the initial preset range can be determined. Make adjustments to get the final preset range. In this way, the preset range is relatively accurate, and the identified effective pixels are relatively accurate. Of course, the detected image is also detected by the TOF module 10 at the position A, so as to improve the accuracy of identifying valid pixels.
  • step 030 includes the following steps:
  • the processor 20 can also be used to: obtain the number of valid pixels; determine whether the number of valid pixels is greater than a preset value; and if so, determine that the TOF module 10 is working normally; if not, then Make sure that the TOF module 10 works abnormally. That is to say, the processor 20 can also be used to implement step 031 , step 032 , step 033 and step 034 .
  • the valid pixels in the detected image can be identified, and then the number of valid pixels in the detected image can be calculated, for example, when identifying the pixels one by one, if the valid pixels are identified, the value is automatically increased by 1, Until all pixels in the detected image are identified, the number of valid pixels in the detected image can be obtained relatively quickly. Then the relationship between the number of valid pixels and the preset value can be determined.
  • the number of valid pixels is less than the preset value, it indicates that the depth information of the object detected by the TOF module 10 is inaccurate, and it can be considered that the TOF module 10 is working Abnormal; if the number of valid pixels is greater than or equal to the preset value, it indicates that the depth information of the object detected by the TOF module 10 is more accurate, and it can be considered that the TOF module 10 is working normally.
  • the preset value can be determined according to the number of pixels in the detected image, so as to avoid using a fixed preset value for detection images of different resolutions to erroneously determine whether the TOF module 10 is working normally.
  • the preset value may be 70%, 71%, 73%, 75%, 78%, 80%, 82%, 85%, 87%, 89%, 90%, 92% of the number of pixels in the detected image , 95%, 96%, 98%, 99% or more percentages.
  • the preset value is 80% of the number of pixels in the detected image. If the detected image includes 10,000 pixels, the preset value can be 8,000. When the number of valid pixels in the detected image is greater than or equal to 8,000, It can be considered that the TOF module 10 works normally.
  • the detection method further includes the following steps:
  • the processor 20 can also be used to determine whether the abnormal operation of the TOF module 10 is greater than the first preset number of times; the electronic device 100 further includes a prompter 60, and the prompter 60 can be used for the TOF module 10.
  • the TOF module 10 hardware is abnormal; and when the number of abnormal working times of the TOF module 10 is less than the first preset number, it is prompted to re-insert the TOF module 10. That is to say, the processor 20 can also be used to implement step 040 , and the prompter 60 can also be used to implement steps 041 and 042 .
  • the TOF module 10 when the hardware of the TOF module 10 is abnormal, even if the TOF module 10 is reinstalled, the TOF module 10 cannot work normally. At this time, it is necessary to determine whether the TOF module 10 is working because of the abnormal hardware. abnormal.
  • the prompter 60 can prompt the user to re-insert the TOF module 10 and re-execute step 010, step 020 and step 030, until the TOF module 10 works abnormally more than the first preset number of times, the prompter 60 may prompt the user that the TOF module 10 is abnormal in hardware. Therefore, when the hardware of the TOF module 10 is abnormal, it can be avoided that the user continues to re-insert the TOF module 10, resulting in the electronic device 100 being unable to perform functions normally.
  • the prompter 60 may include components such as a display screen, a speaker, an indicator light, and the like.
  • the display screen may display “The hardware of the TOF module 10 is abnormal” or “Renewal” on the screen. Insert the TOF module 10"; or, when the prompter 60 is the speaker of the electronic device 100, the speaker can broadcast "the hardware of the TOF module 10 is abnormal” or "re-insert the TOF module 10"; or, the prompter 60 is an electronic device
  • the indicator light of 100 the indicator light can show different prompts in different colors.
  • the indicator light when it needs to prompt "The hardware of TOF module 10 is abnormal", the indicator light can be red, and when it needs to prompt "Re-insert TOF module 10" , the indicator light can light up yellow.
  • the first preset number of times can be two, three, four, five, six, seven, eight, nine, ten or more times, and the first preset number of times can be any value defined by the user .
  • the detection method further includes the following steps:
  • the prompter 60 can also be used to prompt the replacement of the TOF module 10 with a new one after prompting that the TOF module 10 is abnormal in hardware. That is to say, the processor 20 can also be used to implement step 043 .
  • the prompter 60 can prompt the replacement of a new TOF module 10.
  • the user can disassemble the TOF module 10 with abnormal hardware, select a new TOF module 10 to insert into the interface, and then execute the steps 010, step 020 and step 030, until the inserted TOF module 10 works normally. In this way, it can be avoided that the TOF module 10 due to abnormal hardware affects the normal operation of the electronic device 100 .
  • the electronic device 100 can automatically shut down or the electronic device 100 can shut down the relevant hardware or software (eg camera 40) related to the TOF module 10, so that the user can re-insert the TOF module. Group 10.
  • the relevant hardware or software eg camera 40
  • the detection method further includes the following steps:
  • the electronic device 100 further includes a camera 40 , when it is determined that the TOF module 10 is working normally, the camera 40 enables a predetermined function, and the TOF module 10 enables a focus assist function.
  • the camera 40 After detecting that the TOF module 10 is working normally, the camera 40 enables a predetermined function to inform the user that the TOF module 10 is normally inserted and can work normally, and then the TOF module 10 activates the auxiliary focusing function to help the camera 40 realize the auxiliary function Focus.
  • the camera 40 can be compatible with TOF modules 10 of various specifications to perform the auxiliary focusing function, and the user can insert TOF modules 10 with different rules into the TOF module 10 installation interface of the electronic device 100
  • the autofocus function for example, purchasing TOF modules 10 with different resolutions, different precisions, and different ranges will realize the autofocus function with different effects, and realize the multi-purpose function of one machine.
  • the predetermined function may be a liveview function, that is, an imaging preview function.
  • the reservation function may be other functions, such as a camera function and a ranging function, which is not limited here.
  • the user can be informed that the TOF module 10 has been successfully inserted and can work normally through other means (eg, display screen display).
  • step 010 includes the following steps:
  • the detection image is acquired according to the distance image.
  • the processor 20 can also be used to identify whether the TOF module 10 is a default module; when the TOF module 10 is a default module, the TOF module 10 enables the ranging function; and the processor 20 is also used for: saving one or more frames of distance images detected by the TOF module 10; and acquiring a detection image according to the distance images. That is to say, the processor 20 can be used to implement step 011 , step 013 and step 014 , and the TOF module 10 can be used to implement step 012 .
  • the TOF module 10 when the TOF module 10 is inserted, if the inserted module is not a preset module, the detection images obtained by the TOF module 10 may be prone to discrepancies or the TOF module 10 may not work normally, even causing electronic equipment 100 works abnormally. Therefore, it is necessary to first identify whether the TOF module 10 is a default module. When it is recognized that the TOF module 10 is the default module, the ranging function of the TOF module 10 can be turned on, the TOF module 10 can measure the depth information of the object to be measured, and can save a frame or a frame detected by the TOF module 10 Multi-frame distance images, and then obtain the detection image according to the saved one or more frames of distance images. It can be understood that the processor 20 can directly convert one frame of range images into a detection image, and the processor 20 can also synthesize multiple frames of range images to obtain a detection image.
  • step 011 includes the following steps:
  • the processor 20 is further configured to: read the identity data of the TOF module 10; compare whether the identity data is consistent with the preset identity data; and if so, determine the TOF module 10 is the default module; if not, it is determined that the TOF module 10 is not the default module. That is to say, the processor 20 can also be used to implement step 0111 , step 0112 , step 0113 and step 0114 .
  • the processor 20 can read the identity data (Identity document, ID) of the TOF module 10, the processor 20 can read the ID of the TOF module 10 from the register of the TOF module 10, and compare the TOF module 10 Whether the ID of the TOF module 10 is consistent with the preset identity data (that is, the preset ID), if the ID of the TOF module 10 is consistent with the preset ID, it means that the newly inserted TOF module 10 is the default module, and the TOF module 10 can Acquire the detection image; if the ID of the TOF module 10 is inconsistent with the preset ID, it means that the newly inserted TOF module 10 is not the preset module and cannot be used to acquire the detection image.
  • ID the preset identity data
  • the preset identity data is the currently required identity data of the TOF module 10 , and the preset identity data may be data input in advance by the user, and may be stored in the memory of the electronic device 100 .
  • the preset identity data is ABC1234567. If the identity data of the inserted TOF module 10 is read as CBA1234567, it means that the identity data of the TOF module 10 is inconsistent with the preset identity data, and the TOF module 10 is not the default module ; If the identity data of the newly inserted TOF module 10 is read as ABC1234567, it means that the identity data of the TOF module 10 is consistent with the preset identity data.
  • the detection method further includes the following steps:
  • the electronic device 100 further includes a prompter 60, which prompts a hardware abnormality of the TOF module 10 when the identity data of the TOF module 10 is inconsistent with the preset identity data.
  • the prompter 60 can prompt the hardware abnormality of the TOF module 10 in time, so as to facilitate the user and timely find out that the inserted TOF module 10 is inaccurate.
  • prompting the hardware abnormality of the TOF module 10 may include prompting that the TOF module 10 is inconsistent with the preset module.
  • the prompter 60 here may include a display screen, a speaker, and an indicator light.
  • the detection method further includes the following steps:
  • the prompter 60 when prompting that the TOF module 10 is abnormal in hardware, may also be used to prompt the replacement of the TOF module 10 with a new one. That is, prompter 60 may also be used to implement step 0116.
  • the prompter 60 can prompt the user to replace the TOF module 10 with a new one, so as to avoid the user continuing to re-insert the original TOF module 10 and causing repeated prompts
  • the TOF module 10 works abnormally, which affects the efficiency of installing the TOF module 10.
  • the user can remove the TOF module 10 from the interface, and install the new TOF module 10.
  • the group 10 is inserted into the interface, and then steps 010, 020 and 030 are performed again.
  • the detection method before step 011, the detection method further includes the following steps:
  • the processor 20 can also be used to: receive an instruction to insert the TOF module 10; and power off the interface where the TOF module 10 is installed; the prompter 60 is powered off at the interface where the TOF module 10 is installed After that, it prompts to insert the TOF module 10. That is to say, the processor 20 can also be used to implement steps 050 and 051 , and the prompter 60 can also be used to implement step 052 .
  • the electronic device 100 may be paralyzed or crashed.
  • the TOF module 10 Before inserting the TOF module 10 , it is necessary to power off the interface where the TOF module 10 is installed. Therefore, it is necessary to determine when the power supply for the TOF module 10 needs to be disconnected.
  • the time to disconnect the interface of the TOF module 10 can be determined by receiving an instruction sent by the user to insert the TOF module 10 .
  • the electronic device 100 may be provided with a mechanical button inserted into the TOF module 10, and when the user presses the mechanical button, it is deemed that an instruction to insert the TOF module 10 has been sent; or, the electronic device 100 is provided with a dial switch, When the user toggles the DIP switch, it is deemed that an instruction to insert the TOF module 10 has been sent; or, a touch button is provided on the screen of the electronic device 100, and the user touches the touch button to be deemed to have sent the TOF module to be inserted.
  • a remote control can be provided, and the remote control can send an instruction to insert the TOF module 10 through infrared or Bluetooth; or, other electronic devices 100 are provided with corresponding application programs (Application, APP),
  • the APP can send an instruction to insert the TOF module 10 through Bluetooth and WIFI communication; or, the user can choose to send an instruction to the electronic device 100 by voice, and the electronic device 100 can recognize the user's voice transmission and insert the TOF module.
  • the instruction of the group 10 also alternatively, a predetermined operation can be input on the graphical user interface (Graphical User Interface, GUI) of the electronic device 100 to realize sending the instruction to be inserted into the TOF module 10, for example, the user can draw an S shape, a T shape on the GUI interface A shape, a Z shape, etc., indicates that the TOF module 10 will be inserted.
  • GUI graphical User Interface
  • the manner of sending the instruction to be inserted into the TOF module 10 may also be other, which will not be listed here.
  • the hardware such as the processor 20 can power off the interface for installing the TOF module 10, so that the TOF module is installed. 10's interface has no current.
  • the prompter 60 may prompt the insertion of the TOF module 10 to remind the user that the power supply of the interface where the TOF module 10 is installed has been completely disconnected, and the TOF module 10 can be inserted. . Therefore, during the process of inserting the TOF module 10 , the TOF module 10 and the electronic device 100 are not easily damaged.
  • the detection method further includes the following steps:
  • the processor 20 may also be configured to perform the process of identifying whether the TOF module 10 is a preset module A step of. That is to say, the processor 20 can also be used to implement step 053 .
  • the processor 20 cannot read the data of the TOF module 10, and cannot identify whether the TOF module 10 is a default module.
  • the electronic device 100 may erroneously judge that the hardware of the TOF module 10 is abnormal and give a wrong prompt to the user. Therefore, the step of identifying whether the TOF module 10 is a preset module needs to be performed after it is determined that the TOF module 10 has been inserted, that is, step 011 is performed.
  • the inserted instruction of the TOF module 10 may be transmitted to the electronic device 100 in various forms.
  • the electronic device 100 may be provided with a mechanical button into which the TOF module 10 has been inserted, and when the user presses the mechanical button, it is deemed that an instruction that the TOF module 10 has been inserted has been sent; or, the electronic device 100 may be provided with a DIP switch , when the user dials the DIP switch, it is deemed to have sent the instruction that the TOF module 10 has been inserted; or, a touch button is provided on the screen of the electronic device 100, and the user touches the touch button to be deemed to have sent the TOF module 10.
  • a remote control may be provided, and the remote control may be an instruction that has been inserted into the TOF module 10 by means of infrared or Bluetooth; or, other electronic devices 100 are provided with corresponding application programs (Application, APP),
  • the APP can send the inserted instruction of the TOF module 10 through Bluetooth and WIFI communication; or, the user can choose to send the instruction to the electronic device 100 by voice, and the electronic device 100 can voice recognize the TOF module 10 transmitted by the user's voice.
  • the inserted instruction also alternatively, a predetermined operation can be input on the graphical user interface (Graphical User Interface, GUI) of the electronic device 100 to realize sending the inserted instruction of the TOF module 10, for example, the user can draw an L-shaped, O A shape, a C shape, etc., indicates that the TOF module 10 has been inserted.
  • GUI graphical User Interface
  • the manner of sending the command inserted by the TOF module 10 may also be other, which will not be listed one by one here.
  • the inserted instruction of the TOF module 10 and the instruction to be inserted into the TOF module 10 may be implemented by the same button provided on the electronic device 100. For example, pressing the button for the first time indicates that the TOF module 10 will be inserted, and the second A second press of the button indicates that the TOF module 10 is inserted.
  • recognizing that the TOF module 10 has been inserted may be to regularly detect whether the interface for installing the TOF module 10 has a TOF signal, or to regularly detect whether the TOF module 10 is installed in the interface for installing the TOF module 10, or to detect whether the TOF module 10 is installed. Whether the pins are inserted into the interface where the TOF module 10 is installed.
  • the recognition that the TOF module 10 has been inserted can also be achieved in other ways, which are not listed here.
  • the interface where the TOF module 10 is installed can be powered on, so that the TOF module 10 and the interface can communicate and the TOF module
  • the group 10 can work normally so that the identity data of the TOF module 10 can be read.
  • the detection method further includes the following steps:
  • 062 Determine whether the number of failures is greater than the second preset number of times.
  • the prompter 60 when the identity data of the TOF module 10 cannot be read, the prompter 60 prompts the TOF module 10 to insert the failure processor 20 and can also be used to judge whether the number of failures is greater than the second preset number of times; When the number of failures is greater than the second preset number of times, the prompter 60 prompts the TOF module 10 to have an abnormal hardware; and when the number of failures is less than the second preset number of times, the prompter 60 prompts to re-insert the TOF module 10 . That is, the processor 20 may further implement step 061 , and the prompter 60 may further implement step 061 , step 063 and step 064 .
  • the prompter 60 can prompt that the TOF module 10 fails to be inserted.
  • the number of failed insertions of the TOF module 10 is less than the second preset number of times, it cannot be confirmed whether the failure to read the identity data of the TOF module 10 is caused by the unsuccessful insertion of the TOF module 10 or the failure of the TOF module 10 It is caused by a hardware abnormality. Therefore, the prompter 60 can prompt for re-inserting the TOF module 10. After the TOF module 10 is re-inserted, the identity data of the TOF module 10 can be read again.
  • the processor 20 can determine whether the number of times the TOF module 10 fails to be inserted is greater than the second preset number of times, if the TOF module 10 fails The number of times that the module 10 fails to be inserted is greater than or equal to the second preset number of times, it can be considered that the failure to read the identity data of the TOF module 10 is caused by the abnormal hardware of the TOF module 10, not because the TOF module 10 is not It is caused by the successful insertion of the interface, so the prompter 60 can prompt the TOF module 10 hardware abnormality, so that the user can know that the TOF module 10 hardware abnormality will not always re-insert the TOF module 10 .
  • the prompter 60 may be a display screen, a speaker, an indicator light, and the like.
  • the second preset number of times may be two times, three times, four times, five times, six times, seven times, eight times, nine times, ten times or more, which are not listed one by one here.
  • the second preset number of times may be preset, or the number of times obtained by the user after multiple trials, or even if the value of the second preset number of times is preset, in the subsequent use process, the second preset number of times can be adjusted. set times to adjust.
  • the detection method further includes the following steps:
  • the prompter 60 may prompt to replace the TOF module 10 with a new one. That is to say, after step 063, the prompter 60 can also implement step 064.
  • the failure to read the identity data of the TOF module 10 is caused by the abnormal hardware of the TOF module 10, not because the TOF module
  • the group 10 is not successfully inserted into the interface, so it is necessary to replace the new TOF module 10 and insert it into the interface, so as to avoid the repeated insertion of the TOF module 10 with abnormal hardware to affect the work efficiency or cause the interface to be damaged, and then the prompter 60 can The user is prompted to replace the new TOF module 10.
  • the user can choose to unplug the original TOF module 10, insert the new TOF module 10 into the interface, and insert the new TOF module 10 into the interface.
  • the identity data of the TOF module 10 is read.
  • the detection method further includes the following steps:
  • the processor 20 is further configured to detect whether the TOF module 10 is installed in the interface where the TOF module 10 is installed; if the TOF module 10 is installed in the interface where the TOF module 10 is installed, after receiving the replacement After the instruction of the TOF module 10, the TOF module 10 turns off the auxiliary focus function and the camera 40 turns off the predetermined function. That is to say, the processor 20 is also used to implement step 001 , and the TOF module 10 and the camera 40 are also used to implement step 002 .
  • the TOF module 10 in the interface needs to be disassembled, so that there is an interface for inserting a new TOF module 10 .
  • the electronic device 100 is in the open state, if the TOF module 10 is installed in the interface where the TOF module 10 is installed, in order to avoid directly pulling out the TOF module 10 and causing damage to the TOF module 10 and the camera 40, after receiving the replacement TOF module 10, the auxiliary focusing function of the TOF module 10 plugged into the interface can be turned off, and the predetermined functions of the camera 40 (such as the ranging function of the camera 40, the imaging preview function of the camera 40, etc.) can be turned off, so that the camera 40
  • the TOF module 10 on the interface is no longer used, so that the TOF module 10 inserted on the interface can be in a closed state or a stop working state, and then when the TOF module 10 is unplugged from the interface, the TOF module 10 No damage will occur
  • the interface can sense the TOF module 10 .
  • the processor 20 can communicate with the interface where the TOF module 10 is installed. If the TOF module 10 is installed in the interface, the interface can feed back a TOF signal to the processor 20. If the TOF module 10 is not installed in the interface, the interface can The interface may not feed back signals to the processor 20 .
  • the processor 20 may communicate with the TOF module 10 through the interface on which the TOF module 10 is installed, and tell the TOF module 10 to turn off the auxiliary focusing function.
  • the processor 20 may communicate with the corresponding module of the camera 40 to inform the corresponding module to turn off the predetermined function.
  • the instruction for replacing the TOF module 10 and the instruction for inserting the TOF module 10 may be input in the same manner, or a separate instruction for replacing the TOF module 10 may be provided, which will not be described in detail here.
  • the TOF module 10 turns off the auxiliary focusing function and the camera 40 turns off the predetermined function, it is necessary to power off the interface where the TOF module 10 is installed, so as to avoid the damage to the original TOF module 10 caused by pulling out the original TOF module 10 when the power is on. Damage to the interface or paralysis of the electronic device 100 can be caused, and at the same time, insertion of a new TOF module 10 when the power is on can prevent damage to the new TOF module 10 , damage to the interface or delay of the electronic device 100 .
  • the prompter 60 can prompt the user that the TOF module 10 has turned off the auxiliary focus function and the camera 40 has turned off the predetermined function, and can perform the related work of inserting the TOF module 10 .
  • the non-volatile computer-readable storage medium 300 of the embodiment of the present application includes a computer program 301 , when the computer program 301 is executed by one or more processors 400 , the processor 400 is made to execute any implementation of the present application method of detection.
  • the processor when the computer program is executed by the processor, the processor is used to implement the following steps:
  • the TOF module 10 When detecting that the TOF module 10 is inserted, the TOF module 10 obtains a detection image;
  • the processor when the computer program is executed by the processor, the processor is configured to implement the following steps:
  • any description of a process or method in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a specified logical function or step of the process , and the scope of the preferred embodiments of the present application includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application belong.

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Abstract

一种TOF模组(10)的检测方法、电子设备(100)及非易失性计算机可读存储介质(300)，检测方法包括：在检测到TOF模组(10)插入时，TOF模组(10)获取检测图像；识别检测图像中的有效像素点；及根据有效像素点确定TOF模组(10)是否工作正常。

Description

TOF模组的检测方法、电子设备及可读存储介质 技术领域
本申请涉及电子技术领域，特别涉及一种TOF模组的检测方法、电子设备及非易失性计算机可读存储介质。
背景技术
在插入TOF(Time of Flight)模组后，如果TOF模组发生损坏而不能正常工作，而用户较难察觉出TOF模组以及损坏，电子设备使用损坏的TOF模组进行工作时，容易导致获取到的数据不准确或者无法获取到数据，亟需一种方法检测插入的TOF模组是否能够正常工作。
发明内容
本申请实施方式提供一种TOF模组的检测方法、电子设备及非易失性计算机可读存储介质。
本申请实施方式的TOF模组的检测方法包括：在检测到所述TOF模组插入时，所述TOF模组获取检测图像；识别所述检测图像中的有效像素点；及根据所述有效像素点确定所述TOF模组是否工作正常。
本申请实施方式的电子设备包括TOF模组及处理器，在检测到所述TOF模组插入时，所述TOF模组获取检测图像；所述处理器与所述TOF模组连接，所述处理器用于：识别所述检测图像中的有效像素点；及根据所述有效像素点确定所述TOF模组是否工作正常。
本申请实施方式的一种包含计算机程序的非易失性计算机可读存储介质，当所述计算机程序被一个或多个处理器执行时，使得所述处理器实现本申请实施方式所述的检测方法。所述检测方法包括：在检测到所述TOF模组插入时，所述TOF模组获取检测图像；识别所述检测图像中的有效像素点；及根据所述有效像素点确定所述TOF模组是否工作正常。
本申请实施方式的TOF模组的检测方法、电子设备及非易失性计算机可读存储介质中，在检测到TOF模组插入后，TOF模组获取检测图像，然后识别检测图像中的有效像素点，并根据有效像素点确定TOF模组是否正常工作，如此，在插入TOF模组后可以较准确地检测出TOF模组是否正常工作，以使电子设备可以正常工作。
本申请实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点可以从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的检测方法的流程示意图；
图2是本申请实施方式的电子设备的模块示意图；
图3是本申请实施方式的检测方法的流程示意图；
图4是本申请实施方式的检测方法的流程示意图；
图5是本申请实施方式的检测方法的流程示意图；
图6是本申请实施方式的检测方法的流程示意图；
图7是本申请实施方式的检测方法的流程示意图；
图8是本申请实施方式的检测方法的流程示意图；
图9是本申请实施方式的检测方法的流程示意图；
图10是本申请实施方式的检测方法的流程示意图；
图11是本申请实施方式的检测方法的流程示意图；
图12是本申请实施方式的检测方法的流程示意图；
图13是本申请实施方式的检测方法的流程示意图；
图14是本申请实施方式的检测方法的流程示意图；
图15是本申请实施方式的检测方法的流程示意图；
图16是本申请实施方式的检测方法的流程示意图；及
图17是本申请实施方式的计算机可读存储介质与处理器的连接关系示意图。
具体实施方式
下面详细描述本申请的实施方式，实施方式的示例在附图中示出，其中，相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
请参阅图1及图2，本申请实施方式的TOF模组10的检测方法包括以下步骤：
010：在检测到TOF模组10插入时，TOF模组10获取检测图像；
020：识别检测图像中的有效像素点；及
030：根据有效像素点确定TOF模组10是否工作正常。
本申请实施方式的电子设备100包括TOF模组10及处理器20，在检测到TOF模组10插入时，TOF模组10获取检测图像；处理器20与TOF模组10连接，处理器20用于：识别检测图像中的有效像素点；及根据有效像素点确定TOF模组10是否工作正常。即，TOF模组10可以用于实现步骤01，处理器20可以用于实现步骤020和步骤030。
本申请实施方式的TOF模组10的检测方法、电子设备100中，在检测到TOF模组10插入后，TOF模组10获取检测图像，然后识别检测图像中的有效像素点，并根据有效像素点确定TOF模组10是否正常工作，如此，在插入TOF模组10后可以较准确地检测出TOF模组10是否正常工作，以使电子设备100可以正常工作。
具体地，电子设备100可以是无人机、移动终端、相机等设备，移动终端具体可以是手机、平板、智能手表等终端，相机可以是数码相机、单反等相机，在此不一一列举。电子设备100上可以安装有TOF模组10，通过TOF模组10可以实现辅助对焦、背景虚化等功能，例如，电子设备100可以使用 TOF模组10对当前情景内的物体进行距离测量，并将测量的距离数据生成图像数据，然后经处理器20处理后可以输出在显示屏上显示。
请结合图1，电子设备100还可以包括机身30及相机40，相机40可以安装在机身30上，通过相机电子设备100可以实现可见光图像预览功能，机身30内还可以安装有散热模块、电源模块等功能模块，TOF模组10可以安装在相机40内，以在相机40成像时可以实现辅助对焦、背景虚化等功能。在电子设备100包括无人机时，电子设备100还可以包括螺旋桨50，螺旋桨50转动时可以带动机身30及相机40飞行。
进一步地，电子设备100可以设置有安装TOF模组10的接口，在将TOF模组10插入接口内，若TOF模组10正确插入接口内TOF模组10可以上电(通电源)，使得TOF模组10可以进行工作，但是如果TOF模组10的工作异常，TOF模组10将无法正常工作，容易导致TOF模组10获取到的数据不准确，例如TOF模组10测量到的物体的深度信息小于或大于实际的物体的深度信息。若TOF模组10未正确插入接口内时，容易导致获取的预览图像对焦不准确，从而造成图像模糊等问题，影响成像质量。
请参阅图3，在某些实施方式中，步骤020包括以下步骤：
021：获取检测图像中的像素点的像素值；
022：判断像素点的像素值是否在预设范围内；及
023：若是，确定像素点为有效像素点；
024：若否，确定像素点为无效像素点。
在某些实施方式中，处理器20还可以用于：获取检测图像中的像素点的像素值；判断像素点的像素值是否在预设范围内；及若是，确定像素点为有效像素点。也即是说，处理器20还可以用于实现步骤021、步骤022及步骤023。
具体地，通过TOF模组10可以获取到的物体的深度信息，可以将TOF模组10的深度信息生成一张检测图像，检测图像中包括多个像素点，每个像素点对应有一个像素值，像素值可以与检测到的物体的距离数据呈映射关系，例如距离A对应像素值a、距离B对应像素值b、距离C对应像素值c，即依据映射关系可以将检测到的距离数据转换成像素值，然后可以获取检测图像中的每个像素点的像素值，并且判断该像素点的像素值是否在预设范围内，如果该像素点的像素值不在预设范围内，则可以认为该像素点为无效像素点；如果该像素点的像素值在预设范围内，则可以认为该像素点为有效像素点。
其中，预设范围可以是经多次试验得到的。例如，在一个实验场景中，首先可以测量位置A处与物体上各个点的真实距离；然后可以使用工作正常的TOF模组10固定在位置A处，并使用TOF模组10获取其与物体上各个点之间的距离，并生成对应的深度图像，根据深度图像中各个像素点的像素值可以确定TOF模组10与物体的各个点之间的检测距离，并将TOF模组10检测到的检测距离与真实距离相比较，将检测距离与真实距离相等或检测距离与真实距离的差值小于预定差值的像素值可以认为是初始预设范围；通过多次试验，可以对初始预设范围进行调整，以得到最终的预设范围。如此，预设范围比较准确，识别到的有效像素点比较准确。当然，检测图像也是TOF模组10在位置A处检测得到的，以提高识别有效像素点时的准确性。
请参阅图4，在某些实施方式中，步骤030包括以下步骤：
031：获取有效像素点的数量；
032：判断有效像素点的数量是否大于预设数值；及
033：若是，则确定TOF模组10工作正常；
034：若否，则确定TOF模组10工作异常。
在某些实施方式中，处理器20还可以用于：获取有效像素点的数量；判断有效像素点的数量是否大于预设数值；及若是，则确定TOF模组10工作正常；若否，则确定TOF模组10工作异常。也即是说，处理器20还可以用于实现步骤031、步骤032、步骤033及步骤034。
具体地，在步骤020中可以识别到检测图像中的有效像素点，然后可以计算检测图像中有效像素点的数量，例如，逐个识别像素点时，若识别到有效像素点时数值自动加1，直至将检测图像中的全部像素点识别完毕后，可以较快速地获取到检测图像中有效像素点的数量。然后可以判断有效像素点的数量与预设数值之间的关系，若有效像素点的数量小于预设数值，表明TOF模组10检测到的物体的深度信息不准确，可以认为TOF模组10工作异常；若有效像素点的数量大于或等于预设数值，表明TOF模组10检测到的物体的深度信息较准确，可以认为TOF模组10工作正常。
其中，预设数值可以根据检测图像中像素点的数量确定，以避免不同分辨率的检测图像使用固定预设数值导致错误判断TOF模组10是否正常工作。例如，预设数值可以是检测图像中像素点的数量的70％、71％、73％、75％、78％、80％、82％、85％、87％、89％、90％、92％、95％、96％、98％、99％或更多百分比。例如，预设数值为检测图像中像素点的数量的80％，若检测图像中包括10000个像素点，则预设数值可以是8000，那么检测图像中有效像素点的数量大于或等于8000时，可以认为TOF模组10工作正常。
请参阅图5，在某些实施方式中，在确定TOF模组10工作异常时，检测方法还包括以下步骤：
040：判断TOF模组10工作异常的次数是否大于第一预设次数；及
041：若是，提示TOF模组10硬件异常；
042：若否，提示重新插入TOF模组10。
在某些实施方式中，处理器20还可以用于判断TOF模组10工作异常的次数是否大于第一预设次数；电子设备100还包括提示器60，提示器60可以用于在TOF模组10工作异常的次数大于第一预设次数时，提示TOF模组10硬件异常；及在TOF模组10工作异常的次数小于第一预设次数时，提示重新插入TOF模组10。也即是说，处理器20还可以用于实现步骤040，提示器60还可以用于实现步骤041及步骤042。
具体地，在TOF模组10的硬件异常时，即使重新安装该TOF模组10，TOF模组10也无法正常工作，这时需要判断TOF模组10是不是因为硬件异常导致TOF模组10工作异常。因此，可以判断TOF模组10工作异常的次数是否大于第一预设次数，在TOF模组10工作异常的次数小于或等于第一预设次数时，提示器60可以提示用户重新插入TOF模组10并重新执行步骤010、步骤020及步骤030，直至TOF模组10工作异常的次数大于第一预设次数时，提示器60可以提示用户TOF模组10的硬件异常。由此，可以避免在TOF模组10硬件异常时，用户仍然不断地重新插入该TOF模组10，导致电子设备100一直无法正常执行功能。
其中，提示器60可以包括显示屏、扬声器、指示灯等元件，例如，提示器60为电子设备100的显示屏时，显示屏可以在屏幕上显示“TOF模组10的硬件异常”或“重新插入TOF模组10”；或者，提示器60为电子设备100的扬声器时，扬声器可以播报“TOF模组10的硬件异常”或“重新插入TOF模组10”；或者，提示器60为电子设备100的指示灯时，指示灯可以以不同的颜色表示不同的提示，例如在需提示“TOF模组10的硬件异常”时，指示灯可以亮红色，在需提示“重新插入TOF模组10”时，指示灯可以亮黄色。第一预设次数可以是两次、三次、四次、五次、六次、七次、八次、九次、十次或更多次数，第一预设次数可以是用户自定义的任意数值。
进一步地，请参阅图6，在步骤041后，检测方法还包括以下步骤：
043：提示更换新的TOF模组10。
在某些实施方式中，提示器60还可以用于在提示TOF模组10硬件异常后，提示更换新的TOF模组10。也即是说，处理器20还可以用于实现步骤043。
具体地，在提示TOF模组10硬件异常后，如果继续插入该TOF模组10，电子设备100将仍然无法正常工作，这将影响组装电子设备100的效率。因此，提示器60可以提示更换新的TOF模组10，当用户接收到该提示后，用户可以将硬件异常的TOF模组10拆卸下来，选择一个新的TOF模组10插入接口，然后执行步骤010、步骤020及步骤030，直至插入的TOF模组10工作正常。由此，可以避免因硬件异常的TOF模组10影响电子设备100的正常工作。
进一步地，在提示更换新的TOF模组10后，电子设备100可以自动关机或者电子设备100可以关闭有关TOF模组10的相关硬件或软件(例如相机40)，以便于用户可以重新插入TOF模组10。
请参阅图7，在某些实施方式中，在步骤033之后，检测方法还包括以下步骤：
044：控制相机40开启预定功能；及
045：启动所述TOF模组10的辅助对焦功能。
在某些实施方式中，电子设备100还包括相机40，在确定TOF模组10正常工作时，相机40开启预定功能，TOF模组10启动辅助对焦功能。
具体地，在检测到TOF模组10工作正常后，相机40开启预定功能以告知用户TOF模组10已正常插入且可以正常工作，然后TOF模组10启动辅助对焦功能，以帮助相机40实现辅助对焦。如此，在相机40系统允许的前提下，相机40可以兼容多种规格的TOF模组10进行辅助对焦功能，用户可以构面不同规则的TOF模组10插入电子设备100的TOF模组10安装接口内，以实现不同效果的自动对焦功能，例如购买不同分辨率、不同精度、不同量程的TOF模组10将实现不同效果的自动对焦功能，实现了一机多用的功能。其中，预定功能可以是liveview功能，即成像预览功能。当然，预订功能可以是其它功能，例如摄像功能、测距功能，在此不做限制。另外，还可以通过其它方式(例如显示屏显示)告知用户TOF模组10已成功插入且能够正常工作。
请参阅图8，在某些实施方式中，步骤010包括以下步骤：
011：识别TOF模组10是否为预设模组；
012：在TOF模组10为预设模组时，开启TOF模组10的测距功能；
013：保存TOF模组10检测到的一帧或多帧距离图像；及
014：根据距离图像获取到检测图像。
在某些实施方式中，处理器20还可以用于识别TOF模组10是否为预设模组；在TOF模组10为预设模组时，TOF模组10开启测距功能；及处理器20还用于：保存TOF模组10检测到的一帧或多帧距离图像；及根据距离图像获取到检测图像。也即是说，处理器20可以用于实现步骤011、步骤013及步骤014，TOF模组10可以用于实现步骤012。
具体地，在TOF模组10插入时，如果插入的模组不是预设模组，那么TOF模组10获取到的检测图像可能容易存在差异或者无法TOF模组10无法正常工作，甚至造成电子设备100工作异常。因此，需要先识别TOF模组10是否是预设模组。在识别到TOF模组10为预设模组时，可以开启TOF模组10的测距功能，TOF模组10可以测量待测物体的深度信息，可以保存TOF模组10检测到的一帧或多帧距离图像，然后根据保存的一帧或多帧距离图像获取检测图像。可以理解，处理器20可以直接将一帧距离图像转换为检测图像，处理器20也可以将多帧距离图像进行合成后得到检测图像。
请参阅图9，在某些实施方式中，步骤011包括以下步骤：
0111：读取TOF模组10的身份数据；
0112：比较身份数据与预设身份数据是否一致；及
0113：若是，确定TOF模组10为预设模组；
0114：若否，确定TOF模组10非预设模组。
在某些实施方式中，所述处理器20还用于：读取所述TOF模组10的身份数据；比较所述身份数据与预设身份数据是否一致；及若是，确定所述TOF模组10为预设模组；若否，确定TOF模组10非预设模组。也即是说，处理器20还可以用于实现步骤0111、步骤0112、步骤0113和步骤0114。
具体地，为了提高检测图像的准确性以及TOF模组10的准确性，需要确认新插入的TOF模组10是否是预设模组。因此，处理器20可以读取TOF模组10的身份数据(Identity document，ID)，处理器20可以从TOF模组10的寄存器中读取到TOF模组10的ID，并且比较TOF模组10的ID与预设身份数据(即，预设ID)是否一致，如果TOF模组10的ID与预设ID一致，则表明新插入的TOF模组10为预设模组，TOF模组10可以获取检测图像；如果TOF模组10的ID与预设ID不一致，则表明新插入的TOF模组10不是预设模组，不能用来获取检测图像。
其中，预设身份数据即为当前需要的TOF模组10的身份数据，预设身份数据可以是用户预先输入的数据，并可以存储在电子设备100的存储器内。例如，预设身份数据为ABC1234567，若读取到插入的TOF模组10的身份数据为CBA1234567，则表示TOF模组10的身份数据与预设身份数据不一致，TOF模组10不是预设模组；若读取到新插入的TOF模组10的身份数据为ABC1234567，则表示TOF模组10的身份数据与预设身份数据一致。
请参阅图10，在某些实施方式中，在TOF模组10的身份数据与预设身份数据不一致时，检测方法还包括以下步骤：
0115：提示TOF模组10硬件异常。
在某些实施方式中，电子设备100还包括提示器60，在TOF模组10的身份数据与预设身份数据不一致时，提示TOF模组10硬件异常。
具体地，在步骤0114后，为了避免错误的TOF模组10获取检测图像以及错误的TOF模组10进行工作导致电子设备100的工作异常，在检测到插入的TOF模组10的身份数据与预设身份数据不一致时，提示器60可以及时提示TOF模组10硬件异常，以便于用户以及及时发现插入的TOF模组10不准确。这里提示TOF模组10的硬件异常可以包括提示TOF模组10与预设模组不一致。这里的提示器60可以包括显示屏、扬声器及指示灯。
进一步地，请参阅图11，在某些实施方式中，在步骤0115后，检测方法还包括以下步骤：
0116：提示更换新的TOF模组10。
在某些实施方式中，在提示TOF模组10硬件异常时，提示器60还可以用于提示更换新的TOF模组10。也即是说，提示器60还可以用于实现步骤0116。
具体地，在识别到插入的TOF模组10并非需要TOF模组10时，提示器60可以提示用户更换新的TOF模组10，以避免用户继续将原TOF模组10重新插入而导致重复提示TOF模组10工作异常，影响安装TOF模组10的效率，用户在接收到更换新的TOF模组10的指令时，可以将该TOF模组10从接口内拆卸下来，并将新的TOF模组10插入接口，然后重新执行步骤010、步骤020及步骤030。
请参阅图12，在某些实施方式中，在步骤011前，检测方法还包括以下步骤：
050：接收将插入TOF模组10的指令；
051：将安装TOF模组10的接口断电；及
052：提示插入TOF模组10。
在某些实施方式中，处理器20还可以用于：接收将插入TOF模组10的指令；及将安装TOF模组10的接口断电；提示器60在安装TOF模组10的接口断电后，提示插入TOF模组10。也即是说，处理器20还可以用于实现步骤050和步骤051，提示器60还可以用于实现步骤052。
具体地，为了防止在安装TOF模组10的接口若处于上电状态时，插入TOF模组10时而导致烧坏TOF模组10或者导致接口发生损坏，甚至导致电子设备100出现瘫痪、死机等状况，在插入TOF模组10之前，需要先将安装TOF模组10的接口断电，因此，需要确定什么时候需要断开安装TOF模组10的电源。
进一步地，可以通过接收用户发送的将插入TOF模组10的指令，以确定断开TOF模组10的接口的时间。其中，电子设备100可以设置有插入TOF模组10的机械按键，在用户按该该机械按键时则视为发送了将插入TOF模组10的指令；或者，电子设备100设置有拨码开关，在用户拨动该拨码开关则视为发送了将插入TOF模组10的指令；或者，电子设备100的屏幕上设置有触摸按键，用户触摸该触摸按键则视为发送了将插入TOF模组10的指令；或者，可以设置有遥控器，遥控器可以通过红外或者蓝牙等方式发送将插入TOF模组10的指令；或者，其它电子设备100上设置有相应的应用程序(Application，APP)，该APP可以通过蓝牙、WIFI通信的方式发送将插入TOF模组10的指令；或者，用户可以选择通过语音的方式给电子设备100发送指令，电子设备100可以语音识别用户语音传输的将插入TOF模组10的指令；还或者，可以在电子设备100的图形用户界面(Graphical User Interface，GUI)上输入预定操作实现发送将插入TOF模组10的指令，例如用户可以在GUI界面画S形、T形、Z形等形状表示将插入TOF模组10。当然，发送将插入TOF模组10的指令的方式还可以是其他，在此不一 一列举。
更进一步地，电子设备100或者电子设备100上的相关硬件接收到将插入TOF模组10的指令后，处理器20等硬件可以将安装TOF模组10的接口断电，以使安装TOF模组10的接口没有电流。在安装TOF模组10的接口的电源完全断开以后，提示器60可以提示插入TOF模组10，以向用户提示安装TOF模组10的接口的电源已经完全断开，可以插入TOF模组10。由此，在插入TOF模组10的过程中，TOF模组10及电子设备100不易发生损坏。
再进一步地，请参阅图13，在某些实施方式中，检测方法还包括以下步骤：
053：在接收到TOF模组10已插入的指令后、或识别到TOF模组10已插入后，执行识别TOF模组10是否为预设模组的步骤。
在某些实施方式中，在接收到TOF模组10已插入的指令后、或识别到TOF模组10已插入后，处理器20还可以用于执行识别TOF模组10是否为预设模组的步骤。也即是说，处理器20还可以用于实现步骤053。
具体地，在TOF模组10未插入时，处理器20无法读取到TOF模组10的数据，更无法识别TOF模组10是否为预设模组，如果在TOF模组10未插入完成或TOF模组10未插入时，容易导致电子设备100错误判断TOF模组10硬件发生异常而给用户错误的提示。因此，需要在确定TOF模组10已插入后，才执行识别TOF模组10是否为预设模组的步骤，即执行步骤011。
其中，TOF模组10已插入的指令可以以多种形式传输至电子设备100。例如，电子设备100可以设置有TOF模组10已插入的机械按键，在用户按该该机械按键时则视为发送了TOF模组10已插入的指令；或者，电子设备100设置有拨码开关，在用户拨动该拨码开关则视为发送了TOF模组10已插入的指令；或者，电子设备100的屏幕上设置有触摸按键，用户触摸该触摸按键则视为发送了TOF模组10已插入的指令；或者，可以设置有遥控器，遥控器可以通过红外或者蓝牙等方式TOF模组10已插入的指令；或者，其它电子设备100上设置有相应的应用程序(Application，APP)，该APP可以通过蓝牙、WIFI通信的方式发送TOF模组10已插入的指令；或者，用户可以选择通过语音的方式给电子设备100发送指令，电子设备100可以语音识别用户语音传输的TOF模组10已插入的指令；还或者，可以在电子设备100的图形用户界面(Graphical User Interface，GUI)上输入预定操作实现发送TOF模组10已插入的指令，例如用户可以在GUI界面画L形、O形、C形等形状表示TOF模组10已插入。当然，发送TOF模组10已插入的指令的方式还可以是其他，在此不一一列举。另外，TOF模组10已插入的指令与将插入TOF模组10的指令可以是设置在电子设备100的同一个按钮实现的，例如第一次按该按钮表示将插入TOF模组10，第二次按该按钮表示TOF模组10已插入。
具体地，识别TOF模组10已插入可以是定时检测安装TOF模组10的接口是否有TOF信号，或者定时检测安装TOF模组10的接口是否安装有TOF模组10，或者检测TOF模组10的管脚是否插入安装TOF模组10的接口。当然，识别TOF模组10已插入还可以是通过其他方式实现，在此不一一列举。进一步地，在识别到TOF模组10已插入或者接收到TOF模组10已插入的指令时，安装TOF模组10的接口可以上电，以使TOF模组10与接口可以进行通讯以及TOF模组10可以正常工作，以可以读取TOF模组10的身份数据。
请参阅图14，在某些实施方式中，在无法读取到TOF模组10的身份数据时，检测方法还包括以下步骤：
061：提示TOF模组10插入失败；
062：判断失败的次数是否大于第二预设次数；及
063：若是，提示TOF模组10硬件异常；
064：若否，提示重新插入TOF模组10。
在某些实施方式中，在无法读取到TOF模组10的身份数据时，提示器60提示TOF模组10插入失败处理器20还可以用于判断失败的次数是否大于第二预设次数；在失败的次数大于第二预设次数时，提示器60提示所述TOF模组10硬件异常；及在失败的次数小于第二预设次数时，提示器60提示重新插入所述TOF模组10。即，处理器20还可以实现步骤061，提示器60还可以实现步骤061、步骤063和步骤064。
具体地，在无法读取到TOF模组10的身份参数时，可能是因为TOF模组10未成功插入而导致的，例如TOF模组10与接口未成功连接，导致TOF模组10未成功上电而无法读取到TOF模组10的身份参数，因此，在无法读取到TOF模组10的身份数据时，提示器60可以提示TOF模组10插入失败。在TOF模组10插入失败的次数小于第二预设次数时，则无法确认读取不到TOF模组10的身份数据是由于TOF模组10未成功插入所导致的还是由于TOF模组10的硬件异常所导致的，因此，提示器60可以提示用于重新插入该TOF模组10，在该TOF模组10重新插入后，可以重新读取该TOF模组10的身份数据。
在用户重新插入该TOF模组10后，若仍然无法读取到该TOF模组10的身份数据，则处理器20可以判断TOF模组10插入失败的次数是否大于第二预设次数，如果TOF模组10插入失败的次数大于或等于第二预设次数，则可以认为读取不到TOF模组10的身份数据是因为TOF模组10硬件异常所导致的，并非是因为TOF模组10未成功插入接口所导致的，因此提示器60可以提示TOF模组10硬件异常，以使用户可以知道TOF模组10的硬件异常不会一直重新插入该TOF模组10。其中，提示器60可以是显示屏、扬声器、指示灯等。
其中，第二预设次数可以是两次、三次、四次、五次、六次、七次、八次、九次、十次或更多次，在此不一一列举。第二预设次数可以是预先设置好的，也可以是用户根据多次试验后得到的次数，或者即使预先设定好了第二预设次数的数值，在后续使用过程中可以对第二预设次数进行调整。
进一步地，请参阅图15，在某些实施方式中，在步骤063后，检测方法还包括以下步骤：
064：提示更换新的TOF模组10。
在某些实施方式中，在提示TOF模组10硬件异常后，提示器60可以提示更换新的TOF模组10。也即是说，在步骤063后，提示器60还可以实现步骤064。
具体地，在TOF模组10插入失败的次数大于或等于第二预设次数后，读取不到TOF模组10的身份数据是因为TOF模组10硬件异常所导致的，并非是因为TOF模组10未成功插入接口所导致的，因此需要更换新的TOF模组10插入接口内，以避免将原硬件异常的TOF模组10重复插入影响工作效率或者导致接口发生损坏，进而提示器60可以提示用户更换新的TOF模组10，用户在接收到提示器60 的提示后，可以选择将原TOF模组10拔下将新的TOF模组10插入接口内，并在新的TOF模组10插入后读取该TOF模组10的身份数据。
请参阅图16，在某些实施方式中，检测方法还包括以下步骤：
001：检测安装TOF模组10的接口内是否安装有TOF模组10；及
002：若是，在接收到更换TOF模组10的指令后，关闭TOF模组10的辅助对焦功能及关闭相机40的预定功能。
在某些实施方式中，处理器20还用于检测安装TOF模组10的接口内是否安装有TOF模组10；若安装TOF模组10的接口内安装有TOF模组10，在接收到更换TOF模组10的指令后，TOF模组10关闭辅助对焦功能及相机40关闭预定功能。也即是说，处理器20还用于实现步骤001，TOF模组10及相机40还用于实现步骤002。
具体地，如果插入TOF模组10前电子设备100上安装有TOF模组10，那么需要将接口内的TOF模组10拆卸下来，以便于有接口可以插入新的TOF模组10。在电子设备100处于开启状态时，若安装TOF模组10的接口内安装有TOF模组10，为了避免直接拔TOF模组10导致损坏TOF模组10及相机40，在接收到更换TOF模组10的指令时，可以关闭插在接口上的TOF模组10的辅助对焦功能，并且关闭相机40的预定功能(例如相机40的测距功能、相机40的成像预览功能等)，以使相机40不再使用接口上的TOF模组10，以使插在接口上的TOF模组10可以处于关闭状态或者停止工作状态，进而在将该TOF模组10从接口上拔下时，TOF模组10不会发生损坏，相机40不会产生异常。
更具体地，如果接口内安装有TOF模组10，接口能够感应到TOF模组10。处理器20可以与安装TOF模组10的接口通讯，若该接口内安装有TOF模组10，接口可以反馈一个TOF信号给到处理器20，若该接口内未安装有TOF模组10，该接口可以不反馈信号给处理器20。关闭TOF模组10的辅助对焦功能，可以是处理器20通过安装TOF模组10的接口与TOF模组10进行通讯，告知TOF模组10关闭辅助对焦功能。关闭相机40的预定功能，可以是处理器20与相机40相应模块进行通讯，告知相应模块关闭预定功能。其中，更换TOF模组10的指令与将插入TOF模组10的指令可以是相同的输入方式，或者也可以单独设置一个更换TOF模组10的指令，在此不做详细介绍。
当然，在TOF模组10关闭辅助对焦功能及相机40关闭预定功能后，需要将安装TOF模组10的接口断电，可以避免在带电时拔原TOF模组10造成原TOF模组10损坏、造成接口损坏或电子设备100瘫痪等，同时还可以避免在带电时插入新的TOF模组10导致新的TOF模组10损坏、造成接口损坏或电子设备100延缓等。
在TOF模组10关闭辅助对焦功能及相机40关闭预定功能后，提示器60可以提示用户TOF模组10已关闭辅助对焦功能及相机40已关闭预定功能，可以执行插入TOF模组10的相关工作。
请参阅图17，本申请实施方式的非易失性计算机可读存储介质300包括计算机程序301，当计算机程序301被一个或多个处理器400执行时，使得处理器400执行本申请任一实施方式的检测方法。
例如，请结合图1及图2，计算机程序被处理器执行时，处理器用于实施以下步骤：
010：在检测到TOF模组10插入时，TOF模组10获取检测图像；
020：识别检测图像中的有效像素点；及
030：根据有效像素点确定TOF模组10是否工作正常。
再例如，请结合图3，计算机程序被处理器执行时，处理器用于实施以下步骤：
021：获取检测图像中的像素点的像素值；
022：判断像素点的像素值是否在预设范围内；及
023：若是，确定像素点为有效像素点；
024：若否，确定像素点为无效像素点。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
尽管上面已经示出和描述了本申请的实施方式，可以理解的是，上述实施方式是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施方式进行变化、修改、替换和变型。

Claims (28)

  1. 一种TOF模组的检测方法，其特征在于，包括：
    在检测到所述TOF模组插入时，所述TOF模组获取检测图像；
    识别所述检测图像中的有效像素点；及
    根据所述有效像素点确定所述TOF模组是否工作正常。
  2. 根据权利要求1所述的检测方法，其特征在于，所述识别所述检测图像中的有效像素点，包括：
    获取所述检测图像中的像素点的像素值；
    判断所述像素点的所述像素值是否在预设范围内；及
    若是，确定所述像素点为有效像素点。
  3. 根据权利要求1所述的检测方法，其特征在于，所述根据所述有效像素点确定所述TOF模组是否工作正常，包括：
    获取所述有效像素点的数量；
    判断所述有效像素点的数量是否大于预设数值；及
    若是，则确定所述TOF模组工作正常；
    若否，则确定所述TOF模组工作异常。
  4. 根据权利要求3所述的检测方法，其特征在于，在确定所述TOF模组工作异常时，所述检测方法还包括：
    判断所述TOF模组工作异常的次数是否大于第一预设次数；及
    若是，提示所述TOF模组硬件异常；
    若否，提示重新插入所述TOF模组。
  5. 根据权利要求3所述的检测方法，其特征在于，在确定所述TOF模组工作正常后，所述检测方法还包括：
    控制相机开启预定功能；及
    启动所述TOF模组的辅助对焦功能。
  6. 根据权利要求1所述的检测方法，其特征在于，所述在检测到所述TOF模组插入时，所述TOF模组获取检测图像，包括：
    识别所述TOF模组是否为预设模组；
    在所述TOF模组为预设模组时，开启所述TOF模组的测距功能；
    保存所述TOF模组检测到的一帧或多帧距离图像；及
    根据所述距离图像获取到所述检测图像。
  7. 根据权利要求6所述的检测方法，其特征在于，所述识别所述TOF模组是否为预设模组，包括：
    读取所述TOF模组的身份数据；
    比较所述身份数据与预设身份数据是否一致；及
    若是，确定所述TOF模组为预设模组。
  8. 根据权利要求6所述的检测方法，其特征在于，在所述识别所述TOF模组是否为预设模组前， 所述检测方法还包括：
    接收将插入所述TOF模组的指令；
    将安装所述TOF模组的接口断电；及
    提示插入所述TOF模组。
  9. 根据权利要求8所述的检测方法，其特征在于，所述检测方法还包括：
    在接收到所述TOF模组已插入的指令后、或识别到所述TOF模组已插入后，执行所述识别所述TOF模组是否为预设模组的步骤。
  10. 根据权利要求7所述的检测方法，其特征在于，在无法读取到所述TOF模组的身份数据时，所述检测方法还包括：
    提示所述TOF模组插入失败；
    判断失败的次数是否大于第二预设次数；及
    若是，提示所述TOF模组硬件异常；
    若否，提示重新插入所述TOF模组。
  11. 根据权利要求7所述的检测方法，其特征在于，在所述身份数据与预设身份数据不一致时，所述检测方法还包括：
    提示所述TOF模组硬件异常。
  12. 根据权利要求4、10及11中的任意一项所述的检测方法，其特征在于，在所述提示所述TOF模组硬件异常后，所述检测方法还包括：
    提示更换新的所述TOF模组。
  13. 根据权利要求1所述的检测方法，其特征在于，所述检测方法还包括：
    检测安装所述TOF模组的接口内是否安装有所述TOF模组；及
    若是，在接收到更换所述TOF模组的指令后，关闭所述TOF模组的辅助对焦功能及关闭相机的预定功能。
  14. 一种电子设备，其特征在于，包括：
    TOF模组，在检测到所述TOF模组插入时，所述TOF模组获取检测图像；及
    处理器，所述处理器与所述TOF模组连接，所述处理器用于：
    识别所述检测图像中的有效像素点；及
    根据所述有效像素点确定所述TOF模组是否工作正常。
  15. 根据权利要求14所述的电子设备，其特征在于，所述处理器还用于：
    获取所述检测图像中的像素点的像素值；
    判断所述像素点的所述像素值是否在预设范围内；及
    若是，确定所述像素点为有效像素点。
  16. 根据权利要求14所述的电子设备，其特征在于，所述处理器还用于：
    获取所述有效像素点的数量；
    判断所述有效像素点的数量是否大于预设数值；及
    若是，则确定所述TOF模组工作正常；
    若否，则确定所述TOF模组工作异常。
  17. 根据权利要求16所述的电子设备，其特征在于，所述处理器还用于：判断所述TOF模组工作异常的次数是否大于第一预设次数；
    所述电子设备还包括提示器，所述提示器用于：
    在所述TOF模组工作异常的次数大于第一预设次数时，提示所述TOF模组硬件异常；及
    在所述TOF模组工作异常的次数小于第一预设次数时，提示重新插入所述TOF模组。
  18. 根据权利要求16所述的电子设备，其特征在于，所述电子设备还包括相机，在确定所述TOF模组工作正常时，
    所述相机开启预定功能；及
    所述TOF模组启动辅助对焦功能。
  19. 根据权利要求14所述的电子设备，其特征在于，所述处理器还用于：
    识别所述TOF模组是否为预设模组；
    在所述TOF模组为预设模组时，所述TOF模组开启测距功能；及
    所述处理器还用于：
    保存所述TOF模组检测到的一帧或多帧距离图像；及
    根据所述距离图像获取到所述检测图像。
  20. 根据权利要求19所述的电子设备，其特征在于，所述处理器还用于：
    读取所述TOF模组的身份数据；
    比较所述身份数据与预设身份数据是否一致；及
    若是，确定所述TOF模组为预设模组。
  21. 根据权利要求19所述的电子设备，其特征在于，所述电子设备还包括提示器，所述处理器还用于：
    接收将插入所述TOF模组的指令；及
    将安装所述TOF模组的接口断电；
    所述提示器提示插入所述TOF模组。
  22. 根据权利要求21所述的电子设备，其特征在于，所述处理器还用于：
    在接收到所述TOF模组已插入的指令后、或识别到所述TOF模组已插入后，执行所述识别所述TOF模组是否为预设模组的步骤。
  23. 根据权利要求20所述的电子设备，其特征在于，所述电子设备还包括提示器，在无法读取到TOF模组的身份数据时，所述提示器提示TOF模组插入失败；
    所述处理器还用于：判断失败的次数是否大于第二预设次数；
    在失败的次数大于第二预设次数时，所述提示器提示所述TOF模组硬件异常；及
    在失败的次数小于第二预设次数时，所述提示器提示重新插入所述TOF模组。
  24. 根据权利要求20所述的电子设备，其特征在于，所述电子设备还包括提示器，在所述身份数据 与预设身份数据不一致时，所述提示器提示所述TOF模组硬件异常。
  25. 根据权利要求17、23及24任意一项所述的电子设备，其特征在于，在提示所述TOF模组硬件异常后，所述提示器提示更换新的所述TOF模组。
  26. 根据权利要求14所述的电子设备，其特征在于，所述电子设备还包括相机，所述处理器还用于：
    检测安装所述TOF模组的接口内是否安装有所述TOF模组；
    若安装所述TOF模组的接口内安装有所述TOF模组，在接收到更换所述TOF模组的指令后，所述TOF模组关闭辅助对焦功能及所述相机关闭预定功能。
  27. 根据所述要求14所述的电子设备，其特征在于，所述电子设备包括无人机、移动终端或相机。
  28. 一种包含计算机程序的非易失性计算机可读存储介质，当所述计算机程序被一个或多个处理器执行时，使得所述处理器实现权利要求1至13中任意一项所述的检测方法。
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