A tof depth camera

Abstract

The present invention proposes a TOF depth camera, including a pulsed light source, imaging and detection devices, and a control module, the control module controls the number of pulses and / or corresponding pulses of the first pulse, the second pulse and the third pulse emitted by the pulsed light source The number of openings of the first shutter, the second shutter and the third shutter makes the imaging and detection devices work in the linear region under the three shutters. The present invention adopts a 3-shutter heterogeneous method, and sets 3 shutters with different configuration schemes on the imaging and detectors. These three shutters have different delay times and different opening times, so that in different measurement intervals, each shutter The exposure amount can be within the normal working range of the detector, so as to ensure the compatibility of short distance and long distance.

Description

technical field [0001] The invention relates to a distance measurement device, in particular to a TOF depth camera for realizing distance measurement by detecting time-of-flight (TOF). Background technique [0002] According to different depth measurement principles, depth cameras are generally divided into: time-of-flight method, structured light method, and binocular stereo vision method. Flight time is literally translated from Time of Flight, referred to as TOF. The basic principle is to continuously emit light pulses (generally invisible light) to the object to be observed, and then use the sensor to receive the light returned from the object, and obtain the target object distance by detecting the flight (round trip) time of the light pulse. [0003] The light source modulation methods of the existing Time of Flight (TOF) depth cameras are mainly divided into two categories: one is the continuous wave phase detection method, which uses continuous periodic waveform ligh...

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Problems solved by technology

[0010] Aiming at the deficiencies of the prior art, the purpose of the present invention is to solve the measurement problem caused by the excessive concentration of reflected light in the existing TOF depth camera when the light energy received by the camera detector is too large during short distance measurement. The error is relatively large. By designing a three-shutter heterogeneous scheme, the exposure energy of the shutter corresponding to the short distance is small, and the exposure energy of the shutter corresponding to the long distance, so that both long and short distances can work in a normal state.

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