Image acquisition device, display device, image processing method and apparatus

Abstract

This application provides embodiments belonging to display technology, offering an image acquisition device, display apparatus, image processing method, and device. The image acquisition device includes at least two light sources, an image sensor, and a processor connected to the at least two light sources and the image sensor. The at least two light sources have different power levels. The image sensor includes a pixel array for receiving reflected light from the at least two light sources. The processor, connected to the at least two light sources and the image sensor, controls the at least two light sources to project energy of corresponding power levels in a time-division manner, controlling the pixel array to receive reflected light from the at least two light sources. Based on the light intensity information of the reflected light from the at least two light sources, a grayscale image is obtained. This application can more accurately detect the depth information of distant objects, thereby obtaining higher quality grayscale images.

Description

Technical Field

[0001] This application relates to image processing technology. More specifically, it relates to an image acquisition device, a display device, an image processing method, and an apparatus. Background Technology

[0002] Time-of-Flight (TOF) technology can be broadly understood as measuring the time it takes for an object, particle, or wave to travel a certain distance in a fixed medium. With the development of science and technology, TOF technology is finding increasingly wider applications, such as in 3D modeling, gaming, navigation, autonomous driving, and gesture capture.

[0003] Currently, image acquisition devices using Time-of-Flight (TOF) technology provide flood illumination through an active light source projector. This uniform illumination method allows for detailed depth point cloud information in short-range distance calculations; however, as the illumination distance increases, the energy of the illumination light decreases sharply and becomes susceptible to ambient light, making it impossible to detect depth information of distant objects, thus resulting in low-quality grayscale images. Summary of the Invention

[0004] Exemplary embodiments of this application provide an image acquisition device, display device, image processing method, and apparatus that can more accurately detect the depth information of distant objects, thereby obtaining higher quality grayscale images.

[0005] In a first aspect, embodiments of this application provide an image acquisition device, including:

[0006] There are at least two light sources, and the power of each of the at least two light sources is different;

[0007] An image sensor comprising a pixel array for receiving reflected light from at least two light sources;

[0008] The processor, connected to at least two light sources and an image sensor, is configured as follows:

[0009] Control at least two light sources to project energy of corresponding power in a time-sharing manner;

[0010] Control the pixel array to receive reflected light from at least two light sources;

[0011] A grayscale image is obtained based on the light intensity information of reflected light from at least two light sources.

[0012] In some possible implementations, the processor is configured to control at least two light sources to project energy of corresponding power sequentially within the corresponding frame time in a cycle.

[0013] In some possible implementations, the processor is configured to: determine a target pixel array that corresponds to at least two light sources; and control the target pixel array to receive reflected light from the corresponding light sources.

[0014] In some possible implementations, the processor is configured to: for each of at least two light sources, obtain a grayscale image based on the light intensity information of the reflected light from the light source and the light intensity threshold corresponding to the light source, wherein the light intensity threshold is used to filter out stray light and / or interfering light in the reflected light from the light source.

[0015] In some possible implementations, at least two light sources include a first light source and a second light source, where the power of the first light source is greater than that of the second light source. The processor is configured to: in the first target pixel array corresponding to the first light source, set the light intensity information of the reflected light from the first light source that is higher than a first light intensity threshold to a preset value; in the second target pixel array corresponding to the second light source, set the light intensity information of the reflected light from the second light source that is lower than the second light intensity threshold to a preset value; superimpose the first target pixel array and the second target pixel array to obtain a third target pixel array; and obtain a grayscale image based on the light intensity information of the reflected light in the third target pixel array.

[0016] In some possible implementations, the processor is configured to send a grayscale image to a display connected to an image acquisition device, the display being used to display the grayscale image.

[0017] Secondly, embodiments of this application provide a display device, including:

[0018] A display for displaying grayscale images and an image acquisition device as described in the first aspect of this application.

[0019] Thirdly, embodiments of this application provide an image processing method applied to an image acquisition device. The image acquisition device includes at least two light sources and an image sensor. The power of the at least two light sources is different. The image sensor includes a pixel array for receiving reflected light from the at least two light sources. The image processing method includes:

[0020] Control at least two light sources to project energy of corresponding power in a time-sharing manner;

[0021] Control the pixel array to receive reflected light from at least two light sources;

[0022] A grayscale image is obtained based on the light intensity information of reflected light from at least two light sources.

[0023] In some possible implementations, controlling at least two light sources to project corresponding power energy in a time-division manner includes: controlling at least two light sources to project corresponding power energy sequentially within the corresponding frame time in one period.

[0024] In some possible implementations, controlling the pixel array to receive reflected light from at least two light sources includes: determining a target pixel array in the pixel array that corresponds to at least two light sources respectively; and controlling the target pixel array to receive reflected light from the corresponding light sources.

[0025] In some possible implementations, obtaining a grayscale image based on the light intensity information of reflected light from at least two light sources includes: for each of the at least two light sources, obtaining a grayscale image based on the light intensity information of reflected light from the light source and the light intensity threshold corresponding to the light source, wherein the light intensity threshold is used to filter out stray light and / or interfering light in the reflected light from the light source.

[0026] In some possible implementations, at least two light sources include a first light source and a second light source, where the power of the first light source is greater than that of the second light source. A grayscale image is obtained based on the light intensity information of the reflected light from the light sources and the corresponding light intensity thresholds. This includes: in the first target pixel array corresponding to the first light source, setting the light intensity of the reflected light from the first light source that is higher than the first light intensity threshold to a preset value; in the second target pixel array corresponding to the second light source, setting the light intensity of the reflected light from the second light source that is lower than the second light intensity threshold to a preset value; superimposing the first target pixel array and the second target pixel array to obtain a third target pixel array; and obtaining a grayscale image based on the light intensity information of the reflected light in the third target pixel array.

[0027] In some possible implementations, the image processing method further includes sending a grayscale image to a display connected to an image acquisition device, the display being used to display the grayscale image.

[0028] Fourthly, embodiments of this application provide an image processing apparatus applied to an image acquisition device. The image acquisition device includes at least two light sources and an image sensor. The power of the at least two light sources is different. The image sensor includes a pixel array for receiving reflected light from the at least two light sources. The image processing apparatus includes:

[0029] The first control module is used to control the energy of at least two light sources to project corresponding power in a time-sharing manner.

[0030] The second control module is used to control the pixel array to receive reflected light from at least two light sources;

[0031] The acquisition module is used to obtain a grayscale image based on the light intensity information of reflected light from at least two light sources.

[0032] In some possible implementations, the first control module is specifically used to: control at least two light sources to project energy of corresponding power in sequence within the corresponding frame time in one cycle.

[0033] In some possible implementations, the second control module is specifically used to: determine the target pixel array that corresponds to at least two light sources respectively; and control the target pixel array to receive the reflected light from the corresponding light sources.

[0034] In some possible implementations, the acquisition module is specifically used to: for each of at least two light sources, obtain a grayscale image based on the light intensity information of the reflected light from the light source and the light intensity threshold corresponding to the light source, wherein the light intensity threshold is used to filter out stray light and / or interference light in the reflected light from the light source.

[0035] In some possible implementations, at least two light sources include a first light source and a second light source, where the power of the first light source is greater than the power of the second light source. When the acquisition module obtains a grayscale image based on the light intensity information of the reflected light from the light sources and the corresponding light intensity thresholds, it specifically performs the following: in the first target pixel array corresponding to the first light source, sets the light intensity of the reflected light from the first light source that is higher than the first light intensity threshold to a preset value; in the second target pixel array corresponding to the second light source, sets the light intensity of the reflected light from the second light source that is lower than the second light intensity threshold to a preset value; superimposes the first target pixel array and the second target pixel array to obtain a third target pixel array; and obtains a grayscale image based on the light intensity information of the reflected light in the third target pixel array.

[0036] In some possible implementations, the image processing apparatus further includes a transmitting module for transmitting the grayscale image to a display connected to the image acquisition device, the display being used to display the grayscale image.

[0037] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed, implement any of the output image processing methods described in the third aspect of this application.

[0038] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements any of the output image processing methods described in the third aspect of this application.

[0039] The image acquisition device, display device, image processing method, and apparatus provided in this application include an image acquisition device comprising at least two light sources, an image sensor, and a processor connected to the at least two light sources and the image sensor. The at least two light sources have different powers. The image sensor includes a pixel array for receiving reflected light from the at least two light sources. The processor, connected to the at least two light sources and the image sensor, controls the at least two light sources to project energy of corresponding power in a time-division manner, and controls the pixel array to receive reflected light from the at least two light sources. Based on the light intensity information of the reflected light from the at least two light sources, a grayscale image is obtained. Because this application controls at least two light sources of different powers to project energy of corresponding power in a time-division manner, and obtains a grayscale image based on the light intensity information of the received reflected light from the corresponding different light sources, it can more accurately detect the depth information of distant objects, thereby obtaining a higher quality grayscale image.

[0040] These and other aspects of this application will become more apparent in the description of the following embodiments(s). Attached Figure Description

[0041] To more clearly illustrate the implementation methods in the embodiments of this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0042] Figure 1 This is a schematic diagram illustrating an application scenario of the image acquisition device provided in one embodiment of this application;

[0043] Figure 2 This is a hardware configuration block diagram of a display device provided in an embodiment of this application;

[0044] Figure 3 A schematic diagram of the software system of the display device provided in this application;

[0045] Figure 4 A flowchart illustrating an image processing method provided in an embodiment of this application;

[0046] Figure 5 A flowchart of an image processing method provided in another embodiment of this application;

[0047] Figure 6 A schematic diagram illustrating image processing performed by a TOF camera according to an embodiment of this application;

[0048] Figure 7 This is a schematic diagram of the pixel array included in an image sensor provided in an embodiment of this application;

[0049] Figure 8This is a schematic diagram illustrating the filtering of light intensity information of reflected light from a light source according to an embodiment of this application.

[0050] Figure 9 This is a schematic diagram illustrating the filtering of light intensity information of reflected light from a light source, provided as another embodiment of this application.

[0051] Figure 10 A schematic diagram illustrating the acquisition of a third target pixel array according to an embodiment of this application;

[0052] Figure 11 A schematic diagram showing the projection distance ranges of the high-power laser and the low-power laser included in a TOF camera provided in an embodiment of this application;

[0053] Figure 12 This is a schematic diagram of the overall TOF camera provided in one embodiment of this application;

[0054] Figure 13 This is a schematic diagram of the structure of an image processing apparatus provided in an embodiment of this application;

[0055] Figure 14 This is a schematic diagram of a display device provided in an embodiment of this application. Detailed Implementation

[0056] To make the objectives, implementation methods and advantages of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only some embodiments of this application, and not all embodiments.

[0057] Based on the exemplary embodiments described in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the appended claims. Furthermore, although the disclosures in this application are presented by way of one or more exemplary examples, it should be understood that each aspect of these disclosures can also constitute a complete implementation on its own.

[0058] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0059] In this application, the terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings are used to distinguish similar or related objects or entities and do not necessarily imply a specific order or sequence, unless otherwise indicated. It should be understood that such terms can be used interchangeably where appropriate, for example, in situations where implementation is possible in a sequence other than those given in the embodiments illustrated or described in this application.

[0060] Furthermore, the terms “including” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that includes a series of components is not necessarily limited to those components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0061] As used in this application, the term "module" refers to any known or subsequently developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware and / or software code capable of performing the functions associated with that element.

[0062] As used in this application, the term "remote control" refers to a component of an electronic device (such as the display device disclosed in this application) that typically allows for wireless control of the electronic device over a short distance. It generally uses infrared and / or radio frequency (RF) signals and / or Bluetooth to connect to the electronic device, and may also include functional modules such as WiFi, wireless USB, Bluetooth, and motion sensors. For example, a handheld touch remote control replaces most of the physical built-in hard buttons in a typical remote control device with a user interface on a touchscreen.

[0063] As used in this application, the term "gesture" refers to user behavior that uses a change in hand shape or hand movement to express an expected idea, action, purpose, and / or result.

[0064] Figure 1 This is a schematic diagram illustrating an application scenario of the image acquisition device provided in one embodiment of this application. For example... Figure 1 As shown, the image acquisition device is, for example, a TOF camera 100, and the display device 200's display 275 displays a grayscale image of a human body acquired by the TOF camera 100.

[0065] like Figure 1 The diagram also shows that the display device 200 communicates with the server 400 via various communication methods. The display device 200 can communicate via a local area network (LAN), a wireless local area network (WLAN), and other networks. The server 400 can provide the display device 200 with various content and interactive features.

[0066] The display 275 of the display device 200 can be a liquid crystal display, an OLED display, or a projection display device. The specific type, size, and resolution of the display device are not limited. Those skilled in the art will understand that the display device 200 can be modified in terms of performance and configuration as needed.

[0067] In addition to providing broadcast television reception functions, the display device 200 can also be equipped with intelligent network television functions that provide computer support, including but not limited to network television, smart television, Internet Protocol television (IPTV), etc.

[0068] Figure 2 This is a hardware configuration block diagram of a display device provided in one embodiment of this application. Figure 2 As shown, in some embodiments, the display device 200 includes at least one of the following: a controller 250, a tuner / demodulator 210, a communicator 220, a detector 230, an input / output interface 255, a display 275, an audio output interface 285, a memory 260, a power supply 290, a user interface 265, and an external device interface 240.

[0069] In some embodiments, the display 275 is a component for receiving image signals output from a first processor and for displaying video content and images as well as a menu control interface.

[0070] In some embodiments, the display 275 includes a display screen assembly for presenting an image and a driving assembly for driving the image display.

[0071] In some embodiments, the displayed video content may originate from broadcast television content, or from various broadcast signals received via wired or wireless communication protocols. Alternatively, it may display various image content received from a network server via network communication protocols.

[0072] In some embodiments, the display 275 is used to present a user-controlled UI interface generated in the display device 200 and used to control the display device 200.

[0073] In some embodiments, depending on the type of display 275, a driving component for driving the display may also be included.

[0074] In some embodiments, the display 275 is a projection display, and may also include a projection device and a projection screen.

[0075] In some embodiments, the communicator 220 is a component for communicating with external devices or external servers according to various communication protocol types. For example, the communicator may include at least one of the following: a Wi-Fi chip, a Bluetooth communication protocol chip, a wired Ethernet communication protocol chip, other network communication protocol chips or near-field communication protocol chips, and an infrared receiver.

[0076] In some embodiments, the display device 200 can establish a communication with an external control device or content providing device to send and receive control signals and data signals.

[0077] In some embodiments, the user interface 265 can be used to receive infrared control signals from a control device (such as an infrared remote controller).

[0078] In some embodiments, the detector 230 is used by the display device 200 to collect signals from the external environment or to interact with the outside world.

[0079] In some embodiments, the detector 230 includes a light receiver and a sensor for collecting ambient light intensity, which can adaptively display parameter changes by collecting ambient light.

[0080] In some embodiments, the detector 230 may also include an image acquisition device, such as a camera or webcam, wherein the webcam is, for example, a TOF camera, which can be used to acquire external environmental scenes and to acquire user attributes or user interaction gestures. It can adaptively change display parameters and recognize user gestures to achieve the function of interaction with the user.

[0081] In some embodiments, the detector 230 may also include a temperature sensor, such as by sensing ambient temperature.

[0082] In some embodiments, the display device 200 may adaptively adjust the color temperature of the displayed image. For example, in a high-temperature environment, the display device 200 may adjust the color temperature of the displayed image to be cooler, or in a low-temperature environment, the display device 200 may adjust the color temperature of the displayed image to be warmer.

[0083] In some embodiments, the detector 230 may also be a sound acquisition device, such as a microphone, for receiving the user's voice. For example, it may include voice signals containing control commands from the user to the display device 200, or it may collect ambient sounds to identify the type of environmental scene, enabling the display device 200 to adaptively adapt to ambient noise.

[0084] In some embodiments, such as Figure 2As shown, the input / output interface 255 is configured to enable data transmission between the controller 250 and other external devices or other controllers 250. This includes receiving video and audio signal data, or command and instruction data, from external devices.

[0085] In some embodiments, the external device interface 240 may include, but is not limited to, one or more interfaces such as an HDMI interface, an analog or high-definition component input interface, a composite video input interface, a USB input interface, and an RGB port. Alternatively, multiple interfaces may be combined to form a composite input / output interface.

[0086] In some embodiments, such as Figure 2 As shown, the tuner / demodulator 210 is configured to receive broadcast television signals via wired or wireless means, and can perform modulation and demodulation processes such as amplification, mixing, and resonance to demodulate audio and video signals from multiple wireless or wired broadcast television signals. The audio and video signals may include television audio and video signals carried in the frequency of the television channel selected by the user, as well as EPG data signals.

[0087] In some embodiments, the frequency point demodulated by the tuner 210 is controlled by the controller 250, which can issue control signals according to user selection to make the modem respond to the television signal frequency selected by the user and modulate the television signal carried at that frequency.

[0088] In some embodiments, broadcast television signals can be categorized according to different broadcasting standards, such as terrestrial broadcast signals, cable broadcast signals, satellite broadcast signals, or internet broadcast signals. Alternatively, they can be categorized according to different modulation types, such as digital modulation signals or analog modulation signals. Or, they can be categorized according to different signal types, such as digital signals or analog signals.

[0089] In some embodiments, the controller 250 and the tuner / demodulator 210 can be located in different separate devices; that is, the tuner / demodulator 210 can also be located in an external device of the main device where the controller 250 is located, such as an external set-top box. In this way, the set-top box outputs the modulated and demodulated television audio and video signal from the received broadcast television signal to the main device, and the main device receives the audio and video signal through the first input / output interface.

[0090] In some embodiments, the controller 250 controls the operation of the display device and responds to user operations via various software control programs stored in memory. The controller 250 can control the overall operation of the display device 200. For example, in response to receiving a user command to select a UI object to display on the display 275, the controller 250 can perform operations related to the object selected by the user command.

[0091] In some embodiments, the object can be any of the optional objects, such as a hyperlink or an icon. Operations related to the selected object include, for example, displaying links to hyperlinked pages, documents, images, etc., or performing operations corresponding to the program associated with the icon. User commands for selecting UI objects can be input via various input devices connected to the display device 200 (e.g., mouse, keyboard, touchpad, etc.) or voice commands corresponding to spoken commands by the user.

[0092] like Figure 2 As shown, the controller 250 includes at least one of the following: Random Access Memory 251 (RAM), Read-Only Memory 252 (ROM), Video Processor 270, Audio Processor 280, Other Processors 253 (e.g., Graphics Processing Unit (GPU), Central Processing Unit (CPU)), Communication Interface, and Communication Bus 256. The Communication Bus connects the various components.

[0093] In some embodiments, RAM 251 is used to store temporary data of the operating system or other running programs. In some embodiments, ROM 252 is used to store various system startup instructions.

[0094] In some embodiments, ROM 252 is used to store a basic input / output system, referred to as the Basic Input / Output System (BIOS). It is used to perform power-on self-test (POST), initialization of various functional modules within the system, drivers for the system's basic inputs / outputs, and to boot the operating system.

[0095] In some embodiments, upon receiving a power-on signal, the display device 200 starts up, the CPU executes the system startup instructions in ROM 252, and copies temporary data of the operating system stored in memory to RAM 251 to facilitate the startup or operation of the operating system. After the operating system has started up, the CPU copies temporary data of various applications from memory to RAM 251 to facilitate the startup or operation of various applications.

[0096] In some embodiments, the CPU processor 254 is configured to execute operating system and application instructions stored in memory, and to execute various applications, data, and content based on various interactive instructions received from external input, so as to ultimately display and play various audio and video content.

[0097] In some exemplary embodiments, the CPU processor 254 may include multiple processors. The multiple processors may include a main processor and one or more sub-processors. The main processor is used to perform some operations of the display device 200 in a pre-power-on mode, and / or to display a screen in normal mode. The one or more sub-processors are used for one operation in a standby mode or other state.

[0098] In some embodiments, the graphics processor 253 is used to generate various graphical objects, such as icons, operation menus, and graphics displayed based on user input commands. It includes a calculation unit that performs calculations based on various user input interaction commands and displays various objects according to display attributes. It also includes a renderer that renders the various objects obtained from the calculation unit, and the rendered objects are used to display on a monitor.

[0099] In some embodiments, the video processor 270 is configured to receive external video signals and perform video processing such as decompression, decoding, scaling, noise reduction, frame rate conversion, resolution conversion, and image synthesis according to the standard codec protocol of the input signal, so as to obtain a signal that can be directly displayed or played on the display device 200.

[0100] In some embodiments, the video processor 270 includes a demultiplexing module, a video decoding module, an image synthesis module, a frame rate conversion module, a display formatting module, etc.

[0101] The demultiplexing module is used to demultiplex the input audio and video data streams. For example, if the input is MPEG-2, the demultiplexing module will demultiplex it into video signals and audio signals.

[0102] The video decoding module is used to process the demultiplexed video signal, including decoding and scaling.

[0103] Image compositing modules, such as image synthesizers, are used to overlay and blend GUI signals generated by a graphics generator based on user input or its own data with scaled video images to generate displayable image signals.

[0104] The frame rate conversion module is used to convert the frame rate of the input video, such as converting a 60Hz frame rate to a 120Hz frame rate or a 240Hz frame rate. The usual format is achieved by frame interpolation.

[0105] The display formatting module is used to convert the received frame rate video output signal and change the signal to conform to the display format, such as outputting RGB data signals.

[0106] In some embodiments, the graphics processor 253 can be integrated with the video processor or configured separately. When integrated, it can perform the processing of graphics signals output to the display. When configured separately, they can perform different functions, such as a GPU+FRC (Frame Rate Conversion) architecture.

[0107] In some embodiments, the audio processor 280 is configured to receive external audio signals, perform decompression and decoding according to the standard codec protocol of the input signals, and perform noise reduction, digital-to-analog conversion, and amplification processing to obtain a sound signal that can be played in a speaker.

[0108] In some embodiments, the video processor 270 may comprise one or more chips. The audio processor may also comprise one or more chips.

[0109] In some embodiments, the video processor 270 and the audio processor 280 may be separate chips or integrated into one or more chips together with the controller.

[0110] In some embodiments, the audio output receives sound signals output by the audio processor 280 under the control of the controller 250, such as the speaker 286, and external audio output terminals of the generating device of an external device, such as an external audio interface or headphone interface, in addition to the speaker carried by the display device 200 itself. It may also include a short-range communication module in the communication interface, such as a Bluetooth module for Bluetooth speaker sound output.

[0111] The power supply 290, under the control of the controller 250, provides power to the display device 200 from an external power source. The power supply 290 may include a built-in power circuit installed inside the display device 200, or it may be an external power source installed in the display device 200, providing an external power interface within the display device 200.

[0112] User interface 265 is used to receive user input signals and then send the received user input signals to controller 250. The user input signals can be remote control signals received via an infrared receiver, or various user control signals received via a network communication module.

[0113] In some embodiments, the user inputs a user command through a control device or mobile terminal, and the user input interface responds to the user's input through the controller 250.

[0114] In some embodiments, the user can input user commands through a graphical user interface (GUI) displayed on the display 275, and the user input interface receives the user input commands through the GUI. Alternatively, the user can input user commands by inputting specific sounds or gestures, and the user input interface receives the user input commands by recognizing the sounds or gestures through sensors.

[0115] In some embodiments, a "user interface" is a medium interface through which an application or operating system interacts and exchanges information with a user, enabling the conversion between the internal form of information and a form acceptable to the user.

[0116] The memory 260 includes various software modules for driving the display device 200. For example, the various software modules stored in the first memory include at least one of the following: a basic module, a detection module, a communication module, a display control module, a browser module, and various service modules.

[0117] The basic module is a low-level software module used for signal communication between various hardware components in the display device 200 and for sending processing and control signals to higher-level modules. The detection module is a management module used to collect various information from various sensors or user input interfaces, perform digital-to-analog conversion, and analyze and manage the data.

[0118] Figure 3 A schematic diagram of the software system for the display device provided in this application. See also... Figure 3 In some embodiments, the system is divided into four layers, from top to bottom: the Applications layer (referred to as the "Application Layer"), the Application Framework layer (referred to as the "Framework Layer"), the Android runtime and system library layer (referred to as the "System Runtime Library Layer"), and the kernel layer.

[0119] In some embodiments, at least one application runs in the application layer. These applications may be built-in Windows programs, system settings programs, clock programs, camera applications, etc., or applications developed by third-party developers, such as HiSee programs, karaoke programs, magic mirror programs, etc. In specific implementations, the application packages in the application layer are not limited to the examples above, and may actually include other application packages. This application embodiment does not impose any limitations on this.

[0120] The framework layer provides Application Programming Interfaces (APIs) and programming frameworks for applications in the application layer. The application framework layer includes predefined functions. It acts as a central processing unit, determining the actions taken by applications in the application layer. Through the API, applications can access system resources and obtain system services during execution.

[0121] like Figure 3 As shown, the application framework layer in this embodiment includes managers, content providers, etc., wherein the managers include at least one of the following modules: ActivityManager, which interacts with all activities running in the system; LocationManager, which provides access to system location services for system services or applications; PackageManager, which retrieves various information related to application packages currently installed on the device; NotificationManager, which controls the display and clearing of notification messages; and WindowManager, which manages icons, windows, toolbars, wallpapers, and desktop widgets on the user interface.

[0122] In some embodiments, the Activity Manager is used to: manage the lifecycle of each application and general navigation back functions, such as controlling the exit of an application (including switching the currently displayed user interface in the display window to the system desktop), opening an application, and going back (including switching the currently displayed user interface in the display window to the previous level user interface).

[0123] In some embodiments, the window manager is used to manage all window programs, such as obtaining the screen size, determining whether there is a status bar, locking the screen, capturing the screen, and controlling changes to the display window (e.g., shrinking the display window, shaking the display, distorting the display, etc.).

[0124] In some embodiments, the system runtime library layer provides support for the upper layer, namely the framework layer. When the framework layer is used, the Android operating system runs the C / C++ libraries contained in the system runtime library layer to implement the functions that the framework layer needs to perform.

[0125] In some embodiments, the kernel layer is a layer between hardware and software. For example... Figure 3As shown, the kernel layer includes at least one of the following drivers: audio driver, display driver, Bluetooth driver, camera driver, WIFI driver, USB driver, HDMI driver, sensor driver (such as fingerprint sensor, temperature sensor, touch sensor, pressure sensor, etc.).

[0126] In some embodiments, the kernel layer also includes a power driver module for power management.

[0127] In some embodiments, Figure 3 The software programs and / or modules corresponding to the software architecture in the document are stored in [the relevant database]. Figure 2 In the first or second memory shown.

[0128] Currently, image acquisition devices using Time-of-Flight (TOF) technology (such as TOF cameras) provide flood illumination through an active light source projector. This uniform illumination method allows for detailed depth point cloud information in near-range distance calculations; however, as the illumination distance increases, the energy of the illumination light decreases sharply, becoming susceptible to ambient light and thus unable to detect depth information of distant objects. To measure objects at medium to long distances, the laser power can be increased. However, this increased power leads to multipath interference or stray light phenomena caused by strong reflected light from nearby objects. To reduce multipath interference or stray light phenomena at close range, the laser power needs to be reduced. But then, as the distance increases, the energy projected by the laser weakens, causing increased data jitter. This results in a sharp decrease in the accuracy of measurement data for medium to long-range objects, leading to poor quality grayscale images.

[0129] To address the aforementioned issues, this application provides an image acquisition device, a display device, an image processing method, and an apparatus. By using at least two light sources of different powers in the image acquisition device to project energy of different powers in a time-division manner, and processing the reflected light received from the corresponding light sources, the measurement accuracy of the image acquisition device at different distances can be improved, thereby obtaining higher quality grayscale images.

[0130] In the following embodiments, a TOF camera is used as an example to illustrate how the image acquisition device of this application performs image processing. It should be noted that the image acquisition device of this application is not limited to a TOF camera.

[0131] Figure 4This is a flowchart illustrating an image processing method provided in one embodiment of this application. The image processing method is applied to a Time-of-Flight (TOF) camera. The TOF camera includes at least two light sources, an image sensor, and a processor connected to the at least two light sources and the image sensor. The at least two light sources have different powers, and the image sensor includes a pixel array for receiving reflected light from the at least two light sources. Figure 4 As shown, a processor connected to at least two light sources and an image sensor is configured to perform the following steps:

[0132] In S401, at least two light sources are controlled to project energy of corresponding power in a time-sharing manner.

[0133] In this embodiment, the light source is exemplarily a laser, which can be used to emit laser pulses. For example, a TOF camera may include two lasers with different powers: a high-power laser and a low-power laser. It is understood that the high-power laser has a greater power than the low-power laser. Therefore, the high-power laser and the low-power laser can be controlled to project energy of corresponding power in a time-sharing manner. That is, the high-power laser can be controlled to project energy of corresponding power first, then the high-power laser can be turned off, and then the low-power laser can be controlled to project energy of corresponding power. For details on how to control at least two light sources to project energy of corresponding power in a time-sharing manner, please refer to subsequent embodiments; they will not be repeated here.

[0134] In S402, the control pixel array receives reflected light from at least two light sources.

[0135] By controlling at least two light sources to project energy of corresponding power in a time-division manner, the pixel array can be controlled to receive reflected light from at least two light sources. For example, a TOF camera may include two lasers with different powers, a high-power laser and a low-power laser. First, the high-power laser can be controlled to project energy of corresponding power, and then the pixel array can be controlled to receive reflected light from the high-power laser. Then, the high-power laser can be turned off, and the low-power laser can be controlled to project energy of corresponding power, and the pixel array can be controlled to receive reflected light from the low-power laser. For details on how to specifically control the pixel array to receive reflected light from at least two light sources, please refer to subsequent embodiments; these will not be repeated here.

[0136] In S403, a grayscale image is obtained based on the light intensity information of the reflected light from at least two light sources.

[0137] By controlling the pixel array to receive reflected light from at least two light sources, a grayscale image can be obtained based on the light intensity information of the reflected light from at least two light sources. For details on how to obtain a grayscale image based on the light intensity information of the reflected light from at least two light sources, please refer to subsequent embodiments; these will not be elaborated upon here.

[0138] The image processing method provided in this application is applied to a Time-of-Flight (TOF) camera. The TOF camera includes at least two light sources, an image sensor, and a processor connected to the at least two light sources and the image sensor. The at least two light sources have different powers. The image sensor includes a pixel array for receiving reflected light from the at least two light sources. The processor connected to the at least two light sources and the image sensor controls the at least two light sources to project energy of corresponding power in a time-division manner, and controls the pixel array to receive reflected light from the at least two light sources. Based on the light intensity information of the reflected light from the at least two light sources, a grayscale image is obtained. Because this application embodiment controls at least two light sources of different powers to project energy of corresponding power in a time-division manner, and obtains a grayscale image based on the light intensity information of the reflected light from the corresponding different light sources, it can more accurately detect the depth information of distant objects, thereby obtaining a higher quality grayscale image.

[0139] The image processing method provided in this application will be described in detail below with specific steps.

[0140] Based on the above embodiments, Figure 5 A flowchart illustrating an image processing method provided in another embodiment of this application. (See attached flowchart.) Figure 5 As shown, the processor of the TOF camera is configured to perform the following steps:

[0141] In the embodiments of this application, Figure 4 Step S401 may further include the following step S501:

[0142] In S501, within one cycle, at least two light sources are controlled to project energy of corresponding power sequentially within the corresponding frame time.

[0143] In this step, exemplarily, Figure 6 A schematic diagram illustrating image processing performed by a TOF camera according to an embodiment of this application is shown below. Figure 6 As shown, the TOF camera includes two lasers with different powers: a high-power laser and a low-power laser, which are distributed on both sides of the TOF camera's image sensor. Optionally, the high-power laser and the low-power laser can also be distributed on one side of the TOF camera's image sensor; this can be configured as needed, and this application is not limited to this. One cycle is, for example, two frames, divided into a preceding frame and a following frame, with the duration of the two frames being the same. Within one cycle, the high-power laser and the low-power laser are controlled to project energy of corresponding power sequentially within the corresponding frame time. Specifically, the high-power laser is turned on in the preceding frame time, illuminating the object and producing reflected light; then the high-power laser is turned off, and simultaneously, the low-power laser is turned on in the following frame time, illuminating the object and producing reflected light.

[0144] In the embodiments of this application, Figure 4 Step S402 can further include the following two steps, S502 and S503:

[0145] In S502, the target pixel array corresponding to at least two light sources is determined.

[0146] In S503, the target pixel array is controlled to receive reflected light from the corresponding light source.

[0147] For example, a TOF camera includes two lasers with different powers, namely a high-power laser and a low-power laser. Figure 7 This is a schematic diagram of the pixel array included in an image sensor provided in one embodiment of this application, as shown below. Figure 7 As shown, the target pixel array corresponding to the high-power laser and the low-power laser is determined. Specifically, Figure 7 The small circles in the odd-numbered rows (e.g., row 1) represent the target pixel array corresponding to high-power lasers. Figure 7 The small circles in even-numbered rows (e.g., row 2) represent the target pixel array corresponding to the low-power laser. Within a cycle, the high-power laser is activated in the previous frame, and the light emitted by the high-power laser illuminates the object, producing reflected light, which controls... Figure 7 The small circles in the odd-numbered rows represent the target pixel array that receives reflected light from the high-power laser. Therefore, pixels that receive reflected light from the high-power laser are placed in the odd-numbered rows. Then, the high-power laser is turned off, and in the next frame, the low-power laser is turned on. The light emitted by the low-power laser illuminates the object, producing reflected light, thus controlling... Figure 7 The small circles in the even-numbered rows represent the target pixel array that receives the reflected light from the low-power laser; that is, pixels that receive the reflected light from the low-power laser are placed in the even-numbered rows. It should be noted that... Figure 7 This is merely a schematic diagram illustrating how to determine the target pixel array corresponding to two light sources in a pixel array, as provided in this application embodiment. This application embodiment does not... Figure 7 The positional relationship between the pixel array and the target pixel arrays corresponding to the two light sources is defined, and the target pixel arrays corresponding to each light source can be set as needed. For example, it can be... Figure 7 The small circles in the odd-numbered sequence are used as the target pixel array corresponding to the high-power laser, and... Figure 7 The small circles in the even-numbered columns represent the target pixel array corresponding to the low-power laser.

[0148] In the embodiments of this application, Figure 4 Step S403 may further include the following step S504:

[0149] In S504, for each of the at least two light sources, a grayscale image is obtained based on the light intensity information of the reflected light from the light source and the light intensity threshold corresponding to the light source.

[0150] The light intensity threshold is used to filter out stray light and / or interfering light in the reflected light from the light source.

[0151] In this step, the light intensity thresholds corresponding to different light sources can be set as needed. The light intensity thresholds can be used to filter out stray light, interference light, or stray light and / or interference light in the reflected light from the light source. For each of at least two light sources, after controlling the target pixel array to receive the reflected light from the corresponding light source, a grayscale image can be obtained based on the light intensity information of the reflected light from the light source and the light intensity threshold corresponding to the light source.

[0152] Further, optionally, at least two light sources include a first light source and a second light source, wherein the power of the first light source is greater than the power of the second light source. When the processor of the TOF camera obtains a grayscale image based on the light intensity information of the reflected light from the light sources and the light intensity threshold corresponding to the light sources, it specifically performs the following: in the first target pixel array corresponding to the first light source, setting the light intensity of the reflected light from the first light source that is higher than the first light intensity threshold to a preset value; in the second target pixel array corresponding to the second light source, setting the light intensity of the reflected light from the second light source that is lower than the second light intensity threshold to a preset value; superimposing the first target pixel array and the second target pixel array to obtain a third target pixel array; and obtaining a grayscale image based on the light intensity information of the reflected light in the third target pixel array.

[0153] For example, a TOF camera includes two lasers with different powers: a high-power laser (i.e., a first light source) and a low-power laser (i.e., a second light source). Figure 8 This is a schematic diagram illustrating the filtering of light intensity information of reflected light from a light source according to an embodiment of this application, as shown below. Figure 8 As shown, within one cycle, the high-power laser light source is turned on in the previous frame, and the obtained first target pixel dot matrix corresponding to the high-power laser is as follows. Figure 8 In the 801, the first row of odd-numbered pixels includes two reflected light signal intensities of 10 and 18, and the third row includes two reflected light signal intensities of 12 and 30. A first light intensity threshold is set; for example, a preset value of 0. This sets the reflected light signal intensity in odd-numbered rows that is higher than the first intensity threshold to 0, resulting in the following: Figure 8In the 802 pixel array, the first row of odd-numbered pixels includes two reflected light signal intensities: 10 and 18, and the third row includes two reflected light signal intensities: 12 and 0. It can be understood that reflected light signal intensities of 10, 18, and 12 represent reflected light signals from distant objects, while the reflected light signal intensity of 30 represents reflected light signals from nearby objects. Since the intensity of reflected light signals from nearby objects is much higher than that from distant objects, these reflected light signals are considered stray or interfering light signals and need to be filtered out. Figure 9 This is a schematic diagram illustrating the filtering of light intensity information of reflected light from a light source, provided in another embodiment of this application. Figure 9 As shown, within one cycle, after turning off the high-power laser source, the low-power laser source is simultaneously turned on in the next frame. The resulting second target pixel array corresponding to the low-power laser is shown in the figure. Figure 9 In the 901 pixel array, the second row of even-numbered pixels contains two reflected light signal intensities: 3 and 11, and the fourth row contains two reflected light signal intensities: 5 and 23. Setting a second light intensity threshold sets the reflected light signal intensity in even-numbered pixels below the second threshold to 0, resulting in the following: Figure 9 In the 902 pixel array, the second row of even-numbered pixels contains two reflected light signal intensities: 0 and 11, and the fourth row contains two reflected light signal intensities: 0 and 23. It can be understood that reflected light signal intensities 11 and 23 represent near-field reflected light signals, while intensities 3 and 5 represent far-field reflected light signals. The intensity of far-field reflected light signals is much lower than that of near-field reflected light signals. Therefore, the reflected light signals from near-field objects and those from far-field objects are considered stray or interfering light signals and need to be filtered out.

[0154] After obtaining the first target pixel array and the second target pixel array, the first target pixel array and the second target pixel array can be superimposed to obtain the third target pixel array. For example, the reflected light corresponding to the first target pixel array can be used as the first reflected light signal intensity, and the reflected light corresponding to the second target pixel array can be used as the second reflected light signal intensity. The first reflected light signal intensity and the second reflected light signal intensity can be superimposed to obtain the third target pixel array. Figure 10 This is a schematic diagram of obtaining a third target pixel dot matrix according to an embodiment of this application, as shown below. Figure 10As shown, by performing filtering processing based on the light intensity information of the reflected light in the first target pixel array 1001 and the first light intensity threshold, a filtered first target pixel array 1003 can be obtained. Similarly, by performing filtering processing based on the light intensity information of the reflected light in the second target pixel array 1002 and the second light intensity threshold, a filtered second target pixel array 1004 can be obtained. Finally, by superimposing the first target pixel array 1003 and the second target pixel array 1004, a final result can be obtained. Figure 10 The third target pixel array 1005 shown herein includes the following: the first row of the third target pixel array 1005 includes two reflected light signal intensities, 10 and 18; the second row includes two reflected light signal intensities, 0 and 11; the third row includes two reflected light signal intensities, 12 and 0; and the fourth row includes two reflected light signal intensities, 0 and 23. This method of obtaining the third target pixel array ensures that the reflected light signal intensity at a distance is sufficient while preventing overexposure of the reflected light signal intensity at close range. In a single depth image cycle, when the TOF camera captures distant and nearby objects, it activates the laser twice. The scattered light energy from both lasers is reflected from the nearby and distant objects. However, the difference lies in the intensity of the reflected light. Because the nearby object is closer to the laser, the reflected light energy from the high-power laser is stronger, which can easily lead to multipath interference and cause errors in the intensity of the reflected light signal. Conversely, the reflected light energy from the low-power laser is lower, making it less prone to multipath interference, and the intensity of the low-power reflected light signal has higher confidence. Conversely, because the distant object is farther from the laser, the reflected light energy from the low-power laser is weaker, resulting in poorer image quality and greater jitter in the depth point cloud information of the distant object. In contrast, the reflected light energy from the high-power laser is higher, resulting in less jitter in the depth information, better image quality, and higher confidence in the intensity of the high-power reflected light signal.

[0155] For example, refer to Figure 6 Within one cycle, the image sensor receives one frame of reflected light corresponding to the high-power laser from the target pixel array, which is used as the first reflected light signal intensity. Similarly, it receives one frame of reflected light corresponding to the low-power laser from the target pixel array, which is used as the second reflected light signal intensity. The first and second reflected light signal intensities (i.e., the two frames of reflected light signal intensities) are then superimposed to obtain the third target pixel array. After obtaining the third target pixel array, a grayscale image can be obtained based on the light intensity information of the reflected light in the third target pixel array. How to obtain the grayscale image based on the light intensity information of the reflected light in the third target pixel array can be achieved using a preset method or by referring to current related technologies; this will not be elaborated upon here.

[0156] In S505, the grayscale image is sent to a display connected to the TOF camera, and the display is used to show the grayscale image.

[0157] After obtaining the grayscale image, it can be sent to a monitor connected to the TOF camera so that the monitor can display the grayscale image.

[0158] The image processing method provided in this application embodiment is applied to a TOF camera. The OF camera's processor controls at least two light sources to sequentially project energy of corresponding power within a corresponding frame time period within one cycle. It determines the target pixel array corresponding to each of the at least two light sources in the pixel array, controls the target pixel array to receive reflected light from the corresponding light source, and obtains a grayscale image for each of the at least two light sources based on the light intensity information of the reflected light and the corresponding light intensity threshold. The grayscale image is then sent to a display connected to the TOF camera for display. Because this application embodiment controls at least two light sources of different power to project energy of corresponding power in a time-division manner, it filters out stray light and / or interference light in the received reflected light from different light sources. Therefore, it can more accurately detect the depth information of distant objects. The target pixel arrays corresponding to each light source are superimposed to obtain a superimposed target pixel array. A grayscale image is obtained based on the light intensity information of the reflected light in the superimposed target pixel array, resulting in a higher quality grayscale image.

[0159] Based on the above embodiments, Figure 11 A schematic diagram illustrating the projection distance ranges of the high-power laser and low-power laser included in a TOF camera according to an embodiment of this application is shown below. Figure 11 As shown, referring to the above Figure 6 Based on this, the projection distance range L1 corresponding to a high-power laser and the projection distance range L2 corresponding to a low-power laser are shown. L1 can be understood as the energy of the high-power laser projecting its corresponding power onto a distant object, and L2 can be understood as the energy of the low-power laser projecting its corresponding power onto a nearby object. It can be understood that a near-distance object receives a low-power reflected light signal intensity from the reflected light energy of the low-power laser, while a distant object receives a high-power reflected light signal intensity from the reflected light energy of the high-power laser, thus obtaining high-precision optical signal intensity information for different distances.

[0160] Based on the above embodiments, Figure 12 This is a schematic diagram of the overall TOF camera provided in one embodiment of this application, as shown below. Figure 12As shown, the TOF camera includes a high-power laser 1201, a low-power laser 1202, an image sensor 1203, a motherboard 1204 (combined with a main chip, which can be understood as a processor connected to at least two light sources and the image sensor in the above embodiment), and a Universal Serial Bus (USB) terminal 1205. All components are connected via connecting cables. The USB terminal 1205 can be connected to, for example, the USB terminal of a flat-screen TV. In one cycle, after the image sensor 1203 receives the reflected light from the high-power laser 1201 and the low-power laser 1202, it transmits the reflected light signal intensity of the two frames to the main chip of the motherboard 1204 for superposition processing. Based on the intensity information of the superimposed reflected light, a corresponding grayscale image is obtained, and the grayscale image is sent to the flat-screen TV for display.

[0161] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0162] Figure 13 This is a schematic diagram of the structure of an image processing apparatus provided in an embodiment of this application. The image processing apparatus is applied to an image acquisition device, which includes at least two light sources, an image sensor, and a processor connected to the at least two light sources and the image sensor. The at least two light sources have different powers, and the image sensor includes a pixel array for receiving reflected light from the at least two light sources. Figure 13 As shown, the image processing apparatus 1300 provided in this embodiment includes: a first control module 1301, a second control module 1302, and an acquisition module 1303. Wherein:

[0163] The first control module 1301 is used to control the energy of at least two light sources to project corresponding power in a time-sharing manner.

[0164] The second control module 1302 is used to control the pixel array to receive reflected light from at least two light sources.

[0165] The acquisition module 1303 is used to obtain a grayscale image based on the light intensity information of reflected light from at least two light sources.

[0166] In some possible implementations, the first control module 1301 can be specifically used to: control at least two light sources to project energy of corresponding power in sequence within the corresponding frame time in one cycle.

[0167] In some possible implementations, the second control module 1302 may be specifically used to: determine the target pixel array that corresponds to at least two light sources respectively; and control the target pixel array to receive the reflected light from the corresponding light sources.

[0168] In some possible implementations, the acquisition module 1303 may be specifically used to: for each of at least two light sources, obtain a grayscale image based on the light intensity information of the reflected light of the light source and the light intensity threshold corresponding to the light source, wherein the light intensity threshold is used to filter out stray light and / or interference light in the reflected light of the light source.

[0169] In some possible implementations, at least two light sources include a first light source and a second light source, where the power of the first light source is greater than the power of the second light source. When the acquisition module 1303 obtains a grayscale image based on the light intensity information of the reflected light from the light sources and the light intensity threshold corresponding to the light sources, it can specifically be used to: set the light intensity of the reflected light from the first light source that is higher than the first light intensity threshold to a preset value in the first target pixel array corresponding to the first light source; set the light intensity of the reflected light from the second light source that is lower than the second light intensity threshold to a preset value in the second target pixel array corresponding to the second light source; superimpose the first target pixel array and the second target pixel array to obtain a third target pixel array; and obtain a grayscale image based on the light intensity information of the reflected light in the third target pixel array.

[0170] In some possible implementations, the image processing apparatus further includes a transmitting module 1304 for transmitting a grayscale image to a display connected to the image acquisition device, the display being used to display the grayscale image.

[0171] It should be noted that the device provided in this embodiment can be used to perform the above-described image processing method, and its implementation and technical effects are similar, so it will not be described again here.

[0172] Based on the above embodiments, Figure 14 This is a schematic diagram of a display device provided in an embodiment of this application, as shown below. Figure 14 As shown, the display device 1400 includes a display 1401 for displaying grayscale images and an image acquisition device 1402 as described in any of the above method embodiments. Wherein:

[0173] The display 1401 receives the grayscale image sent by the image acquisition device and displays the grayscale image. The specific implementation process of the image acquisition device obtaining the grayscale image can be found in the above method embodiments, and will not be repeated here.

[0174] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, a processing module can be a separate processing element, or it can be integrated into a chip within the device. Alternatively, it can be stored as program code in the device's memory, and its functions can be called and executed by a processing element. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0175] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more ASICs (Application Specific Integrated Circuits), one or more DSPs (Digital Signal Processors), or one or more FPGAs (Field Programmable Gate Arrays). As another example, when a module is implemented through processing element scheduler code, the processing element can be a general-purpose processor, such as a CPU or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-on-a-Chip (SoC).

[0176] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer programs. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, a computer program can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0177] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the image processing method described in any of the above method embodiments.

[0178] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When the at least one processor executes the computer program, it can implement the image processing method as described in any of the above method embodiments.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0180] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, thereby enabling those skilled in the art to better utilize the embodiments and various different variations of embodiments suitable for specific application considerations.

Claims

1. An image acquisition device, characterized in that, The image acquisition device is a TOF camera, including: At least two light sources, each with a different power; the at least two light sources include a first light source and a second light source, the first light source having a greater power than the second light source; the light sources are lasers, and at least two of the lasers are distributed on both sides of the image sensor of the image acquisition device; An image sensor includes a pixel array for receiving reflected light from at least two light sources; wherein, the odd-numbered rows of pixels in the pixel array constitute a first target pixel array corresponding to a first light source, for receiving reflected light from the first light source; and the even-numbered rows of pixels constitute a second target pixel array corresponding to a second light source, for receiving reflected light from the second light source. The processor connected to the at least two light sources and the image sensor is configured to: Within a cycle, the first frame controls the first light source to project energy; the first light source is turned off, and the second light source is controlled to project energy in the second frame; the cycle includes two consecutive independent frames with the same duration. In the first frame, the first target pixel array in the odd-numbered rows is controlled to receive the reflected light corresponding to the first light source; in the second frame, the second target pixel array in the even-numbered rows is controlled to receive the reflected light corresponding to the second light source. In the first target pixel dot matrix of the odd-numbered rows corresponding to the first light source, the light intensity of the reflected light from the first light source that is higher than the first light intensity threshold is set to 0, so as to obtain the first target pixel dot matrix after filtering. In the second target pixel dot matrix of the even-numbered rows corresponding to the second light source, the light intensity information of the reflected light from the second light source that is lower than the second light intensity threshold is set to 0 to obtain the second target pixel dot matrix after filtering. The processed first target pixel array and the second target pixel array are arranged in the order of odd-numbered rows first and even-numbered rows last, and then superimposed. The pixels of the odd-numbered rows and the even-numbered rows together form the third target pixel array, so that the third target pixel array can ensure that the intensity of the reflected light signal of distant objects is sufficient, and that the reflected light signal of nearby objects is not overexposed. A grayscale image is obtained based on the light intensity information of the reflected light in the third target pixel array.

2. The image acquisition device according to claim 1, characterized in that, The processor is configured to: The grayscale image is sent to a display connected to the image acquisition device, and the display is used to display the grayscale image.

3. A display device, characterized in that, include: A display for displaying grayscale images and an image acquisition device as described in claim 1 or 2.

4. An image processing method, characterized in that, An image acquisition device, specifically a TOF camera, is used. The device includes at least two light sources and an image sensor. The power of the at least two light sources is different, and each light source includes a first light source and a second light source, with the first light source having a higher power than the second light source. Each light source is a laser, and at least two lasers are distributed on either side of the image sensor. The image sensor includes a pixel array for receiving reflected light from the at least two light sources. In this array, odd-numbered rows of pixels constitute a first target pixel array corresponding to the first light source, used to receive reflected light from the first light source; even-numbered rows of pixels constitute a second target pixel array corresponding to the second light source, used to receive reflected light from the second light source. The image processing method includes: Within a cycle, the first frame controls the first light source to project energy; the first light source is turned off, and the second light source is controlled to project energy in the second frame; the cycle includes two consecutive independent frames with the same duration. In the first frame, the first target pixel array in the odd-numbered rows is controlled to receive the reflected light corresponding to the first light source; in the second frame, the second target pixel array in the even-numbered rows is controlled to receive the reflected light corresponding to the second light source. In the first target pixel dot matrix corresponding to the odd-numbered rows of the first light source, the light intensity information of the reflected light from the first light source that is higher than the first light intensity threshold is set to 0, so as to obtain the first target pixel dot matrix after filtering. In the second target pixel dot matrix of the even-numbered rows corresponding to the second light source, the light intensity information of the reflected light from the second light source that is lower than the second light intensity threshold is set to 0 to obtain the second target pixel dot matrix after filtering. The processed first target pixel array and the second target pixel array are arranged in the order of odd-numbered rows first and even-numbered rows last, and then superimposed. The pixels of the odd-numbered rows and the even-numbered rows together form the third target pixel array, so that the third target pixel array can ensure that the intensity of the reflected light signal of distant objects is sufficient, and that the reflected light signal of nearby objects is not overexposed. A grayscale image is obtained based on the light intensity information of the reflected light in the third target pixel array.

Images