Three-dimensional sensing system

Abstract

The disclosure provides a three-dimensional sensing system. The three-dimensional sensing system includes a first sensing device, a second sensing device, and a controller. The first sensing device provides at least one first emission light based on a first sensing timing and receives a first sensing signal. The second sensing device provides at least one second emission light based on a second sensing timing and receives a second sensing signal. The controller adjusts at least one of the first sensing timing and the second sensing timing according to an interference result of the first sensing device to the second sensing signal.

Description

Technical Field

[0001] This disclosure is generally about a sensing system, and more specifically about a 3D sensing system with a high decoding rate. Background Technology

[0002] With the widespread adoption of three-dimensional (3D) recognition applications, various 3D sensing technologies are flourishing. Light source-based sensing systems include structured light technology and time-of-flight (ToF) ranging technology. Structured light technology projects an image onto the object to be measured, receives the reflected sensing signal, introduces a triangular geometry, and then obtains the object's depth information. ToF ranging technology calculates the time difference or phase difference between the projected light and the reflected sensing signal from the object, and calculates the distance and geometry to the object based on this time difference or phase difference. It is also widely used in wide-view sensing applications, such as terrain recognition for robots and autonomous vehicles.

[0003] For 3D sensing systems, it is necessary to use multiple sensing devices. However, the light sources emitted from the sensing devices to the object can overlap simultaneously in the overlapping area. The sensing devices receive reflection sensing signals from other modules in the overlapping area. Therefore, the sensing devices receive incorrect reflection sensing signals and misjudged 3D results. In addition, 3D sensing systems have low confidence, which leads to low decoding rates. Summary of the Invention

[0004] This disclosure relates to a 3D sensing system with a high decoding rate.

[0005] Embodiments of this disclosure provide a 3D sensing system. The 3D sensing system includes a first sensing device, a second sensing device, and a controller. The first sensing device provides at least one first emitted light and receives a first sensing signal based on a first sensing timing sequence. The second sensing device provides at least one second emitted light and receives a second sensing signal based on a second sensing timing sequence. The controller is coupled to the first and second sensing devices. The controller adjusts at least one of the first and second sensing timing sequences based on interference results of the first sensing device on the second sensing signal.

[0006] Based on the above, the 3D sensing system adjusts at least one of the first and second sensing timings according to the interference effect of the first sensing device on the second sensing signal. This prevents interference from the first sensing device. Therefore, the 3D sensing system has a high decoding rate.

[0007] To make the above features and advantages of this disclosure easier to understand, the following detailed embodiments with accompanying figures are described. Attached Figure Description

[0008] This document includes accompanying drawings to provide a further understanding of the present disclosure, and the drawings are incorporated in and form a part of this specification. The drawings illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0009] Figure 1 A schematic diagram of a 3D sensing system according to an embodiment of the present disclosure is shown.

[0010] Figure 2 A schematic diagram of a 3D sensing method according to an embodiment of the present disclosure is shown.

[0011] Figure 3 A schematic diagram of a 3D sensing system according to another embodiment of the present disclosure is shown.

[0012] Figure 4 A schematic diagram of a 3D sensing method according to another embodiment of the present disclosure is shown.

[0013] Figure 5A A schematic diagram illustrating a scene of a 3D sensing system according to an embodiment of the present disclosure is shown.

[0014] Figure 5B A schematic diagram showing the decoding result with a low decoding rate is provided.

[0015] Figure 5C A schematic diagram showing the decoding result with a high decoding rate is provided.

[0016] Figure 6A A schematic diagram illustrating the adjustment operation according to a first embodiment of the present disclosure is shown.

[0017] Figure 6B A schematic diagram illustrating the adjustment operation according to a second embodiment of the present disclosure is shown.

[0018] Figure 6C A schematic diagram illustrating the adjustment operation according to a third embodiment of the present disclosure is shown.

[0019] Figure 6D A schematic diagram illustrating the adjustment operation according to the fourth embodiment of this disclosure is shown.

[0020] List of reference numerals

[0021] 100, 200, 300: 3D Sensing System

[0022] 110_1, 110_2, 210_1, 210_2, 310_1, 310_2, 310_3: Sensing devices

[0023] 120, 320: Controller

[0024] 211_1, 211_2: Light source

[0025] 212_1, 212_2: Sensors

[0026] 213_1, 213_2: Control circuit

[0027] 221: Judgment Circuit

[0028] 222: Memory

[0029] AP: Adjustment Cycle

[0030] DR_1, DR_1', DR_2, DR_2', DR_3, DR_3': Decoding results

[0031] DT, DT1, DT2: Delay time length

[0032] FT_TM1, FT_TM2, FT1, FT2, FT3: Frame Time

[0033] IFR: Interference Results

[0034] L_1, L_2, L_3, L1_1, L1_2, L2_1, L2_2: Emitted light

[0035] OBJ: Object

[0036] PT1_1, PT1_2, PT2_1, PT2_2: Projectors

[0037] S110, S120, S130, S210, S220, S230, S240, S250, S260: Steps

[0038] SS1_1, SS1_2, SS2_1, SS2_2: Sensing signals

[0039] TM1, TM2: Sensing timing. Detailed Implementation

[0040] The preferred embodiments of the present invention will now be described in detail, examples of which are illustrated in the accompanying drawings. The same reference numerals are used as far as possible in the drawings and description to refer to the same or similar parts.

[0041] The present disclosure is illustrated below with reference to several embodiments. However, the present disclosure is not limited to the embodiments shown. Furthermore, the following embodiments may be adapted, combined, substituted, or omitted where reasonable to meet different practical needs. Throughout the context of the specification and claims, the term "coupled" may refer to any direct or indirect connection. For example, in the specification and claims, if a first device is coupled to a second device, this means that the first device can be directly connected to the second device, or can be indirectly connected to the second device via another device or via another connecting member. Additionally, the term "signal" may refer to at least one current signal, voltage signal, charge signal, temperature signal, data signal, or any one or more signals.

[0042] Reference Figure 1 , Figure 1 A schematic diagram of a 3D sensing system according to an embodiment of the present disclosure is shown. In the embodiment, the 3D sensing system 100 includes sensing devices 110_1, 110_2 and a controller 120. Sensing device 110_1 provides emitted light L1_1 and L2_1 based on a sensing timing TM1. Sensing device 110_1 receives sensing signals SS1_1 and SS2_1 based on the sensing timing TM1. Specifically, sensing device 110_1 provides emitted light L1_1 and receives sensing signal SS1_1 during a first time interval. Sensing device 110_1 provides emitted light L2_1 and receives sensing signal SS2_1 during a second time interval. In other words, sensing device 110_1 provides emitted light L1_1 and receives sensing signal SS1_1 at the same time interval. Sensing device 110_1 provides emitted light L2_1 and receives sensing signal SS2_1 at the same time interval. During the first time interval, sensing device 110_1 projects emitted light L1_1 onto an object (not shown). The sensing signal SS1_1 is a reflected signal from the object.

[0043] Sensing device 110_1 performs a first identification (e.g., 3D identification calculation) in response to sensing signal SS1_1. During a second time interval, sensing device 110_1 projects emitted light L2_1 onto the object. Sensing signal SS2_1 is a reflected signal from the object. Sensing device 110_1 performs a second identification (e.g., two-dimensional (2D) identification calculation) in response to sensing signal SS2_1.

[0044] Sensing device 110_2 provides emitted light L1_2 and L2_2 based on sensing timing TM2. Sensing device 110_2 receives sensing signals SS1_2 and SS2_2 based on sensing timing TM2. Sensing device 110_2 provides emitted light L1_2 and receives sensing signal SS1_2 during a third time interval. Sensing device 110_2 provides emitted light L2_2 and receives sensing signal SS2_2 during a fourth time interval.

[0045] In this embodiment, controller 120 is coupled to sensing devices 110_1 and 110_2. Controller 120 adjusts at least one of sensing timing sequences TM1 and TM2 based on the interference result IFR of at least one of sensing signals SS1_1, SS2_1, SS1_2 and SS2_2.

[0046] It should be noted that the controller 120 adjusts at least one of the sensing timings TM1 and TM2 based on the interference results IFR from other sensing devices. This prevents interference from sensing devices 110_1 and 110_2. Therefore, the 3D sensing system has high confidence and high decoding rate.

[0047] For example, the controller 120 receives the interference result IFR of the sensing signal SS1_2 from the sensing device 110_2. When the interference result IFR indicates that the sensing signal SS1_2 is interfered with by the sensing device 110_1, the controller 120 adjusts the sensing timing TM2 so that it does not overlap with the sensing timing TM1. On the other hand, when the interference result IFR indicates that the sensing signal SS1_2 is not interfered with by the sensing device 110_1, the controller 120 does not adjust the sensing timing TM2.

[0048] In this embodiment, the controller 120 is located external to the sensing devices 110_1 and 110_2. For example, the controller 120 is a host device in the 3D sensing system 100. In some embodiments, the controller 120 is located within one of the sensing devices 110_1 and 110_2. For example, the controller 120 is an embedded controller. In this embodiment, the controller 120 provided may be, for example, a central processing unit (CPU), a programmable general-purpose or special-purpose microprocessor, a digital signal processor (DSP), a programmable controller, an application-specific integrated circuit (ASIC), a programmable logic device (PLD), any other similar device, or a combination of said devices, and may be loaded to execute a computer program.

[0049] For ease of explanation, the number of sensing devices, the number of emitted lights, and the number of sensing signals in this embodiment are each 2, but this disclosure is not limited thereto. In some embodiments, the number of sensing devices, the number of emitted lights, and the number of sensing signals in this embodiment are each greater than 2.

[0050] Reference Figure 1 and Figure 2 , Figure 2 A schematic diagram of a 3D sensing method according to an embodiment of the present disclosure is shown. In the embodiment, the 3D sensing method is adapted to operate a 3D sensing system 100. In the embodiment, in step S110, sensing device 110_1 provides emitted light L1_1 and L2_1 based on sensing timing TM1 and receives sensing signals SS1_1 and SS2_1. In step S120, sensing device 110_2 provides emitted light L1_2 and L2_2 based on sensing timing TM2 and receives sensing signals SS1_2 and SS2_2. In step S130, at least one of the sensing timings TM1 and TM2 is adjusted according to the interference result IFR of at least one of the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2. Steps S110, S120, and S130 can be performed by referring to... Figure 1 The relevant explanations will be used to make inferences, which will not be elaborated upon below.

[0051] Reference Figure 3 , Figure 3 A schematic diagram of a 3D sensing system according to another embodiment of the present disclosure is shown. In this embodiment, the 3D sensing system 200 includes sensing devices 210_1 and 210_2 and a controller 220. Sensing device 210_1 includes a light source 211_1 and a sensor 212_1. The light source 211_1 provides emitted light L1_1 and L2_1. The sensor 212_1 receives sensing signals SS1_1 and SS2_1. Sensing device 210_1 controls the light source 211_1 and the sensor 212_1 based on a sensing timing TM1. In this embodiment, sensing device 210_1 further includes a control circuit 213_1. The control circuit 213_1 controls the light source 211_1 and the sensor 212_1 based on the sensing timing TM1.

[0052] In an embodiment, the light source 211_1 includes at least one light-emitting diode (LED) and / or at least one laser diode (LD). In an embodiment, the at least one LED may be implemented by at least one infrared (IR) LED. The at least one LD may be implemented by at least one IR LD. In some embodiments, the at least one LED may be implemented by at least one visible light LED. The at least one LD may be implemented by at least one visible light LD. In an embodiment, each of the at least one LD is an edge-emitting laser (EEL) diode or a vertical cavity surface-emitting laser (VCSEL).

[0053] In this embodiment, the emitted light L1_1 and L2_1 are of at least one type, including a single light spot, a light spot array, and a floodlight. For example, emitted light L1_1 is a light spot array used for 3D calculations. Emitted light L2_1 is a floodlight used for 2D calculations.

[0054] In this embodiment, the light source 211_1 includes projectors PT1_1 and PT2_1. During a first time interval, control circuit 213_1 controls projector PT1_1 to project emitted light L1_1 and controls sensor 212_1 to receive sensing signal SS1_1. During a second time interval, control circuit 213_1 controls projector PT2_1 to project emitted light L2_1 and controls sensor 212_1 to receive sensing signal SS2_1. For example, control circuit 213_1 performs 3D calculations based on sensing signal SS1_1 and 2D calculations based on sensing signal SS2_1.

[0055] The sensing device 210_2 includes a light source 211_2 and a sensor 212_2. The light source 211_2 provides emitted light L1_2 and L2_2. The sensor 212_2 receives sensing signals SS1_2 and SS2_2. The sensing device 210_2 controls the light source 211_2 and the sensor 212_2 based on a sensing timing TM2. In an embodiment, the sensing device 210_2 further includes a control circuit 213_2. The control circuit 213_2 controls the light source 211_2 and the sensor 212_2 based on the sensing timing TM2.

[0056] In this embodiment, similar to light source 211_1, light source 211_2 includes at least one light-emitting diode (LED) and / or at least one laser diode (LD). In this embodiment, the emitted lights L1_2 and L2_2 are of at least one type selected from single light spots, light spot arrays, and floodlights. For example, emitted light L1_2 is a light spot array used for 3D calculations. Emitted light L2_2 is a floodlight used for 2D calculations.

[0057] In this embodiment, the light source 211_2 includes projectors PT1_2 and PT2_2. During a third time interval, control circuit 213_2 controls projector PT1_2 to project emitted light L1_1 and controls sensor 212_2 to receive sensing signal SS1_2. During a fourth time interval, control circuit 213_2 controls projector PT2_2 to project emitted light L2_2 and controls sensor 212_2 to receive sensing signal SS2_2. For example, control circuit 213_2 performs 3D calculations based on sensing signal SS1_2 and 2D calculations based on sensing signal SS2_2.

[0058] In this embodiment, each of the control circuits 213_1 and 213_2 provided in this embodiment may be, for example, a central processing unit (CPU), a programmable general-purpose or special-purpose microprocessor, a digital signal processor (DSP), a programmable controller, an application-specific integrated circuit (ASIC), a programmable logic device (PLD), any other similar device or a combination of said devices, and may be loaded to execute a computer program.

[0059] In this embodiment, the controller 220 includes a determination circuit 221 and a memory 222. The determination circuit 221 receives the interference result IFR of the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2. The determination circuit 221 determines whether the interference result IFR indicates interference. For example, the determination circuit 221 determines whether the interference result IFR of the sensing signal SS1_2 indicates interference. When the determination circuit 221 determines that the sensing signal SS1_2 is interfered with by the sensing device 210_1 based on the interference result IFR of the sensing signal SS1_2, the determination circuit 221 adjusts the sensing timing TM2 to not overlap with the sensing timing TM1 during the adjustment period.

[0060] On the other hand, when the determination circuit 221 determines that the sensing signal SS1_2 is not interfered with based on the interference result IFR of the sensing signal SS1_2, the determination circuit 221 does not adjust the sensing timing TM2. Furthermore, the determination circuit 221 stores the sensing timings TM1 and TM2 in memory. When the sensing devices 210_1 and 210_2 are restarted, the determination circuit 221 controls the sensing device 210_1 based on the sensing timing TM1 stored in memory 222 and controls the sensing device 210_2 based on the sensing timing TM2 stored in memory 222.

[0061] Reference Figure 1 and Figure 4 , Figure 4 A schematic diagram of a 3D sensing method according to another embodiment of the present disclosure is shown. In this embodiment, the 3D sensing method is also applicable to operating a 3D sensing system 100. In step S210, the controller 120 receives the decoding result of at least one of sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 and receives an interference result IFR from the decoding result. In this embodiment, the decoding result is a 3D imaging result (or a depth result, a structure result) or a 2D imaging result. For example, the decoding result is a 3D imaging result from sensing signal SS1_1 and a 3D imaging result from sensing signal SS1_2, or a 2D imaging result from sensing signal SS2_1 and a 2D imaging result from sensing signal SS2_2. In this embodiment, the interference result IFR is at least one of the decoding rates of the 3D imaging result or the 2D imaging result.

[0062] In step S220, if the controller 120 determines that the sampling time of the frame number has not reached a preset period, then in step S230, the controller 120 displays (or outputs) the decoding result, controls the sensing devices 110_1 and 110_2 to receive the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 again (frame number N = N+1), and then returns to the operation in step S210. On the other hand, if the controller 120 determines that the sampling time of the frame number has reached a preset period, then in step S240, the controller 120 determines whether the interference result IFR indicates that at least one of the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 is interfered with. In other words, the controller 120 determines the interference result IFR based on a preset period. The preset period includes at least one frame time.

[0063] In step S240, if the controller 120 determines that the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 are not interfered with, then in step S230, the controller 120 displays (or outputs) the decoding result and controls the sensing devices 110_1 and 110_2 to receive the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 again (number of frames N = N+1). On the other hand, if the controller 120 determines that at least one of the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 is interfered with, then in step S250, the controller 120 masks the decoding result, and in step S260, adjusts at least one of the sensing timing sequences TM1 and TM2, and then returns to the operation in step S210.

[0064] In some embodiments, steps S220 and S250 may be optional operations. In some embodiments, step S220 may be skipped. In some embodiments, step S250 may be skipped. In some embodiments, both steps S220 and S250 may be skipped.

[0065] Reference Figure 4 , Figure 5A and Figure 5B , Figure 5A A schematic diagram illustrating a scene of a 3D sensing system according to an embodiment of the present disclosure is shown. Figure 5B A schematic diagram illustrating a decoding result with a low decoding rate is shown. In an embodiment, the 3D sensing system 300 includes sensing devices 310_1, 310_2, 310_3 and a controller 320. Sensing device 310_1 provides emitted light L_1 to object OBJ, receives sensing signal SS_1 from object OBJ, and generates decoding result DR_1 based on sensing signal SS_1. Sensing device 310_2 provides emitted light L_2 to object OBJ, receives sensing signal SS_2 from object OBJ, and generates decoding result DR_2 based on sensing signal SS_2. Sensing device 310_3 provides emitted light L_3 to object OBJ, receives sensing signal SS_3 from object OBJ, and generates decoding result DR_3 based on sensing signal SS_3.

[0066] The controller 320 receives decoding results DR_1, DR_2, and DR_3 and obtains a first interference result for decoding result DR_1, a second interference result for decoding result DR_2, and a third interference result for decoding result DR_3. In this embodiment, the first interference result is the decoding rate of decoding result DR_1. The second interference result is the decoding rate of decoding result DR_2. The third interference result is the decoding rate of decoding result DR_3.

[0067] In this embodiment, the controller 320 determines the decoding rates of decoding results DR_1, DR_2, and DR_3. In this embodiment, the decoding rate of decoding result DR_1 is associated with the area ratio of the identifiable region in decoding result DR_1. The decoding rate of decoding result DR_2 is associated with the area ratio of the identifiable region in decoding result DR_2. The decoding rate of decoding result DR_3 is associated with the area ratio of the identifiable region in decoding result DR_3. Figure 5B In the decoding results DR_1, DR2, and DR_3, there are unidentifiable parts. The unidentifiable parts in decoding result DR_1 may be caused by interference from emitted beams L_2 and L_3. The unidentifiable parts in decoding result DR_2 may be caused by interference from emitted beams L_1 and L_3. The unidentifiable parts in decoding result DR_3 may be caused by interference from emitted beams L_1 and L_2.

[0068] exist Figure 5B In the above steps, the decoding rate of decoding result DR_1 is 88.85%, the decoding rate of decoding result DR_2 is 77.02%, and the decoding rate of decoding result DR_3 is 70.19%. For example, the threshold value is set to 85%. In step S240, the controller 320 determines that the decoding rates of decoding results DR_2 and DR_3 are lower than the threshold value, which means that the sensing signal SS_2 may be interfered with by at least one of the emitted light L_1 and L_3, and the sensing signal SS_3 may be interfered with by at least one of the emitted light L_1 and L_2. Therefore, in step S250, the controller 320 adjusts at least one of the sensing timing of sensing devices 310_1, 310_2, and 310_3.

[0069] Reference Figure 4 , Figure 5A and Figure 5C , Figure 5C A schematic diagram showing the decoding result with a high decoding rate is displayed. Figure 5C In the above steps, the decoding rate of decoding result DR_1' is 97.32%, the decoding rate of decoding result DR_2' is 97.24%, and the decoding rate of decoding result DR_3' is 96.76%. For example, the threshold value is set to 90%. In step S240, the controller 320 determines that the decoding rates of decoding results DR_1', DR_2', and DR_3' are higher than the threshold value, which means that the sensing signals SS_1, SS_2, and SS_3 are not interfered with. Therefore, the controller 320 does not adjust the sensing timing of sensing devices 310_1, 310_2, and 310_3.

[0070] In some embodiments, the first interference result is the brightness of the decoding result DR_1'. The second interference result is the brightness of the decoding result DR_2'. The third interference result is the brightness of the decoding result DR_3'. In step S240, the controller 320 determines whether the brightness of the decoding results DR_1', DR_2', and DR_3' is higher than a brightness threshold. For example, if the brightness of the decoding result DR_2' is higher than the brightness threshold, this means that the sensing signal SS_2 may be interfered with by at least one of the emitted lights L_1 and L_3. Therefore, in step S250, the controller 320 adjusts at least one of the sensing timing of the sensing devices 310_1, 310_2, and 310_3. On the other hand, if the brightness of the decoding results DR_1', DR_2', and DR_3' is higher than the brightness threshold, this means that the sensing signals SS_1, SS_2, and SS_3 are interfered with. Therefore, the controller 320 does not adjust the sensing timing of the sensing devices 310_1, 310_2, and 310_3.

[0071] In some embodiments, the first interference result is the decoding rate and brightness of the imaging result from the sensing signal SS_1. The second interference result is the decoding rate and brightness of the imaging result from the sensing signal SS_2. The third interference result is the decoding rate and brightness of the imaging result from the sensing signal SS_3.

[0072] Reference Figure 1 and Figure 6A , Figure 6A A schematic diagram illustrating the adjustment operation according to a first embodiment of the present disclosure is shown. Figure 6AThe timing sequence of emitted light beams L1_1, L2_1, L1_2, L2_2 and sensing signals SS1_1, SS2_1, SS1_2, SS2_2 is shown. In this embodiment, the sensing device 110_1 supplies emitted light L1_1 based on a first sensing timing sequence. The sensing device 110_1 receives sensing signal SS1_1 based on the first sensing timing sequence. The sensing device 110_1 supplies emitted light L2_1 based on a second sensing timing sequence. The sensing device 110_1 receives sensing signal SS2_1 based on the second sensing timing sequence. The sensing device 110_2 supplies emitted light L1_2 based on a third sensing timing sequence. The sensing device 110_2 receives sensing signal SS1_2 based on the third sensing timing sequence. The sensing device 110_2 supplies emitted light L2_2 based on a fourth sensing timing sequence. The sensing device 110_2 receives sensing signal SS2_2 based on the fourth sensing timing sequence. The first, second, and third sensing timing sequences do not overlap. However, the fourth sensing timing sequence overlaps with the first sensing timing sequence during frame time FT1. When the interference result IFR of the sensing signal SS1_2 indicates that the sensing signal SS1_2 is interfered with, this means that the sensing signal SS1_2 is interfered with by the emitted light L1_1, such as... Figure 6A As shown in the diagram. Therefore, the controller 120 delays the fourth sensing timing based on the delay time length DT during the adjustment period AP.

[0073] In frame time FT2 of the adjustment period AP, controller 120 determines that the fourth sensing timing overlaps with the second and third sensing timings, meaning that the sensing signal SS1_2 is interfered with by the emitted lights L2_1 and L2_2. Therefore, controller 120 further delays the fourth sensing timing based on the delay time length DT in the adjustment period AP. In frame time FT3 of the adjustment period AP, controller 120 determines that the fourth sensing timing does not overlap with other sensing timings, meaning that the sensing signal SS1_2 is not interfered with by the emitted lights L1_1, L2_1, and L2_2. Therefore, the adjustment period AP ends.

[0074] In some embodiments, during the adjustment period AP, the controller 120 may delay the first sensing timing based on the delay time length DT until the first sensing timing, the second sensing timing, the third sensing timing, and the fourth sensing timing do not overlap with each other.

[0075] In this embodiment, the sensing device 110_2 receives the second sensing signal SS1_2 based on the adjusted sensing timing (after delaying the fourth sensing timing) and stops providing the emitted light L1_2 during the adjustment period AP. Therefore, the power consumption of the 3D sensing system 100 can be reduced during the adjustment period AP.

[0076] In some embodiments, the sensing device 110_2 receives the sensing signal SS1_2 based on an adjusted sensing timing and provides the emitted light L1_2.

[0077] Reference Figure 1 and Figure 6B , Figure 6B A schematic diagram illustrating the adjustment operation according to a second embodiment of the present disclosure is shown. In the embodiment, Figure 6B The timing diagram illustrates the emitted light beams L1_1 and L1_2, and the sensing signals SS1_1 and SS1_2. In this embodiment, the emitted light L1_1 is supplied by sensing device 110_1 based on sensing timing TM1. Sensing device 110_1 receives the sensing signal SS1_1 based on sensing timing TM1. The emitted light L1_2 is supplied by sensing device 110_2 based on sensing timing TM2. Sensing device 110_2 receives the sensing signal SS1_2 based on sensing timing TM2. Sensing timing TM1 and sensing timing TM2 overlap during frame time FT1. When the interference result IFR of the sensing signal SS1_2 indicates that the sensing signal SS1_2 is interfered with, this means that the sensing signal SS1_2 is interfered with by the emitted light L1_1, such as... Figure 6B As shown in the diagram. Therefore, in the adjustment period AP, the controller 120 delays the sensing timing TM1 based on the delay time length DT1 and delays the sensing timing TM2 based on the delay time length DT2. In the adjustment period AP, the delay time length DT2 is different from the delay time length DT1. Therefore, the sensing timing TM1 and the sensing timing TM2 do not overlap with each other.

[0078] In this embodiment, sensing device 110_1 receives the second sensing signal SS1_1 and stops providing emitted light L1_1 during the adjustment period AP. Sensing device 110_2 receives the second sensing signal SS1_2 and stops providing emitted light L1_2 during the adjustment period AP. Therefore, the power consumption of the 3D sensing system 100 can be reduced during the adjustment period AP.

[0079] In this embodiment, the frame time FT_TM1 of sensing timing TM1 is set to be substantially equal to frame time FT1. The frame time FT_TM2 of sensing timing TM2 is set to be substantially equal to frame time FT2.

[0080] In some embodiments, during the adjustment period AP, the controller 120 adjusts at least one of the frame times FT_TM1 and FT_TM2 such that the frame times FT_TM1 and FT_TM2 are different from each other.

[0081] Reference Figure 1 and Figure 6C , Figure 6C A schematic diagram illustrating the adjustment operation according to a third embodiment of the present disclosure is shown. Figure 6CThe timing sequence of emitted light beams L1_1, L2_1, L1_2, L2_2 and sensing signals SS1_1, SS2_1, SS1_2, SS2_2 is shown. In this embodiment, the emitted light L1_1 is supplied by sensing device 110_1 based on sensing timing TM1. The sensing signal SS1_1 is received by sensing device 110_1 based on sensing timing TM1. The emitted light L2_1 is supplied by sensing device 110_1 based on sensing timing TM1. The sensing signal SS2_1 is received by sensing device 110_1 based on sensing timing TM1. The emitted light L1_2 is supplied by sensing device 110_2 based on sensing timing TM2. The sensing signal SS1_2 is received by sensing device 110_2 based on sensing timing TM2. The emitted light L2_2 is supplied by sensing device 110_2 based on sensing timing TM2. The sensing signal SS2_2 is received by sensing device 110_2 based on sensing timing TM2. In one embodiment, sensing device 110_1 provides an emitted light L1_1 having a first type and an emitted light L2_2 having a second type. Sensing device 110_2 provides an emitted light L1_2 having a first type and an emitted light L2_2 having a second type.

[0082] For example, the first type is a first wavelength and the second type is a second wavelength. The first wavelength and the second wavelength are different from each other. Therefore, in this embodiment, the sensing signal SS1_1 is not interfered with by the emitted light L2_2 having the second type. The sensing signal SS2_1 is not interfered with by the emitted light L1_2 having the first type.

[0083] In an embodiment, sensing device 110_1 provides emitted light L1_1 of a first type and emitted light L2_1 of a second type in a first sequence of sensing timing TM1 during frame time FT1. Sensing device 110_2 provides emitted light L1_2 of the first type and emitted light L2_2 of the second type in a first sequence of sensing timing TM2 during frame time FT1. Furthermore, sensing timings TM1 and TM2 overlap during frame time FT1. When the interference result IFR of at least one of the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 indicates that at least one of the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 is interfered with, controller 120 changes the first sequence of one of the sensing timings TM1 and TM2 to the second sequence during adjustment period AP.

[0084] For example, when the interference result IFR of at least one of the sensing signals SS1_2 indicates that the sensing signal SS1_2 is interfered with, this means that the sensing signal SS1_2 is interfered with by the emitted light L1_1 having a first type. Therefore, the controller 120 reverses the first sequence order of the sensing timing TM2 to a second sequence order during the adjustment period AP. The second sequence order is the opposite of the first sequence order. After the adjustment period AP ends, the sensing device 110_1 provides the emitted light L1_1 and L2_1 having a second type in the first sequence order. After the adjustment period AP ends, the sensing device 110_2 provides the emitted light L1_2 and L2_2 in the second sequence order.

[0085] Reference Figure 1 and Figure 6D , Figure 6D A schematic diagram illustrating the adjustment operation according to the fourth embodiment of this disclosure is shown. Figure 6D The timing sequence of emitted light beams L1_1, L2_1, L1_2, L2_2 and sensing signals SS1_1, SS2_1, SS1_2, SS2_2 is shown. In an embodiment, sensing device 110_1 provides emitted light L1_1 of a first type and emitted light L2_2 of a second type. Sensing device 110_2 provides emitted light L1_2 of the first type and emitted light L2_2 of the second type. (See reference...) Figure 1 and Figure 6C The relevant descriptions are used to infer the first and second types of emitted light L1_1, L2_1, L1_2, L2_2 and sensing signals SS1_1, SS2_1, SS1_2, SS2_2 of the embodiments described herein, which will not be repeated below.

[0086] During frame time FT1, when the interference result IFR for at least one of the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 indicates that at least one of the sensing signals SS1_1, SS2_1, SS1_2, and SS2_2 is interfered with, controller 120 delays one of the sensing timing sequences TM1 and TM2. For example, when the interference result IFR for at least one of the sensing signals SS1_2 indicates that the sensing signal SS1_2 is interfered with, this means that the sensing signal SS1_2 is interfered with by the emitted light L1_1 of the first type. Therefore, controller 120 delays the sensing timing sequence TM2 based on the delay time length DT. For example, the delay time length DT is substantially equal to the time difference between the time point when the emitted light L1_1 is provided and the time point when the emitted light L2_1 is provided.

[0087] In light of the foregoing, the 3D sensing system adjusts at least one of the first and second sensing timing sequences based on the interference results. This prevents interference from the emitted light. Therefore, the 3D sensing system has a high decoding rate.

[0088] It will be apparent to those skilled in the art that various modifications and variations can be made to the structure of the invention without departing from the scope or spirit of the invention. In summary, this invention is intended to cover modifications and variations of the invention falling within the scope of the following claims and their equivalents.

Claims

1. A three-dimensional sensing system, characterized in that, include: A first sensing device is configured to provide at least one first emitted light and receive a first sensing signal based on a first sensing timing sequence; The second sensing device is configured to provide at least one second emitted light and receive a second sensing signal based on a second sensing timing sequence; as well as A controller, coupled to the first sensing device and the second sensing device, is configured to receive the second sensing signal and adjust at least one of the first sensing timing and the second sensing timing based on interference results of the first sensing device on the second sensing signal. Wherein, when the interference result indicates that the second sensing signal is interfered with by the first sensing device, the controller adjusts the second sensing timing to not overlap with the first sensing timing during the adjustment period. During the adjustment period, the controller delays the first sensing timing based on a first delay time length and delays the second sensing timing based on a second delay time length different from the first delay time length.

2. The three-dimensional sensing system according to claim 1, characterized in that, The second sensing device includes: A light source is configured to provide the at least one second emitted light; and A sensor is configured to receive the second sensing signal; The second sensing device controls the light source and the sensor based on the second sensing timing.

3. The three-dimensional sensing system according to claim 2, characterized in that, The light source includes at least one light-emitting diode and / or at least one laser diode.

4. The three-dimensional sensing system according to claim 1, characterized in that, The type of the at least one second emitted light includes at least one of a single light spot, a light spot array, and a floodlight.

5. The three-dimensional sensing system according to claim 1, characterized in that, The interference result to the second sensing signal is at least one of the decoding rate of the imaging result from the second sensing signal and the brightness of the imaging result from the second sensing signal.

6. The three-dimensional sensing system according to claim 1, characterized in that, The controller determines the interference result based on a preset period.

7. The three-dimensional sensing system according to claim 6, characterized in that, The preset period includes at least one frame time.

8. The three-dimensional sensing system according to claim 1, characterized in that, During the adjustment period, the second sensing device receives the second sensing signal based on the adjusted second sensing timing and stops providing the at least one second emitted light.

9. The three-dimensional sensing system according to claim 1, characterized in that, During the adjustment period, the second sensing device receives the second sensing signal and provides the at least one second emitted light based on the adjusted second sensing timing.

10. The three-dimensional sensing system according to claim 1, characterized in that, During the adjustment period, the controller delays the second sensing timing so that the second sensing timing does not overlap with the first sensing timing.

11. The three-dimensional sensing system according to claim 1, characterized in that, During the adjustment period, the controller delays the first sensing timing so that the first sensing timing does not overlap with the second sensing timing.

12. The three-dimensional sensing system according to claim 1, characterized in that, During the adjustment period, the controller adjusts at least one of the first frame time of the first sensing timing and the second frame time of the second sensing timing, such that the second frame time is different from the first frame time.

13. The three-dimensional sensing system according to claim 1, characterized in that, The second sensing device provides a second emitted light of a first type and a second emitted light of a second type in a first sequence, wherein when the interference result indicates that the second sensing signal is interfered with by the first sensing device, the controller changes the first sequence to the second sequence during the adjustment period.

14. The three-dimensional sensing system according to claim 13, characterized in that, The first type is a spot array for three-dimensional calculations, and the second type is a floodlight for two-dimensional calculations.

15. The three-dimensional sensing system according to claim 1, characterized in that, When the interference result indicates that the second sensing signal is interfered with by the first sensing device, the controller blocks the second sensing signal.

16. The three-dimensional sensing system according to claim 1, characterized in that, The controller is located in the second sensing device.

17. The three-dimensional sensing system according to claim 1, characterized in that, The controller includes: Memory When the interference result indicates that the second sensing signal is not interfered with, the controller stores the first sensing timing sequence and the second sensing timing sequence into the memory.

18. The three-dimensional sensing system according to claim 17, characterized in that, When the first sensing device and the second sensing device are restarted, the controller controls the first sensing device based on the first sensing timing stored in the memory and controls the second sensing device based on the second sensing timing stored in the memory.

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