Three-dimensional camera control method and device and storage medium

Abstract

The invention provides a control method and device of a three-dimensional camera and a storage medium. The method comprises the steps that the environment temperature of the three-dimensional camera is acquired; according to the environment temperature and a preset mapping relation, the target steady-state temperature of a target element in the three-dimensional camera is determined, and the preset mapping relation is the mapping relation between the environment temperature and the steady-state temperature of the target element; and controlling a preheating unit arranged at a first preset position on the surface of the target element to preheat the target element according to the target steady-state temperature. The target element of the three-dimensional camera is preheated through the preheating unit, so that the target element can quickly reach the target steady-state temperature, the target element is prevented from being influenced by temperature excursion, the precision stability of the target element is kept, and the overall efficiency of the system is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a control method, device and storage medium of a three-dimensional camera of an object. Background Art

[0002] There are many architectures of existing 3D cameras, including monocular projector structured light camera, monocular laser structured light camera, binocular projector structured light camera, binocular laser structured light camera, pure binocular camera, multi-projector structured light camera, multi-projector monocular structured light camera, etc.

[0003] However, after a 3D camera is cold started, it takes a long time to stabilize the measurement accuracy of the 3D camera, resulting in low efficiency. Summary of the invention

[0004] Various aspects of the present disclosure provide a control method, device, and storage medium for a three-dimensional camera, so that the three-dimensional camera can quickly achieve stable measurement accuracy after being started.

[0005] A first aspect of an embodiment of the present disclosure provides a control method for a three-dimensional camera, including:

[0006] Acquiring the ambient temperature of the three-dimensional camera, and determining the target steady-state temperature of the target element in the three-dimensional camera according to the ambient temperature and a preset mapping relationship; wherein the preset mapping relationship is a mapping relationship between the ambient temperature and the steady-state temperature of the target element;

[0007] According to the target steady-state temperature, a preheating unit disposed at a first preset position on the surface of the target element is controlled to preheat the target element.

[0008] A second aspect of the embodiments of the present disclosure provides a three-dimensional camera of an object, wherein a preheating unit is provided at a first preset position on a surface of a target element of the three-dimensional camera, and the preheating unit is communicatively connected with a control unit;

[0009] The control unit is used to execute the method according to the first aspect.

[0010] A third aspect of an embodiment of the present disclosure provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the method of the first aspect is implemented when the processor executes the computer program.

[0011] A fourth aspect of the present disclosure provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method of the first aspect.

[0012] A fifth aspect of the present disclosure provides a computer program product, which includes: a computer program, which is stored in a readable storage medium, and at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the method of the first aspect above.

[0013] The control method, device and storage medium of the three-dimensional camera provided by the embodiments of the present disclosure obtain the ambient temperature of the three-dimensional camera; determine the target steady-state temperature of the target element in the three-dimensional camera according to the ambient temperature and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between the ambient temperature and the steady-state temperature of the target element; and control the preheating unit set at the first preset position on the surface of the target element to preheat the target element according to the target steady-state temperature. The preheating unit preheats the target element of the three-dimensional camera so that the target element can quickly reach the target steady-state temperature, avoid the target element from being affected by temperature drift, maintain the accuracy stability of the target element, and improve the overall efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0015] Figure 1 A partial schematic diagram of a three-dimensional camera provided for an exemplary embodiment of the present disclosure;

[0016] Figure 2 A flowchart of a method for controlling a three-dimensional camera provided by an exemplary embodiment of the present disclosure;

[0017] Figure 3 A flowchart of another method for controlling a three-dimensional camera provided by an exemplary embodiment of the present disclosure;

[0018] Figure 4 A flowchart of another method for controlling a three-dimensional camera provided by an exemplary embodiment of the present disclosure;

[0019] Figure 5 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure will be clearly and completely described below in combination with the specific embodiments of the present disclosure and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0021] In a 3D camera, the optical units (2D camera or projector or laser generator) involved in 3D point cloud data imaging are all major heat generating devices, which have temperature drift. After a cold start of the 3D camera, it takes a long time to reach a thermal equilibrium steady state to ensure the stability of the measurement accuracy of the 3D camera, resulting in low efficiency and being greatly affected by the ambient temperature. Therefore, it is of great significance to provide a method to efficiently reduce the steady state time and reduce the influence of temperature drift caused by the ambient temperature.

[0022] Based on the above problems, the present disclosure provides a control method for a three-dimensional camera, which can be used to set a preheating unit at a target element in the three-dimensional camera that is more affected by temperature drift. The preheating unit preheats the target element of the three-dimensional camera so that the target element can quickly reach the target steady-state temperature, thereby avoiding the target element from being affected by temperature drift, maintaining the accuracy and stability of the target element, and improving the overall efficiency of the system.

[0023] More specifically, the ambient temperature of the three-dimensional camera can be obtained; the target steady-state temperature of the target element in the three-dimensional camera can be determined according to the ambient temperature and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between the ambient temperature and the steady-state temperature of the target element; and according to the target steady-state temperature, a preheating unit set at a first preset position on the surface of the target element can be controlled to preheat the target element.

[0024] A partial schematic diagram of a three-dimensional camera according to an embodiment of the present disclosure is shown in FIG. Figure 1 As shown, a preheating unit is provided at a first preset position on the surface of a target element of the three-dimensional camera. For example, a binocular camera in a three-dimensional camera is taken as an example, including two left and right two-dimensional cameras 101, and the target element is the two-dimensional camera 101. The first preset position is the interface 103 between the two-dimensional camera 101 and its lens 102, that is, the preheating unit 104 is provided at the interface 103 between the two-dimensional camera 101 and its lens 102, and the preheating unit 104 is communicatively connected with the control unit 105; the control unit 105 is used to execute the control method of the three-dimensional camera to control the preheating unit 104 to preheat the target element.

[0025] Optionally, a temperature sensor 106 is provided at a second preset position on the surface of the target element of the three-dimensional camera, and the temperature sensor 106 is communicatively connected with the control unit 105; wherein the second preset position is within a preset range of the first preset position and does not contact the first preset position. For example, if the target element is a two-dimensional camera 101, the temperature sensor 106 can be provided near the photosensitive chip of the two-dimensional camera 101, which is close to the first preset position and does not contact the first preset position; the control unit 105 is also used to obtain the real-time temperature at the second preset position collected by the temperature sensor 106, and according to the target steady-state temperature and the real-time temperature, a proportional, integral and differential PID control method is adopted to control the preheating unit 104 to preheat the target element.

[0026] Figure 2 A flowchart of a method for controlling a three-dimensional camera according to an exemplary embodiment of the present disclosure is provided.

[0027] A preheating unit is provided at a first preset position on the surface of a target element of the three-dimensional camera. Optionally, the target element is a component in the three-dimensional camera that is greatly affected by temperature drift, including but not limited to one or more of the following: a two-dimensional camera and its lens, a projector and its lens, a laser generator, a galvanometer, etc.; correspondingly, optionally, the first preset position includes but is not limited to one or more of the following: the interface (Mount) between the two-dimensional camera and its lens, the interface between the projector and its lens, the motor of the laser generator, the motor of the galvanometer, etc. Optionally, the preheating unit may include but is not limited to one or more of a flexible heating film, a flexible heating resistor wire, or a flexible graphene heating sheet, etc. Taking the binocular camera in a 3D camera as an example, its left and right two-dimensional (2D) cameras are key optical components involved in point cloud imaging, among which the lens interface is a key position. The preheating unit can be wrapped around the lens interface to allow it to be preheated evenly. The reason is that camera imaging is the joint action of the 2D camera and the lens. Temperature drift is also caused by thermal expansion of the material, and the heat source mainly comes from the 2D camera. The lens is passively heated. The lens interface is the position where the 2D camera and the lens are in direct contact. It is connected by threads and is the necessary route for heat conduction. The thermal expansion of the internal and external thread materials here is different, and there is a gap. After heating, the optical axis is offset or the back focal length changes, which leads to temperature drift. Therefore, preheating this place in advance can enter the material thermal equilibrium state in advance, ensuring that the camera enters a stable imaging state as soon as possible. The reason why the preheating unit is set at the interface between the projector and its lens is the same as above. The windings of the laser generator motor and the galvanometer motor will change with temperature, and the internal materials of the motor will also expand when the temperature changes, resulting in slight changes in the motor's mechanical structure, affecting the motor's accuracy and performance. Therefore, the preheating unit can be wrapped around the motor casing so that the motor can quickly reach a thermal equilibrium state, ensuring the motor's accuracy and performance.

[0028] like Figure 2As shown, the control method of the three-dimensional camera specifically includes the following steps:

[0029] S201, obtaining the ambient temperature of the 3D camera, and determining the target steady-state temperature of a target element in the 3D camera according to the ambient temperature and a preset mapping relationship; wherein the preset mapping relationship is a mapping relationship between the ambient temperature and the steady-state temperature of the target element.

[0030] In this embodiment, considering that the steady-state temperature at which the target element reaches thermal equilibrium under different ambient temperatures is different, and the steady-state temperature is strongly correlated with the ambient temperature, the ambient temperature of the 3D camera can be obtained. Optionally, the ambient temperature of the 3D camera can be collected by a temperature sensor, or the user can input the ambient temperature of the 3D camera, or the ambient temperature of the 3D camera can be obtained by other means.

[0031] In this embodiment, since the steady-state temperature at which the target element reaches thermal equilibrium is different under different ambient temperatures, the mapping relationship between the ambient temperature and the steady-state temperature of the target element can be obtained in advance, and the acquisition method is not limited in this embodiment.

[0032] In an optional embodiment, the mapping relationship between the ambient temperature and the steady-state temperature of the target element can be obtained through the calibration process. Specifically, the three-dimensional camera can be placed in an adjustable temperature box, and the preheating unit is set to the calibration mode, that is, the preheating unit does not work during the calibration process, and the temperature of the temperature box is adjusted, for example, within 0°C to 40°C, and the temperature can be increased in steps of 5°C as the ambient temperature of the three-dimensional camera, and the three-dimensional camera is started at different ambient temperatures and the target element reaches thermal equilibrium, and the steady-state temperature of the target element is obtained; after the steady-state temperature of the target element at different ambient temperatures is obtained, the mapping relationship between the ambient temperature and the steady-state temperature of the target element can be constructed, for example, the mapping relationship between the ambient temperature and the steady-state temperature of the target element can be fitted through function fitting. Of course, if there are multiple target elements, the mapping relationship between the ambient temperature and the steady-state temperature of each target element can be obtained. Further, the mapping relationship between the ambient temperature and the steady-state temperature of the target element can be stored in the control unit for determining the target steady-state temperature of the target element in the three-dimensional camera according to the current ambient temperature.

[0033] In this embodiment, if the mapping relationship between the ambient temperature and the steady-state temperature of the target element is a fitted function, the current ambient temperature can be input into the function to calculate the target steady-state temperature of the target element; of course, if the mapping relationship between the ambient temperature and the steady-state temperature of the target element is a mapping table, the target steady-state temperature of the target element corresponding to the current ambient temperature can be determined by looking up the table.

[0034] S202. According to the target steady-state temperature, control a preheating unit disposed at a first preset position on the surface of the target element to preheat the target element.

[0035] In this embodiment, after determining the target steady-state temperature of the target element, the preheating unit at the first preset position on the surface of the target element can be controlled to preheat the target element, so that the target element can quickly reach the target steady-state temperature, avoid the target element being affected by temperature drift, maintain the accuracy stability of the target element, and improve the overall efficiency of the system.

[0036] The control method of the three-dimensional camera provided in this embodiment obtains the ambient temperature of the three-dimensional camera by responding to the startup instruction of the three-dimensional camera; determines the target steady-state temperature of the target element in the three-dimensional camera according to the ambient temperature and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between the ambient temperature and the steady-state temperature of the target element; and controls the preheating unit set at the first preset position on the surface of the target element to preheat the target element according to the target steady-state temperature. The preheating unit preheats the target element of the three-dimensional camera, so that the target element can quickly reach the target steady-state temperature, avoid the target element from being affected by temperature drift, maintain the accuracy stability of the target element, and improve the overall efficiency of the system.

[0037] Optionally, in the present embodiment, in order to enable the three-dimensional camera to quickly reach the target steady-state temperature after a cold start, thereby quickly achieving stable measurement accuracy, the control method of the three-dimensional camera of the present embodiment is executed when the three-dimensional camera is started. That is, when the three-dimensional camera is started, the ambient temperature of the three-dimensional camera is obtained in response to the start-up instruction of the three-dimensional camera, and the target steady-state temperature of the target element in the three-dimensional camera is determined according to the ambient temperature and a preset mapping relationship.

[0038] Of course, the control method of the 3D camera of this embodiment is not limited to being executed when the 3D camera is started, and the control method of the 3D camera of this embodiment can also be executed during the use of the 3D camera to ensure that the measurement accuracy of the 3D camera remains stable when the ambient temperature changes and is not affected by the ambient temperature change.

[0039] Alternatively, preheating may be performed first, and the 3D camera may be started after the target element reaches the target steady-state temperature. Specifically, in response to the preheating instruction, the ambient temperature of the 3D camera is acquired, and the target steady-state temperature of the target element in the 3D camera is determined according to the ambient temperature and a preset mapping relationship; the preheating unit set at the first preset position on the surface of the target element is controlled to preheat the target element, and the 3D camera is started after the target element reaches the target steady-state temperature, so that the 3D camera can be used directly after it is started, without waiting time after starting. Optionally, in this embodiment, a prompt such as light, display or sound may be used to prompt whether the target element has reached the target steady-state temperature, so that the user can manually start the 3D camera after the target element reaches the target steady-state temperature, or the 3D camera can be started automatically.

[0040] On the basis of any of the above embodiments, the target steady-state temperature can be directly used as the threshold switch of the preheating unit to implement the logic of temperature control, that is, Bang-Bang control (hysteresis control). The implementation is simple, but because the heating device of the preheating unit has a certain thermal inertia, even if the heating device is turned off, the temperature may continue to rise, which is easy to cause overshoot, resulting in the preheating unit needing to present an "on-off-on" cycle mode, accelerating the aging of the components. At the same time, the three-dimensional camera itself is a precision optical device, which is sensitive to temperature changes. Temperature overshoot or oscillation is unacceptable. Therefore, optionally, in this embodiment, a proportional, integral and differential (PID) control method can be used to control the preheating unit to preheat the target component, achieve fine control, smoothly approach the target steady-state temperature, and control the fluctuation within a smaller range.

[0041] Specifically, when the preheating unit provided at the first preset position on the surface of the target element is controlled to preheat the target element according to the target steady-state temperature, as follows: Figure 3 As shown, it may specifically include:

[0042] S301, collecting the real-time temperature at a second preset position on the surface of the target element through a temperature sensor disposed at the second preset position; wherein the second preset position is within a preset range of the first preset position and does not contact the first preset position;

[0043] S302: According to the target steady-state temperature and the real-time temperature, a proportional, integral and differential PID control method is used to control the preheating unit to preheat the target element.

[0044] In this embodiment, a temperature sensor can be set at a second preset position on the surface of the target element to collect the real-time temperature at the second preset position on the surface of the target element as the real-time temperature of the target element, wherein the second preset position is within the preset range of the first preset position and does not contact the first preset position. For example, for two two-dimensional cameras of a binocular camera, the first preset position is the lens interface of the two-dimensional camera, and the second preset position can be near the photosensitive chip of the two-dimensional camera, which is close to the first preset position and does not contact the first preset position, thereby ensuring the accuracy of collecting the real-time temperature.

[0045] Furthermore, according to the target steady-state temperature and the real-time temperature, the PID control method is used to control the preheating unit to preheat the target element. The PID control method is a feedback control algorithm based on proportional, integral and differential operations. By calculating the error and performing proportional, integral and differential operations, the control input is adjusted to achieve fast and accurate control. The proportional (P) part directly reflects the current value of the error signal, and the output is adjusted by multiplying it by a proportional coefficient to speed up the response speed of the system; the integral (I) part integrates the error signal to eliminate the static error of the system. The integral effect accumulates over time and can effectively eliminate the steady-state error of the system and improve the system's zero difference; the differential (D) part reflects the rate of change of the error signal, which is predictive and can suppress overshoot and oscillation in the adjustment process, improve the response speed and stability of the system, and improve the dynamic performance of the system. The formula is as follows:

[0046] The expression of error E(t) is:

[0047] E(t)=r(t)-y(t)

[0048] The expression of control input u(t) is:

[0049]

[0050] Among them, r(t) is the expected value, y(t) is the actual value; K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient.

[0051] The specific process of controlling the preheating unit to preheat the target element through the PID control method will not be described in detail here.

[0052] Optionally, since it is necessary to set PID control parameters in the PID control method, the PID control parameters include control parameters of proportional operation (proportional coefficient K P ), control parameters of integral operation (integral coefficient K I ) and the control parameters of the differential operation (differential coefficient K D), and considering that the PID control parameters of the preheating unit used to preheat the target element for different 3D cameras may be different, in order to avoid configuring the PID control parameters for each 3D camera separately, a fuzzy PID control method can be used to automatically adjust the PID control parameters to improve the robustness, adaptability and control accuracy.

[0053] Specifically, when the preheating unit is controlled to preheat the target element by using a proportional, integral and differential PID control method according to the target steady-state temperature and the real-time temperature, as follows: Figure 4 As shown, it may include:

[0054] S401, determining a current temperature deviation between the real-time temperature and the target steady-state temperature and a current temperature deviation change rate;

[0055] S402, determining a correction value of a PID control parameter in a PID control method according to the current temperature deviation, the current temperature deviation change rate, and a preset fuzzy rule base; wherein the preset fuzzy rule base includes a mapping relationship between the temperature deviation, the temperature deviation change rate, and the correction value of the PID control parameter;

[0056] S403, correcting the PID control parameter according to the correction value, and executing a PID control method based on the corrected PID control parameter to control the preheating unit to preheat the target element.

[0057] In this embodiment, the temperature deviation between the real-time temperature and the target steady-state temperature can be obtained, which is recorded as the current temperature deviation. The expression of the current temperature deviation E(t) is:

[0058] E(t)=r(t)-y(t)

[0059] Among them, r(t) is the target steady-state temperature and y(t) is the real-time temperature.

[0060] The expression of the current temperature deviation change rate Ed(t) can also be obtained as:

[0061] Ed(t)=dE(t) / dt

[0062] The fuzzy PID controller includes three steps: fuzzy rule base, fuzzy control algorithm and defuzzification.

[0063] The fuzzy rule base specifies the domain and membership function, including the mapping relationship between temperature deviation, temperature deviation change rate and correction value of PID control parameters. Optionally, the domain can be divided into multiple intervals to obtain multiple levels, for example, it can be divided into NB (large negative), NM (medium negative), NS (small negative), ZO (zero), PS (small positive), PM (medium positive), PB (large positive), and different levels correspond to different values, that is, E(t) is divided into multiple levels, and different levels correspond to different value ranges. Ed(t) is also divided into multiple levels, and different levels also correspond to different values. The correction value of PID control parameters is also divided into multiple levels, and different levels also correspond to different values. The fuzzy rule base can be shown as follows:

[0064] Correction value ΔK for the proportionality factor P , the fuzzy rule base can be as follows:

[0065]

[0066] Correction value ΔK for the integral coefficient I , the fuzzy rule base can be as follows:

[0067]

[0068] Correction value ΔK for the differential coefficient D , the fuzzy rule base can be as follows:

[0069]

[0070] Among them, optionally, the temperature deviation, temperature deviation change rate and PID control parameter of a preset number of different three-dimensional cameras in the PID control process can be obtained, and then the mapping relationship between the temperature deviation, the temperature deviation change rate and the correction value of the PID control parameter can be constructed as the preset fuzzy rule base. Specifically, the temperature deviation, temperature deviation change rate and PID control parameter of different three-dimensional cameras in the PID control process can be graded respectively, and the grade divided is not limited to the above example, and then based on the grade of temperature deviation, temperature deviation change rate and PID control parameter, a mapping table of the grade of temperature deviation, temperature deviation change rate and PID control parameter is constructed as the preset fuzzy rule base.

[0071] Furthermore, the correction value of the PID control parameter in the PID control method can be determined by querying the preset fuzzy rule base according to the current temperature deviation E(t) and the current temperature deviation change rate Ed(t). Specifically, the current temperature deviation E(t) and the current temperature deviation change rate Ed(t) can be mapped to corresponding levels, that is, the level of the temperature deviation E(t) and the level of the temperature deviation change rate Ed(t), and then the correction value ΔK of the proportional coefficient can be determined by querying the preset fuzzy rule base. P , Correction value of integral coefficient ΔK I , correction value of differential coefficient ΔK D The level of the proportional coefficient can then be determined by the correction value ΔK P , Correction value of integral coefficient ΔK I , correction value of differential coefficient ΔK D The specific value of .

[0072] In an optional embodiment, based on the above embodiment, when determining the correction value of the PID control parameter in the PID control method according to the current temperature deviation, the current temperature deviation change rate and the preset fuzzy rule base, it may specifically include:

[0073] Determining candidate correction values ​​of PID control parameters and corresponding membership degrees from the preset fuzzy rule base according to the current temperature deviation and the current temperature deviation change rate;

[0074] According to the candidate correction values ​​of the PID control parameters and the corresponding membership degrees, the correction values ​​of the PID control parameters are determined by using the centroid method.

[0075] In this embodiment, since the levels of temperature deviation and temperature deviation change rate are the endpoints of each interval of the corresponding domain, when the current temperature deviation and the current temperature deviation change rate are respectively mapped to the level of temperature deviation and the level of temperature deviation change rate, the membership of the level of current temperature deviation and the current temperature deviation change rate can also be determined, that is, the probability. For example, when Ed(t) falls between levels NB and NM, the membership of Ed(t) belonging to NB and the membership of Ed(t) belonging to NM can be determined. Furthermore, in the preset fuzzy rule base, there may be four levels of possibility for the correction value of the PID control parameter, and the membership of the four levels can be determined. Then, the centroid method can be used to determine the final level of the PID control parameter, and the correction value corresponding to the final level can be obtained as the correction value of the PID control parameter.

[0076] Among them, the triangular membership function can be used to establish the membership relationship for these levels, and its expression is:

[0077]

[0078] Among them, u(x) is the membership of the corresponding level in the domain, and a, b, and c are the endpoints of the range of the corresponding level in the domain. For example, the PS (small positive) level membership range of E(t) is 2 to 6°C. If the input E(t) belongs to this range, the membership of the input E(t) to the PS level will be calculated by the triangular membership function as follows:

[0079]

[0080] Of course, the membership function is not limited to the triangular membership function, and other membership functions may also be used, such as trapezoidal membership function, parabolic membership function, etc.

[0081] In the specific implementation, when determining the candidate correction value of the PID control parameter and the corresponding membership, the level and the corresponding membership of E(t) can be determined, and the level and the corresponding membership of Ed(t) can be determined. In the preset fuzzy rule base, the correction value of the PID control parameter may fall into four levels, and the four levels of membership can be determined. For example, for the correction value ΔK of the proportional coefficient P , assuming that E(t) falls between PS and PM, and Ed(t) falls between NS and ZO, through the above ΔK P The fuzzy rule base can determine ΔK P There are four possible levels, that is, when E(t) is PS and Ed(t) is NS, ΔK P When ZO, E(t) is PM, and Ed(t) is NS, ΔK P ΔK when NS, E(t) is PS, and Ed(t) is ZO P ΔK when NS, E(t) is PM, and Ed(t) is ZO P is NM, and ΔK P The degree of membership falling into the four levels is the product of the degree of membership of the corresponding level of E(t) and the degree of membership of the corresponding level of Ed(t). Its expression is:

[0082]

[0083] Among them, ΔK is the correction value of the PID control parameter to be solved; u i is the degree of membership; y i is the value of the corresponding level in the domain. The mapping value corresponding to the level can be obtained by mapping the level to the value through the defuzzification process. For example, for ΔK P , NB=-3, NM=-2, NS=-1, ZO=0, PS=1, PM=2, PB=3.

[0084] Based on the above embodiment, the correction value ΔK of the PID control parameter is determined. P, ΔK I , ΔK D After that, the PID control parameters can be updated according to the correction values ​​of the PID control parameters, that is:

[0085] K P (t) = K P (t-1)+ΔK P

[0086] K I (t) = K I (t-1)+ΔK I

[0087] K D (t) = K D (t-1)+ΔK D

[0088] Based on the updated PID control parameters, the preheating unit is controlled by the PID control method to preheat the target element. Optionally, the correction value of the PID control parameter can be periodically determined to adaptively update the PID control parameter and improve the accuracy of the PID control.

[0089] In another optional embodiment, a temperature switch can be used to control the preheating unit set at the first preset position on the surface of the target element to preheat the target element, wherein the temperature switch controls the closing or disconnection of contacts through deformation or other physical effects generated when the temperature changes by a temperature sensing element such as a bimetallic strip, thereby realizing the on-off control of the circuit, wherein the temperature at which the contacts of the temperature sensing element are closed or disconnected, that is, the operating temperature, can be the steady-state temperature of the target element, and since the steady-state temperature of the target element changes with the change of the ambient temperature, multiple temperature switches can be set at the second preset position on the surface of the target element, respectively connected to the preheating unit set at the first preset position on the surface of the target element, and the multiple temperature switches The action temperature of the switch is different, wherein the second preset position is within the preset range of the first preset position and does not contact the first preset position; after determining the target steady-state temperature of the target element according to the ambient temperature, the target temperature switch can be selected from multiple temperature switches, and the action temperature of the target temperature switch is the target steady-state temperature, that is, only the target temperature switch participates in the control of the preheating unit, while other temperature switches do not participate, and then when the real-time temperature at the second preset position is lower than the target steady-state temperature, the target temperature switch is triggered to turn on, so that the preheating unit preheats the target element; when the real-time temperature at the second preset position reaches the target steady-state temperature, the target temperature switch is triggered to turn off, so that the preheating unit stops preheating the target element.

[0090] It should be noted that, in order to improve control accuracy, the temperature switch in this embodiment may be a more sensitive and more accurate temperature switch.

[0091] In an embodiment of the present disclosure, in addition to providing a control method for a three-dimensional camera, a three-dimensional camera is also provided, wherein a preheating unit is arranged at a first preset position on the surface of a target element of the three-dimensional camera, and the preheating unit is communicatively connected with a control unit; the control unit is used to execute the above-mentioned control method for the three-dimensional camera.

[0092] Optionally, the target element is an element in a three-dimensional camera that is greatly affected by temperature drift, including but not limited to one or more of the following: a two-dimensional camera and its lens, a projector and its lens, a laser generator, a galvanometer, etc.; correspondingly, optionally, the first preset position includes but is not limited to one or more of the following: the interface (Mount) between the two-dimensional camera and its lens, the interface between the projector and its lens, the motor of the laser generator, the motor of the galvanometer, etc. Optionally, the preheating unit may include but is not limited to one or more of a flexible heating film, a flexible heating resistor wire or a flexible graphene heating sheet. Taking the binocular camera in a three-dimensional camera as an example, the left and right two-dimensional (2D) cameras are key optical components involved in point cloud imaging, where the lens interface is a key position, and the preheating unit can be wrapped around the lens interface so that it can be preheated evenly.

[0093] Optionally, a temperature sensor is provided at a second preset position on the surface of the target element of the three-dimensional camera, and the temperature sensor is communicatively connected with the control unit; wherein the second preset position is within a preset range of the first preset position and does not contact the first preset position;

[0094] The control unit is also used to obtain the real-time temperature at the second preset position collected by the temperature sensor, and according to the target steady-state temperature and the real-time temperature, the preheating unit is controlled by the proportional, integral and differential PID control method to preheat the target element.

[0095] Optionally, multiple temperature switches can be set at a second preset position on the surface of the target element, and are respectively connected to the preheating units set at the first preset position on the surface of the target element. The operating temperatures of the multiple temperature switches are different, and the second preset position is within the preset range of the first preset position and is not in contact with the first preset position. After determining the target steady-state temperature of the target element according to the ambient temperature, the target temperature switch can be selected from the multiple temperature switches, and the operating temperature of the target temperature switch is the target steady-state temperature, that is, only the target temperature switch participates in the control of the preheating unit, while other temperature switches do not participate. When the real-time temperature at the second preset position is lower than the target steady-state temperature, the target temperature switch is triggered to turn on, so that the preheating unit preheats the target element. When the real-time temperature at the second preset position reaches the target steady-state temperature, the target temperature switch is triggered to turn off, so that the preheating unit stops preheating the target element.

[0096] In addition, in some of the processes described in the above embodiments and the accompanying drawings, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel, and are only used to distinguish between different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to different types.

[0097] Figure 5 A schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. Figure 5 As shown, the electronic device 50 includes: a processor 51, and a memory 52 communicatively connected to the processor 51, and the memory 52 stores computer-executable instructions.

[0098] The processor executes the computer-executable instructions stored in the memory to implement the control method of the three-dimensional camera provided by any of the above method embodiments, and the specific functions and technical effects that can be achieved are not repeated here.

[0099] The embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the control method of a three-dimensional camera provided by any of the above method embodiments.

[0100] The embodiments of the present disclosure also provide a computer program product, which includes: a computer program, which is stored in a readable storage medium. At least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the control method of a three-dimensional camera provided by any of the above method embodiments.

[0101] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0102] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0104] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform some steps of the methods of various embodiments of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0105] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0106] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0107] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A control method for a three-dimensional camera, characterized in that: include: Acquiring an ambient temperature of a three-dimensional camera, and determining a target steady-state temperature of a target element in the three-dimensional camera according to the ambient temperature and a preset mapping relationship; The preset mapping relationship is a mapping relationship between the ambient temperature and the steady-state temperature of the target element; According to the target steady-state temperature, a preheating unit disposed at a first preset position on the surface of the target element is controlled to preheat the target element.

2. The method according to claim 1, characterized in that The step of controlling a preheating unit disposed at a first preset position on the surface of the target element to preheat the target element according to the target steady-state temperature comprises: The real-time temperature at the second preset position is collected by a temperature sensor disposed at the second preset position on the surface of the target element; wherein the second preset position is within a preset range of the first preset position and does not contact the first preset position; According to the target steady-state temperature and the real-time temperature, a proportional, integral and differential PID control method is adopted to control the preheating unit to preheat the target element.

3. The method according to claim 2, characterized in that The method of controlling the preheating unit to preheat the target element by using a proportional, integral and differential PID control method according to the target steady-state temperature and the real-time temperature includes: Determining a current temperature deviation between the real-time temperature and the target steady-state temperature and a current temperature deviation change rate; Determine a correction value of a PID control parameter in a PID control method according to the current temperature deviation, the current temperature deviation change rate, and a preset fuzzy rule base; wherein the preset fuzzy rule base includes a mapping relationship between the temperature deviation, the temperature deviation change rate, and the correction value of the PID control parameter; The PID control parameter is corrected according to the correction value, and a PID control method is executed based on the corrected PID control parameter to control the preheating unit to preheat the target element.

4. The method according to claim 3, characterized in that Determining the correction value of the PID control parameter in the PID control method according to the current temperature deviation, the current temperature deviation change rate and a preset fuzzy rule base includes: Determining candidate correction values ​​of PID control parameters and corresponding membership degrees from the preset fuzzy rule base according to the current temperature deviation and the current temperature deviation change rate; According to the candidate correction values ​​of the PID control parameters and the corresponding membership degrees, the correction values ​​of the PID control parameters are determined by using the centroid method.

5. The method according to claim 3 or 4, characterized in that: The method further comprises: The temperature deviation, temperature deviation change rate and PID control parameter of a preset number of three-dimensional cameras are obtained, and a mapping relationship between the temperature deviation, temperature deviation change rate and the correction value of the PID control parameter is constructed as the preset fuzzy rule base.

6. The method according to claim 1, characterized in that The step of controlling a preheating unit disposed at a first preset position on the surface of the target element to preheat the target element according to the target steady-state temperature comprises: According to the target steady-state temperature, a target temperature switch is selected from a plurality of temperature switches arranged at a second preset position on the surface of the target element to be connected to the preheating unit, wherein the plurality of temperature switches have different operating temperatures, and the operating temperature of the target temperature switch is the target steady-state temperature; the second preset position is within a preset range of the first preset position and does not contact the first preset position; When the real-time temperature at the second preset position is lower than the target steady-state temperature, the target temperature switch is triggered to turn on, so that the preheating unit preheats the target element; When the real-time temperature at the second preset position reaches the target steady-state temperature, the target temperature switch is triggered to open, so that the preheating unit stops preheating the target element.

7. The method according to claim 1, characterized in that The step of acquiring the ambient temperature of the three-dimensional camera and determining the target steady-state temperature of the target element in the three-dimensional camera according to the ambient temperature and a preset mapping relationship includes: In response to a start-up instruction of the three-dimensional camera, an ambient temperature of the three-dimensional camera is acquired, and a target steady-state temperature of a target element in the three-dimensional camera is determined according to the ambient temperature and a preset mapping relationship.

8. The method according to claim 1, characterized in that The step of acquiring the ambient temperature of the three-dimensional camera and determining the target steady-state temperature of the target element in the three-dimensional camera according to the ambient temperature and a preset mapping relationship includes: In response to a preheating instruction, acquiring an ambient temperature of the three-dimensional camera, and determining a target steady-state temperature of a target element in the three-dimensional camera according to the ambient temperature and a preset mapping relationship; After the preheating unit arranged at the first preset position on the surface of the target element is controlled to preheat the target element, the method further comprises: After the target component reaches the target steady-state temperature, the three-dimensional camera is activated.

9. The method according to claim 1, characterized in that: The method further comprises: The steady-state temperature of the target element of the three-dimensional camera under different ambient temperatures is obtained, and a mapping relationship between the ambient temperature and the steady-state temperature of the target element is established.

10. The method according to claim 1, characterized in that The target element includes one or more of the following: a two-dimensional camera and its lens, a projector and its lens, a laser generator, and a galvanometer.

11. The method according to claim 10, characterized in that The first preset position includes one or more of the following: The interface between the two-dimensional camera and its lens, the interface between the projector and its lens, the motor of the laser generator, and the motor of the galvanometer.

12. The method according to claim 1, characterized in that The preheating unit includes one or more of a flexible heating film, a flexible heating resistor wire or a flexible graphene heating sheet.

13. A three-dimensional camera, characterized in that: A preheating unit is provided at a first preset position on the surface of the target element of the three-dimensional camera, and the preheating unit is communicatively connected with the control unit; The control unit is used to execute the method according to any one of claims 1 to 12.

14. The three-dimensional camera according to claim 13, characterized in that: A temperature sensor is provided at a second preset position on the surface of the target element of the three-dimensional camera, and the temperature sensor is in communication with the control unit; wherein the second preset position is within a preset range of the first preset position and does not contact the first preset position; The control unit is also used to obtain the real-time temperature at the second preset position collected by the temperature sensor, and according to the target steady-state temperature and the real-time temperature, use the proportional, integral and differential PID control method to control the preheating unit to preheat the target element.

15. The three-dimensional camera according to claim 13, characterized in that: A plurality of temperature switches are arranged at a second preset position on the surface of the target element of the three-dimensional camera, the plurality of temperature switches are connected to the preheating unit, wherein the plurality of temperature switches have different operating temperatures; the second preset position is within a preset range of the first preset position and does not contact the first preset position; The multiple temperature switches are used to select a target temperature switch from the multiple temperature switches to connect to the preheating unit according to the target steady-state temperature, and the operating temperature of the target temperature switch is the target steady-state temperature; when the real-time temperature at the second preset position is lower than the target steady-state temperature, the target temperature switch is triggered to turn on, so that the preheating unit preheats the target element; when the real-time temperature at the second preset position reaches the target steady-state temperature, the target temperature switch is triggered to turn off, so that the preheating unit stops preheating the target element.

16. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 12 is implemented.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 12 when executed by a processor.

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