Image detection method, chip system and vehicle

Abstract

The invention discloses an image detection method, a chip system and a vehicle, relates to the field of optics, and can solve the object detection problem in the prior art, and the method comprises the steps: obtaining the reflectivity of a plurality of sub-regions of the surface of a to-be-detected object; indicating a light source (610) to emit first structured light to the surface of the object to be measured according to the reflectivity of each of the plurality of sub-regions; wherein the plurality of sub-regions comprise a first sub-region and a second sub-region; the light intensity of the first structured light emitted to the first sub-region is first light intensity, and the light intensity of the first structured light emitted to the second sub-region is second light intensity; acquiring the light intensity of the plurality of sub-regions under the irradiation of the first structured light; and indicating a light source (610) to emit light with light intensity corresponding to the plurality of areas to the surface of the object to be measured according to the reflectivity of the plurality of areas of the surface of the object to be measured. According to the method, the influence of the reflection characteristics of different areas of the to-be-measured object on the light intensity received by the electronic equipment can be reduced, so that the electronic equipment obtains the ideal light intensity corresponding to the sub-areas of the to-be-measured object.

Description

Image detection method, chip system and vehicle Technical Field

[0001] The present application relates to the field of optics, and in particular to an image detection method, a chip system, and a vehicle. Background Art

[0002] With the development of science and technology, the technology of using optical means to detect objects has emerged in the research on object detection. However, how to improve the accuracy of object detection has become an urgent problem to be solved.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide an image detection method, a chip system, and a vehicle to improve the accuracy of object detection.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides an image detection method, which is applied to a first device or a component capable of realizing the function of the first device (such as a chip system or a controller or a processor), the method comprising: obtaining the reflectivity of multiple sub-areas on the surface of the object to be measured; according to the reflectivity of each sub-area in the multiple sub-areas, instructing a light source to emit a first structured light to the surface of the object to be measured; wherein the multiple sub-areas include a first sub-area and a second sub-area; the light intensity of the first structured light emitted to the first sub-area is a first light intensity, and the light intensity of the first structured light emitted to the second sub-area is a second light intensity; and obtaining the light intensity of the multiple sub-areas under the irradiation of the first structured light.

[0007] According to the reflectivity of multiple areas on the surface of the object to be measured, the indicator light source emits light with light intensities corresponding to multiple areas on the surface of the object to be measured, reducing the influence of the reflective characteristics of different areas of the object to be measured on the light intensity received by the first device, so that the electronic device obtains the light intensity corresponding to the ideal sub-area of ​​the object to be measured.

[0008] In one possible design, the intensity of the first structured light is determined based on the reflectivity of the multiple sub-regions and a preset light intensity. The intensity of the first structured light is obtained based on the preset light intensity and the reflectivity of the multiple sub-regions, and the intensity of the obtained first structured light can be changed by changing the preset light intensity.

[0009] In a possible design, the light intensity P of the first structured light emitted to the nth sub-region among the multiple sub-regions is n It is determined according to the following formula;

[0010] Where n is a positive integer, ρ nis the reflectivity of the nth sub-region, and a is the preset light intensity.

[0011] In one possible design, obtaining the light intensity of the multiple sub-areas under the illumination of the first structured light includes: collecting the reflected light signal of the first sub-area under the illumination of the first structured light through a camera; collecting the reflected light signal of the second sub-area under the illumination of the first structured light through a camera; the light intensity of the reflected light signal of the first sub-area under the illumination of the first structured light is equal to the light intensity of the reflected light signal of the second sub-area under the illumination of the first structured light. If the camera collects the light intensities of the multiple sub-areas under the illumination of the first structured light to be equal, it is beneficial for the first device to detect the object to be measured. For example, when the object to be measured has a concave surface or a convex surface, the first structured light collected by the camera will bend at the concave surface or convex surface of the object to be measured. The light intensities of the areas of the object to be measured under the illumination of the structured light are the same, which can more conveniently distinguish the areas where the first structured light is bent, thereby facilitating the detection of the object to be measured.

[0012] In one possible design, obtaining the reflectivity of multiple sub-regions of the surface of the object to be measured includes: emitting a second structured light having a third light intensity toward the multiple sub-regions of the object to be measured; obtaining a fourth light intensity of the multiple sub-regions of the surface of the object to be measured under the illumination of the second structured light; and determining the reflectivity of the multiple sub-regions based on the third and fourth light intensities. The reflectivity of the sub-region can be obtained by calculating the third light intensity emitted toward the sub-region and the fourth light intensity received from the sub-region.

[0013] In one possible design, the method further includes: obtaining a fifth light intensity of the surface of the object to be measured when not illuminated by the second structured light and the first structured light; and determining a preset light intensity based on the light intensity of the surface of the object to be measured when not illuminated by the second structured light and the first structured light. The light intensity reflected by the sub-area of ​​the object to be measured that is not illuminated by the second structured light and the third structured light is the ambient light intensity. When the ambient light intensity is high, the preset light intensity can be determined to be a higher value, thereby highlighting the difference between the first structured light and the ambient light and improving the accuracy of detecting the object to be measured. When the ambient light intensity is low, the preset light intensity can be determined to be a lower value, thereby saving energy.

[0014] In one possible design, obtaining the reflectivity of multiple sub-areas on the surface of the object to be measured includes: obtaining a fifth light intensity of the surface of the object to be measured when not illuminated by the second structured light and the first structured light; and determining the reflectivity of the multiple sub-areas based on the third light intensity, the fourth light intensity and the fifth light intensity.

[0015] The fifth light intensity is the ambient light intensity. The fourth light intensity obtained by receiving the second structured light of the object to be measured includes the fifth light intensity. By subtracting the fifth light intensity from the third light intensity, a more accurate reflectivity of multiple sub-areas of the object to be measured can be obtained.

[0016] In one possible design, determining the light intensities of the multiple sub-areas under illumination by the first structured light includes: collecting, using a camera, light signals of the multiple sub-areas under illumination by the first structured light and ambient light; and filtering out the ambient light from the collected light signals to obtain the light intensities of the multiple sub-areas under illumination by the first structured light. Filtering out the ambient light from the collected first structured light can obtain light intensities in each sub-area that are closer to a preset light intensity, facilitating processing of the light signals.

[0017] In one possible design, the first device includes a mobile device, the detection area of ​​the first structured light is located behind the illumination area of ​​the second structured light along the direction of movement of the mobile device, and the method further includes: obtaining the movement speed of the mobile device; obtaining the distance between the detection area and the illumination area; determining an interval time based on the distance and the movement speed of the mobile device; and emitting the first structured light toward the surface of the object to be measured, including: after instructing the light source to emit the second structured light of a first light intensity toward the surface of the object to be measured, instructing the light source to emit the first structured light toward the surface of the object to be measured after the interval time. By making the detection area of ​​the mobile device overlap with the illumination area during the interval time, the light intensity of the detection area is obtained.

[0018] In one possible design, the first structured light is a stripe light; the multiple sub-regions are detection areas for the multiple stripes of light; the multiple stripes of light include a first stripe light and a second stripe light, wherein the detection area of ​​the first stripe light is different from the detection area of ​​the second stripe light. By emitting stripes of light with different detection areas from the indicator light source, three-dimensional information of the object to be measured is obtained based on the bending of the multiple stripes of light.

[0019] In a second aspect, an embodiment of the present application provides a chip system, which includes a processor and at least one interface circuit, wherein the at least one interface circuit is used to perform transceiver functions and send instructions to at least one processor. When the at least one processor executes the instructions, the at least one processor executes the method described in the first aspect above and any one of the designs therein.

[0020] In some embodiments, the processor may also be replaced by a controller.

[0021] In a third aspect, an embodiment of the present application provides a vehicle comprising the chip system of the second aspect described above.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium comprising computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the method described in the first aspect and any one of the designs thereof.

[0023] In a fifth aspect, an apparatus is provided, which has the function of implementing the first device behavior in any of the above aspects and possible implementations. This function can be implemented through hardware or through hardware executing corresponding software implementations. The hardware or software includes at least one module or unit corresponding to the above function. For example, a processing module or unit, a communication module or unit, etc.

[0024] In a sixth aspect, a computer program product is provided. When the computer program product is run on a computer, the computer is caused to execute the method as described in the above aspects and any possible implementation thereof.

[0025] It can be understood that the beneficial effects that can be achieved by the methods, devices, computer-readable storage media, and computer program products provided in the second to sixth aspects above can be referred to the beneficial effects in the first aspect and any possible implementation method provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG1 is a schematic diagram of a digital vehicle light projecting a structured light symbol on a road surface;

[0027] FIG2 is a schematic diagram of structured light detection of a road surface with obstacles;

[0028] FIG3 is a schematic diagram of a light source emitting a first structured light;

[0029] FIG4 is a schematic diagram of a first structured light image captured by a camera under ideal conditions;

[0030] FIG5 is a schematic diagram of a disturbed first structured light image actually captured by a camera;

[0031] FIG6 is a schematic structural diagram of an image detection system;

[0032] FIG7 is a schematic diagram of the structure of an image detection system applied to a vehicle;

[0033] FIG8 is a schematic diagram of an image detection system applied to a searchlight;

[0034] FIG9 is a flow chart of an image detection method according to an embodiment of the present application;

[0035] FIG10 is a schematic diagram of the area of ​​the light signal collected by the camera and the area of ​​the object to be measured according to an embodiment of the present application;

[0036] FIG11 is a schematic diagram of dividing an object to be measured into multiple sub-areas according to an embodiment of the present application;

[0037] FIG12 is a schematic diagram of a detection area according to an embodiment of the present application;

[0038] FIG13 is a schematic diagram of the duration of eye switching;

[0039] FIG14 is another schematic flow chart of the image detection method provided in an embodiment of the present application;

[0040] FIG15 is a schematic diagram of an object to be measured under ambient light illumination;

[0041] FIG16 is a schematic diagram of a detection area and an illumination area on a mobile device according to an embodiment of the present application;

[0042] FIG17 is a schematic diagram of the distance between the detection area and the illumination area according to an embodiment of the present application;

[0043] FIG18 is another schematic diagram of the distance between the detection area and the illumination area according to an embodiment of the present application;

[0044] FIG19 is a schematic diagram of a light source according to an embodiment of the present application rotating around a support;

[0045] FIG20 is a schematic diagram of a scene in which structured light is collected by multiple cameras in an embodiment of the present application;

[0046] FIG21 is a schematic structural diagram of an image detection device provided in an embodiment of the present application;

[0047] FIG22 is a schematic structural diagram of another image detection device provided in an embodiment of the present application;

[0048] FIG23 is a schematic diagram of the structure of the chip system provided in this application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0050] The terms "first" and "second" in the specification and drawings of this application are used to distinguish different objects, or to distinguish different treatments of the same object, rather than to describe a specific order of objects. In addition, the terms "including" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way.

[0051] First, the technical terms involved in the embodiments of this application are introduced:

[0052] 1. Structured light: A light source can emit a beam of light. If the same beam of light emitted by the light source contains light rays of different intensities, the beam is called structured light. When structured light shines on an object, it can take on different shapes. For example, when structured light shines on a plane and forms stripes, this beam of light can be called streak light.

[0053] Structured light can be used to detect the three-dimensional structure of an object. Specifically, structured light is projected onto an object, and a camera collects information such as the degree of distortion of the structured light to obtain three-dimensional information such as the object's position and depth.

[0054] In the embodiments of the present application, the structured light of known intensity emitted toward the object to be measured (e.g., a road surface including obstacles, the environment on both sides of the road where a vehicle is driving, buildings, office areas, etc.) is referred to as the second structured light (also referred to as the illumination light). The structured light emitted by the light source toward the object to be measured based on the reflectivity of the object's surface is referred to as the first structured light (also referred to as the detection light).

[0055] The second structured light may be visible light or invisible light. When the second structured light is visible light, it may serve as illumination light.

[0056] The first structured light may be visible light or invisible light. When the first structured light is visible light, it may serve as illumination light.

[0057] 2. Digital light source: A light source that can emit structured light can be called a digital light source. Digital light sources can emit structured light to achieve zoned illumination. When the light intensity at a certain location is 0, it is equivalent to the digital light source not irradiating that location.

[0058] Digital light sources can project light into different shapes on the ground by illuminating the ground in different zones, thereby conveying information. For example, they can project warning signs on construction sites, zebra crossings on the road, and weather conditions on signboards.

[0059] The digital light source is installed on a moving object and can also project information such as the object's moving speed and object type.

[0060] 1 , FIG1 shows a vehicle lamp 110 as a digital light source, and the vehicle lamp 110 projects a hollow elliptical light on the ground.

[0061] Digital headlights can also project the driver's blind spot on the ground to remind pedestrians not to approach the driver's blind spot, thereby reducing the probability of pedestrians accidentally entering the driver's blind spot and improving driving safety.

[0062] In certain scenarios (such as non-driving state), digital headlights can also project interesting symbols to increase driving fun.

[0063] In some scenarios, the light source detects three-dimensional information of the object to be measured by emitting a first structured light.

[0064] For example, in a driving scenario, obstacles on the road, bumps on the road surface, etc. may affect the comfort and safety of normal driving. If the three-dimensional contour of the road can be detected in advance, the driver or the autonomous driving system can decide a better driving route based on the three-dimensional contour of the road, thereby improving driving safety and comfort.

[0065] Referring to Figure 2, Figure 2 shows a scene where there is an obstacle on the road. The light source emits a first structured light toward the road surface (the road surface is the surface of the object to be measured), and the camera captures an image of the road surface. The position of the obstacle is determined by information such as the degree of distortion of the first structured light in the image, thereby obtaining three-dimensional information of the road surface.

[0066] For ease of description, the area covered by the first structured light on the surface of the object to be measured is referred to as the detection area. The detection area can include multiple sub-areas. Referring to Figure 3, different sub-areas are at different distances from the light source (for example, L1, L2, and L3 are different). The first structured light consumes more energy to reach the sub-area farther away, resulting in a lower light intensity at L3 and a lower brightness of the image captured by the camera at L3.

[0067] In related technologies, in order to make the brightness of each sub-area in the image captured by the camera the same, when the light source emits the first structured light, it sends the first structured light with higher light intensity to the sub-area farther away from the light source (for example, L3), and sends the first structured light with lower light intensity to the sub-area closer to the light source (for example, L1), thereby compensating for the influence of distance on the brightness of the first structured light, so that the camera can capture an image with uniform brightness in each sub-area.

[0068] However, in complex scenes, even when the light source emits the same intensity of first structured light to sub-areas at the same distance, the brightness of the first structured light in each sub-area in the image captured by the camera still varies due to interference from the environment. As a result, the camera still cannot capture an image with uniform brightness, and subsequent processing (such as calculating the three-dimensional information of the detected object and depth of field) based on the uniform brightness image cannot be performed.

[0069] Among them, environmental interference includes: under the illumination of ambient light, different sub-areas will reflect different ambient light intensities, or different sub-areas have different reflection characteristics (for example, different reflectivities), resulting in different sub-areas reflecting first structured lights of different intensities under the illumination of the first structured light of the same light intensity, etc.

[0070] Refer to Figure 4, which shows an ideal image of the object captured by the camera under the illumination of the first structured light. The light source emits stripes of the first structured light with uniform intensity, and the brightness of the stripes of light in different areas of the image formed by the first structured light signal captured by the camera is also uniform.

[0071] Refer to Figure 5, which shows an image of the object under test, captured by the camera under the first structured light in a complex scene. The light source emits stripes of first structured light with uniform intensity, and the camera captures a disturbed first structured light signal. This disturbed first structured light signal forms an image with features such as overexposure, darkening, and broken stripes, affecting the accuracy of subsequent image analysis and resulting in inaccurate three-dimensional information about the object.

[0072] The present embodiment provides an image detection method that sets the intensity of first structured light emitted by a light source to multiple sub-regions of a surface of an object to be detected based on the reflective characteristics of the sub-regions (in the present embodiment, the reflective characteristics of the sub-regions are represented by their reflectivity). This enables a camera to capture an image with uniform brightness.

[0073] The image detection method provided in the embodiment of the present application can be applied to an image detection system. Referring to FIG. 6 , the image detection system 600 includes a light source 610 , a controller 620 , and a camera 630 .

[0074] Light source 610 is configured to emit light, such as the second structured light or the first structured light, toward the object to be detected. The image detection system may include one or N light sources 610, where N is a positive integer greater than 1. When the image detection system includes N light sources 610, the N light sources 610 may operate simultaneously, and each light source 610 may emit light, such as the second structured light or the first structured light.

[0075] Camera 630 is used to capture images of the object under test under illumination by the second structured light or the first structured light. Camera 630 captures light signals from the surface of the object under test (light signals carrying light intensity information). The light signals from the surface of the object under test are transmitted through a lens to generate an optical image, which is then projected onto a photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the light signal into an electrical signal.

[0076] The camera 630 also includes an integrated image signal processor (ISP). The ISP converts electrical signals into digital image signals to obtain an image of the object to be measured. In some embodiments, if the camera 630 does not include an integrated ISP, the camera 630 sends the electrical signals to the ISP, which converts the electrical signals into digital image signals.

[0077] The image detection system may include one or N cameras 630, where N is a positive integer greater than 1. When the image detection system includes N cameras 630, each camera 630 may be used to capture images of the object under illumination by both the second structured light and the first structured light. Furthermore, a camera 630 may be used only to capture images of the object under illumination by the second structured light, or only to capture images of the object under illumination by the first structured light, etc.

[0078] The controller 620 is used to control the light source to emit light (e.g., the first structured light, the second structured light, etc.) and to control the camera 630 to capture images of the object to be measured. In some embodiments, the controller 620 can control the intensity of the first structured light and the second structured light emitted by the light source. In addition, the controller 620 can also control the area illuminated by the first structured light and the second structured light.

[0079] In some embodiments, the positional relationship between the camera and the light source needs to meet certain conditions. For example, there may be an angle between the direction in which the camera shines toward the surface of the object to be measured (the camera's acquisition direction) and the direction in which the light source shines toward the surface of the object to be measured (the light source's irradiation direction). Referring to FIG1 , on a vehicle, the camera 120 and headlight 110 are positioned in this manner. When the headlight 110 irradiates a stripe of light toward the front of the vehicle (the surface of the object to be measured is the road surface in front of the vehicle), if there is an obstacle on the road, the stripe of light in the image of the road captured by the camera will be distorted because of the angle between the camera's acquisition direction and the headlight's irradiation direction. The controller can obtain three-dimensional information about the obstacle based on the degree of distortion of the stripe of light.

[0080] Image detection systems can be used in the automotive field, as well as in other fields, such as smart security, smart phones, cameras, smart robots, drones, machine vision, searchlights at docks, and other fields.

[0081] For example, the image detection system can be applied to various modes of transportation, such as electric vehicles, cars, trucks, motorcycles, buses, ships, airplanes, helicopters, lawn mowers, recreational vehicles, amusement park vehicles, construction equipment, trams, golf carts, trains, and carts, etc., and the embodiments of the present application are not particularly limited.

[0082] In addition, the image detection system can also be implemented as equipment in different product forms. For example, in a vehicle, it can be implemented as an on-board chip or on-board device (such as a vehicle computer, an on-board computing platform, a complete vehicle, or a server (virtual or physical)).

[0083] The image detection system can also be applied to mobile devices, which may include devices with mobile functions such as vehicles and robots, or devices that are controlled by third-party devices or people to move, such as mobile phones and tablets.

[0084] Image detection systems can also be applied to fixed equipment, such as searchlights at docks.

[0085] Figure 7 shows a schematic diagram of a vehicle with an image detection system. The vehicle includes a vehicle controller 710, an onboard camera 740, headlights 770, and multiple sensors (e.g., millimeter-wave radar 720, lidar 730, and an ambient light sensor (not shown)). Furthermore, the vehicle may include a vehicle domain controller 750 and a telematics box (T-BOX) 760.

[0086] It should be understood that the structures illustrated in the embodiments of this application do not constitute specific limitations on the vehicle. In other embodiments of this application, the vehicle may include more or fewer components than shown, or some components may be combined, separated, or arranged differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0087] Specifically, the vehicle controller 710 shown in FIG7 resembles a box and is responsible for acquiring image detection-related data (e.g., acquiring data transmitted by the vehicle-mounted camera 740) and controlling vehicle-mounted devices. The vehicle controller 710 can support multiple interface protocols to enable communication with other devices on the vehicle. For example, the vehicle controller 710 communicates with the vehicle-mounted camera 740 and headlights 770 mounted on the vehicle body, collects image information of the vehicle's surroundings through the headlights 770 and the vehicle-mounted camera 740, and obtains three-dimensional information of the vehicle's surroundings. This three-dimensional information is then sent to the vehicle domain controller 750, which then controls other devices in the vehicle to perform corresponding actions. Alternatively, the vehicle controller 710 sends the image information of the vehicle's surroundings to the vehicle domain controller 750, which then obtains three-dimensional information of the vehicle's surroundings based on the image information and controls other devices in the vehicle.

[0088] The vehicle may also include a digital signal processor (DSP) and a display. The DSP converts digital image signals into standard image signals in formats such as red-green-blue (RGB) and luminance-bandwidth-chrominance (YUV). These image signals can then be displayed on the display. For example, the controller transmits processed three-dimensional information about an object to be measured to the DSP. The DSP converts the 3D image information into an image signal for display on the display, which then displays the 3D information of the object to be measured.

[0089] The image detection method provided in the embodiment of the present application is described in detail below. As shown in FIG9 , the image detection method provided in the embodiment of the present application includes steps S100 to S160.

[0090] S100: The controller sends a first instruction signal to the light source. Correspondingly, the light source receives the first instruction signal sent by the controller.

[0091] The first instruction signal is used to instruct the light source to emit the second structured light toward the object to be measured.

[0092] S200: The light source emits a second structured light toward the object to be measured according to the first indication signal.

[0093] The surface of the object to be measured may include one or more sub-areas, and the light intensity of the second structured light irradiated by the light source to each sub-area may be the same or different.

[0094] The light intensity P1 of the second structured light emitted by the light source to the object to be measured can be expressed as [P11…P1 n ], n is an integer, n represents the nth sub-area, P1 n Indicates the intensity of the second structured light emitted by the light source to the nth sub-area on the surface of the object to be measured. P11…P1 n The values ​​of can be the same or different. The light intensity P1 can be called the third light intensity.

[0095] S110: The controller sends a second instruction signal to the camera. Correspondingly, the camera receives the second instruction signal sent by the controller.

[0096] The second indication signal is used to instruct the camera to capture an image of the object to be measured under the illumination of the second structured light.

[0097] S300: The camera collects an image 1 of the object to be measured under the illumination of the second structured light according to the second instruction signal.

[0098] Furthermore, the second indication signal is further used to indicate which area of ​​the surface of the object to be measured is to be imaged. For example, the second indication signal indicates that the image of the entire area of ​​the surface of the object to be measured is to be collected, that is, the image covering the entire surface of the object to be measured is to be collected. For another example, the second indication signal indicates that the image of a partial area of ​​the surface of the object to be measured is to be collected, for example, the image of the central area of ​​the surface of the object to be measured.

[0099] In some embodiments, the image captured by the camera at one time can cover the entire surface area of ​​the object to be measured.

[0100] In this case, referring to (1) and (2) of FIG10 , the camera can obtain images corresponding to all areas of the surface of the object to be measured through one acquisition.

[0101] In some embodiments, the image captured by the camera at one time can only cover a partial area of ​​the surface of the object to be measured.

[0102] In this case, referring to (3) of FIG10 , the camera may capture the surface of the object to be measured multiple times, thereby capturing images of the entire area of ​​the surface of the object to be measured.

[0103] Optionally, the controller can control the movement of the camera (movement includes horizontal movement and rotation of the camera) according to the positional relationship between the camera and the light source, so that the camera can collect multiple images from different angles to obtain images of the entire area of ​​the surface of the object to be measured.

[0104] In the following embodiments, the image detection method of the present application is described by taking the case where a camera sends an image signal to a controller as an example.

[0105] In other cases, the camera may also output an electrical signal. The controller can derive a digital image signal from the electrical signal and process the digital image according to the following steps. Alternatively, the camera may output the electrical signal to the ISP, which converts the electrical signal into a digital image signal and then sends the digital image signal to the controller, which then processes the digital image.

[0106] It is understandable that S100 and S110 may be executed simultaneously or at different times.

[0107] S310: The camera sends an image 1 of the object to be measured under the illumination of the second structured light to the controller. Correspondingly, the controller receives the image 1 sent by the camera.

[0108] S120, the controller determines the reflectivity ρ of multiple sub-regions on the surface of the object to be measured based on the image 1 of the object to be measured under the illumination of the second structured light. n .

[0109] An image consists of one or more subregions, each of which contains one or more pixels. The intensity value (also called brightness value) of one or more pixels in a region can represent the intensity of the light signal in that region. For example, the average of multiple brightness values ​​can be taken as the intensity of the light signal in that region. Alternatively, the maximum brightness value in the region can be taken as the intensity of the light signal in that region.

[0110] The brightness value in image 1 can represent the light intensity P2 of the surface of the object to be measured under the illumination of the second structured light. P2 can be expressed as [P21…P2 n ], n is an integer, n represents the nth sub-region, P2 n Indicates the light intensity of the nth sub-area on the surface of the object to be measured under the illumination of the second structured light. P21…P2 n The values ​​of can be the same or different. The light intensity P2 can be called the fourth light intensity.

[0111] P2 may be the reflected light intensity of the surface of the object to be measured under the illumination of the second structured light.

[0112] Each sub-region of the surface of the object to be measured in the image 1 may include one or more pixels, and the brightness value of the pixel corresponding to the sub-region may represent the light intensity P2 of the sub-region. n .

[0113] In some embodiments, the sub-region includes a pixel, and the brightness value of the pixel can represent the light intensity P2 of the sub-region. nFor example, if the brightness value in sub-region 2 is 50, then P2 in sub-region 2 n is 50.

[0114] In some embodiments, the sub-region includes a plurality of pixels, and the controller can calculate the brightness values ​​of the plurality of pixels, so that the calculated brightness value represents the light intensity P2 of the sub-region. n .

[0115] In this case, the average brightness value of multiple pixels in the sub-region can be obtained and the average value can be used as the light intensity P2 corresponding to the sub-region. n For example, referring to FIG11 , the brightness values ​​of two pixels in sub-region 1 are 50 and 70 respectively, and the light intensity P2 of sub-region 1 is n is 60.

[0116] In this case, the maximum brightness value of multiple pixels in the sub-region can be obtained, and the maximum brightness value among the multiple pixels is used as the light intensity P2 of the sub-region. n For example, referring to FIG11 , the brightness values ​​of two pixels in sub-region 1 are 50 and 70 respectively, and the light intensity P2 of sub-region 1 is n It is 70.

[0117] Since the reflectivity ρ of the surface of the object to be measured can affect the characteristics of the light reflected by the surface of the object to be measured, when the light intensity P1 of each sub-area of ​​the surface of the object to be measured is n are the same, but the reflected light intensity P2 of each sub-area n When a difference occurs, the controller can determine that the reflectivity of each sub-region is different.

[0118] In some embodiments, the controller may determine the P1 values ​​corresponding to the plurality of sub-areas on the surface of the object to be measured. n and P2 n , and obtain the reflectivity ρ corresponding to each of the multiple sub-areas on the surface of the object to be measured n .

[0119] The reflectivity ρ of the surface of the object to be measured can be expressed as [ρ1…ρ n ], n is an integer, n represents the nth sub-region, ρ n Represents the reflectivity of the nth sub-area on the surface of the object to be measured. ρ1…ρ n The values ​​can be the same or different.

[0120] In some embodiments, the controller calculates the ratio of the light intensity P2 corresponding to each sub-area to the light intensity P1 (the ratio of the collected light intensity to the emitted light intensity) to obtain the reflectivity.

[0121] In the embodiment of the present application, the reflectivity ρ of each sub-area on the surface of the object to be measured is calculated according to Formula 1: n.

[0122] In other embodiments, the controller may further use the inverse of the reflectivity ρ to determine the relationship between the brightness of the second structured light emitted by the light source and the brightness of the first structured light in the image captured by the camera. Thus, the intensity P3 of the first structured light emitted by the light source toward the object to be measured is determined based on the inverse of the reflectivity ρ.

[0123] In other embodiments, the controller may obtain the reflectivity ρ of the sub-region by other means. n For example, the controller is connected to a reflectivity sensor. The reflectivity sensor obtains the reflectivity ρ of the surface of the object to be measured and transmits the reflectivity ρ of the surface of the object to be measured to the controller. For another example, the controller can communicate with other devices and receive the reflectivity ρ of the surface of the object to be measured sent by the other devices.

[0124] S130: The controller obtains the light intensity P3 of the first structured light emitted by the light source to the object to be measured according to the reflectivity ρ.

[0125] The light intensity controller can determine the light intensity P3 of the first structured light emitted by the light source to each sub-area according to the reflectivity ρ corresponding to each sub-area on the surface of the object to be measured, so that the light intensity P3 of the first structured light irradiated on different sub-areas on the surface of the object to be measured is n This can effectively reduce the uneven brightness of each sub-region in the image captured by the camera due to the different reflectivities of different sub-regions on the surface of the object to be measured, improve the imaging quality of the structured light image, and facilitate subsequent processing of the structured light image.

[0126] The intensity P3 of the first structured light emitted by the light source to the object to be measured can be expressed as [P31…P3 n ], n is an integer, n represents the nth sub-area, P3 n Indicates the light intensity corresponding to the nth sub-area on the surface of the object to be measured. P31…P3 n The values ​​can be the same or different.

[0127] In some embodiments, the controller calculates the light intensity a and the reflectivity ρ of each sub-region according to the preset light intensity a and the reflectivity ρ of each sub-region. n , get the light intensity P3 corresponding to each sub-area n .

[0128] In some embodiments, referring to Formula 2, the light intensity a is preset to be a constant.

[0129] In some embodiments, the reflectivity of the plurality of sub-regions is n At different times, the light intensity P3 corresponding to each sub-area can be obtained nFor example, if a is 100, the reflectivity ρ of sub-area 1 is 0.8, and the reflectivity of sub-area 2 is 0.5, the reflectivity of sub-area 1 is larger, and the reflectivity of sub-area 2 is smaller. In order to make the light intensity (a=100) collected by the camera in sub-area 1 and sub-area 2 the same, according to formula 2, the light source needs to emit a first structured light with a lower light intensity (P31=125) to sub-area 1, and emit a first structured light with a higher light intensity (P32=200) to sub-area 2.

[0130] By setting the preset light intensity a to a constant, the light emitted by the light source compensates for the uneven brightness of the structured light in the image 2 captured by the camera caused by the uneven reflectivity of the surface of the object to be measured. The camera can capture an image 2 of structured light with uniform brightness, thereby facilitating the subsequent processing of the structured light image by the controller to obtain three-dimensional information of the surface of the object to be measured (such as the road surface).

[0131] In some embodiments, the reflectivity of the plurality of sub-regions is n If the same, the light intensity P3 corresponding to each sub-area can be obtained n The same is true.

[0132] In some embodiments, the preset light intensities a of the multiple sub-regions are different. For example, the surface of the object to be measured includes 5 sub-regions, and the preset light intensities a of each sub-region are different. Then, the controller compares the preset light intensities a of the 5 sub-regions with their respective reflectivities ρ. n Make the ratio and get the light intensity P3 of the sub-area n .

[0133] In some embodiments, the preset light intensity a can be set based on the intensity of the ambient light. For example, when the ambient light is bright, the ambient light captured by the camera is brighter, and the preset light intensity a can be set to a higher intensity. This increases the difference between the light intensity of the sub-area illuminated by the first structured light and the light intensity of the sub-area not illuminated by the first structured light, making it more obvious to distinguish the first structured light from the ambient light, making it easier for the controller to extract the first structured light from the interference of the ambient light when processing Image 2. When the ambient light is dark, the preset light intensity a can be set to a lower intensity. The lower intensity can still meet the requirement of distinguishing the light intensity of the first structured light from the ambient light, saving light source energy while meeting image processing performance.

[0134] In some cases, the camera captures an image of the object when its surface is not illuminated by the first structured light and the second structured light, and the light intensity corresponding to the brightness value in the image serves as the preset light intensity a. Capturing an image of the object when it is not illuminated by the first structured light and the second structured light can also be understood as capturing an image of the object under ambient light.

[0135] In some cases, different pixels in an image have different brightness values. A weighted average or average of the brightness values ​​of the different pixels is performed to obtain the brightness value of the image, and the light intensity corresponding to the brightness value is used as the preset light intensity a. Alternatively, other methods can be used to obtain the preset light intensity a, which is not limited in this embodiment of the present application.

[0136] The intensity of the ambient light can also be obtained from an ambient light sensor.

[0137] S140: The controller sends a third instruction signal to the light source. Correspondingly, the light source receives the third instruction signal sent by the controller.

[0138] The third instruction signal is used to instruct the light source to emit the first structured light toward the object to be measured.

[0139] The light intensity of the first structured light is light intensity P3.

[0140] S210: The light source emits a first structured light toward the object to be measured according to a third instruction signal.

[0141] The light source emits light to multiple sub-areas on the surface of the object to be measured, and the light intensity corresponding to each sub-area is light intensity P3 n The first structured light may include a first area and a second area. The light intensity corresponding to the first area may be referred to as a first light intensity, and the light intensity corresponding to the second area may be referred to as a second light intensity.

[0142] Furthermore, the third indication signal is also used to indicate the area covered by the first structured light emitted by the light source each time (the detection area of ​​the first structured light each time). For example, the first structured light emitted by the light source is stripe light, and the area covered by the stripes is the detection area.

[0143] In some embodiments, the detection area formed by the first structured light emitted multiple times by the light source covers the surface of the object to be measured, so that the camera can collect the reflected light from the surface of the object to be measured under the illumination of the first structured light.

[0144] In some embodiments, the detection area formed by each first structured light emission from the light source covers the surface of the object to be measured. Furthermore, the detection areas formed by multiple first structured light emissions from the light source, when combined, cover the entire object to be measured. The camera can capture an image of the object to be measured each time under the illumination of the first structured light, thereby obtaining multiple images of the area of ​​the object to be measured, each with different detection areas under the illumination of the first structured light. The controller processes the multiple images to obtain three-dimensional information about the object to be measured.

[0145] For example, referring to FIG12 , the surface of the object to be measured can be divided into areas 1 to 16, and the light source emits the first structured light four times. The first structured light emitted by the light source for the first time is shown in FIG12 (1). The light source emits the first structured light to the sub-areas with even numbers. At this time, the detection area covers the even-numbered areas. The first structured light emitted by the light source for the second time is shown in FIG12 (2). The light source emits the first structured light to the sub-areas with odd numbers, and the detection area covers the odd-numbered areas. The first structured light emitted by the light source for the third time is shown in FIG12 (3). The light source emits the first structured light to areas 1, 2, 5, 6, 9, 10, 13, and 14, and the detection area covers areas 1, 2, 5, 6, 9, 10, 13, and 14. The first structured light emitted by the light source for the fourth time is shown in (4) of Figure 12. The light source emits the first structured light to areas 3, 4, 7, 8, 11, 12, 15, and 16, and the detection area covers areas 1, 2, 5, 6, 9, 10, 13, and 14. Areas 1 to 16 represent subareas 1 to 16 of the surface of the object to be measured.

[0146] In some embodiments, the sub-regions in the detection region may be divided in the same manner as the sub-regions on the surface of the object to be detected. For example, referring to FIG11 , the sub-regions in the detection region are also divided into sub-regions 1 to 7.

[0147] In some embodiments, the manner in which the sub-regions in the detection region are divided may be different from the manner in which the sub-regions on the surface of the object to be detected are divided.

[0148] In some embodiments, the light source emits a first structured light multiple times toward the surface of the object to be measured, and the detection areas illuminated by the multiple first structured lights are complementary within the area where the object to be measured is located. Referring to FIG. 12 , as an example above, the first structured light emitted by the light source for the first time and the first structured light emitted by the light source for the second time form complementary images within the area where the object to be measured is located, and the first structured light emitted by the light source for the third time and the first structured light emitted by the light source for the fourth time form complementary images within the area where the object to be measured is located. This allows the camera to capture multiple images 2 of the object to be measured, and the controller obtains three-dimensional information about the object to be measured based on the multiple images 2 of the object to be measured.

[0149] In some embodiments, the light source emits multiple cycles of first structured light, and the detection area illuminated by the first structured light in each cycle is complementary within the area of ​​the surface of the object to be measured. Exemplarily, as in the above example, the light source sends the first structured light four times, wherein the first cycle is the first and second times the light source emits the first structured light, and the second cycle is the third and fourth times the light source emits the first structured light. The first structured light can be stripe light, and the first structured light emitted by the light source for the first time is referred to as the first stripe light, and the first structured light emitted by the light source for the second time is referred to as the second stripe light. Alternatively, the first structured light emitted by the light source for the third time is referred to as the first stripe light, and the first structured light emitted by the light source for the fourth time is referred to as the second stripe light.

[0150] In some embodiments, referring to Figures 12 and 13, the switching duration 1 of the first structured light (probe light) emitted by the light source multiple times toward the surface of the object to be measured is less than the human eye's perception duration, and the detection areas illuminated by the first structured light emitted by the light source multiple times are complementary within the area of ​​the object to be measured. If the first structured light is visible light, then because the time interval between the emission of the first structured light is less than the human eye's perception duration, the human eye cannot visually distinguish the multiple emission of the first structured light, and the human eye perceives the first structured light as being continuously illuminated, thereby achieving non-perceptible illumination for the human eye during image detection, thereby achieving image detection while illuminating.

[0151] In some embodiments, the first structured light and the second structured light are the same type of light, for example, both the first structured light and the second structured light are visible light, or both the first structured light and the second structured light are infrared light. If the first structured light and the second structured light are the same type of light, then the reflectivity of the first structured light and the second structured light on the same object surface is the same. The electronic device emits the first structured light based on the reflectivity of the surface of the object to be measured by emitting the second structured light to detect the surface of the object to be measured, thereby reducing the influence of different reflectivities of different areas on the surface of the object to be measured on the image captured by the camera, thereby making the image captured by the camera more uniform.

[0152] In some embodiments, referring to FIG13 , the switching duration 2 between the first structured light and the second structured light is shorter than the human eye's perception duration. The switching duration 2 can be understood as the time interval between the emission of the second structured light and the first structured light. Since both the first structured light and the second structured light are illumination lights, the electronic device can simultaneously illuminate while performing detection, without being perceived by the human eye. This achieves eye-friendly multiplexing of detection and illumination functions.

[0153] The perception time of the human eye is the minimum time that the human eye can recognize the change of the picture. When the duration of the picture change is shorter than the perception time of the human eye, the human eye cannot recognize the change of the picture.

[0154] In some embodiments, the light intensity of the first structured light emitted to the object to be measured in each cycle is the light intensity P3 corresponding to each sub-area in the detection area, so that when the first structured light is visible light, the light irradiated on the surface of the object to be measured seen by the human eye is uniform light, thereby improving the comfort of the human eye during the first structured light detection.

[0155] S150: The controller sends a fourth instruction signal to the camera. Correspondingly, the camera receives the fourth instruction signal sent by the controller.

[0156] The fourth instruction signal is used to instruct the camera to capture an image of the object to be measured under the illumination of the first structured light.

[0157] S320: The camera collects an image 2 of the object to be measured under the illumination of the first structured light according to the fourth instruction signal.

[0158] The camera collects an image 2 of the object to be measured under the illumination of the first structured light according to the fourth instruction signal.

[0159] For example, the camera collects a reflected light signal from the first sub-area under the illumination of the first structured light, and collects a reflected light signal from the second sub-area under the illumination of the first structured light. The light intensity of the reflected light signal from the first sub-area under the illumination of the first structured light is equal to the light intensity of the reflected light signal from the second sub-area under the illumination of the first structured light (i.e., the brightness value of the area of ​​the object to be measured in Image 2 illuminated by the first structured light is uniform).

[0160] S330: The camera sends an image 2 of the object to be measured under the illumination of the first structured light to the controller. Correspondingly, the controller receives the image 2 sent by the camera.

[0161] S160 : The controller determines three-dimensional information of the object to be measured based on the image 2 of the object to be measured under the illumination of the first structured light.

[0162] The controller can receive the image 2 sent by the camera, process the image 2, and obtain three-dimensional information of the object to be measured.

[0163] The brightness value a in Image 2 represents the light intensity PN of the surface of the object under test when illuminated by the first structured light. Ideally, the light source emits the first structured light with a light intensity of intensity P3 toward the object, ensuring that the light intensity PN equals the preset light intensity a. This ensures that the light intensity corresponding to the image of the detection area captured by the camera is the preset light intensity a. Depending on factors such as ambient light and the reflectivity of the object under test, areas of the surface of the object under test that are not illuminated by the first structured light may have a light intensity lower than the preset light intensity a. Based on the distribution of pixels with brightness values ​​equal to brightness value a in Image 2, the controller can determine the degree of distortion of the first structured light, thereby obtaining a three-dimensional distribution of the object under test.

[0164] 12, the light source emits corresponding light intensity P3 to each sub-area of ​​the detection area. n The first structured light reduces uneven brightness in camera-captured images caused by noise such as ambient light. The brightness of the streak light captured by the camera is more uniform, with no streak breakage. This allows the controller to more clearly detect the deformation of the streak light and more accurately identify the 3D information of the object being measured when extracting 3D information from the camera image.

[0165] It is understandable that the controller may also perform image processing on only a partial area of ​​the surface of the object to be measured in the image received from the camera, thereby obtaining three-dimensional information of the partial area of ​​the surface of the object to be measured.

[0166] It is understood that each time the light source emits the first structured light or the second structured light, the camera captures the surface of the object being measured as it is currently illuminated by the first structured light or the second structured light. When the light source emits the first structured light multiple times toward the surface of the object being measured, the camera captures the object multiple times and sends the captured images to the controller for subsequent image processing.

[0167] It is understandable that when the first structured light or the second structured light illuminates the surface of the object to be measured once, the camera can capture images of part of the object to be measured multiple times, combine different areas of the object to be measured in multiple images, and thus obtain a complete image of the object to be measured.

[0168] For example, the light source emits the first structured light four times. The camera captures the surface of the object under test each time the first structured light is illuminated and transmits the captured data to the controller. The controller processes the first and second data according to the image processing algorithm to obtain a three-dimensional image of the surface of the object under test. The controller also processes the second and third data according to the image processing algorithm to obtain a three-dimensional image of the surface of the object under test.

[0169] In some embodiments, the image detection system is applied to a vehicle, and the surface of the object to be measured is the environment around the vehicle. After the controller obtains three-dimensional information of the environment around the vehicle, it can send the three-dimensional information of the environment around the vehicle to the vehicle control system, cockpit display equipment, cockpit projection equipment, etc., so that the vehicle control system can control the movement of the vehicle according to the three-dimensional information of the vehicle's operating environment, and can project the three-dimensional information around the vehicle to the driver through cockpit display equipment, cockpit projection equipment and other equipment to provide the driver with reference decision-making.

[0170] It is understood that the light sources in step S100 and step S140 can be the same light source or different light sources. For example, when executing step S100, the controller sends a first instruction signal to light source A, causing light source A to emit the second structured light. When executing step S140, the controller sends a third instruction signal to light source B, causing light source B to emit the first structured light.

[0171] The second structured light and the first structured light can be combinations of different lights emitted by multiple light sources. For example, three light sources emit red light, yellow light, and blue light respectively, and the three lights together constitute the second structured light. Three light sources emit red light, yellow light, and blue light respectively, and the three lights together constitute the first structured light.

[0172] The second structured light and the first structured light can be different lights emitted by one light source combined together. For example, the adjacent light bulbs on the light strip emit red, yellow and blue light respectively.

[0173] In some embodiments, referring to FIG. 14 , before executing step S100 , steps S1000 - S1200 may be further executed.

[0174] S1000: The controller sends a fifth instruction signal to the camera. Correspondingly, the camera receives the fifth instruction signal sent by the controller.

[0175] The fifth indication signal is used to instruct the camera to capture an image of the object to be measured in a scene where the light source is not irradiating.

[0176] S1100 : The camera collects image 3 of the object to be measured in a scene where the light source is not irradiating according to the fifth instruction signal.

[0177] In the scene without light source, the brightness value of the pixel in the image 3 captured by the camera represents the intensity P4 of the ambient light (under ambient light) reflected from the surface of the object to be measured. P4 can be expressed as [P41…P4 n ], n is an integer, n represents the nth sub-area, P4 n Indicates the light intensity of the nth sub-area on the surface of the object to be measured when the light source is not irradiated (in the presence of ambient light interference). P41…P4 n The values ​​can be the same or different.

[0178] Referring to Figure 15 , in a scene without light source illumination, the object under test may reflect different ambient light, and the ambient light intensity may be different (Intensity 1 and Intensity 2). The intensity of the ambient light reflected by the object under test will affect the first structured light captured by the camera, which is not conducive to the interpretation of the three-dimensional information of the object under test.

[0179] S1200: The camera sends an image 3 of the object to be measured in a scene without light source illumination to the controller. Correspondingly, the controller receives the image 3 of the object to be measured in a scene without light source illumination.

[0180] The above-mentioned S120 may be implemented as S120a.

[0181] S120a: The controller determines the reflectivity of multiple sub-regions on the surface of the object to be measured based on the image 1 of the object to be measured under the illumination of the second structured light and the image 3 of the object to be measured in the scene without illumination of the light source.

[0182] In some embodiments, referring to Formula 3, the controller can calculate the light intensity P1. n , light intensity P2 n Heguangqiang P4 n , determine the reflectivity ρ corresponding to each of the multiple sub-areas on the surface of the object to be measured n .

[0183] Among them, P1 n P2 represents the intensity of the second structured light (illumination light) emitted by the light source to the nth sub-area of ​​the object to be measured. n Indicates the light intensity of the nth sub-area of ​​the surface of the object to be measured under the second structured light illumination corresponding to the brightness value of image 1 collected by the camera, P4 n It represents the light intensity of the nth sub-area on the surface of the object to be measured when there is no light source (in the presence of ambient light interference).

[0184] The above-mentioned S160 may be implemented as S160a.

[0185] S160a: The controller determines three-dimensional information of the object to be measured based on the image 2 of the object to be measured under the illumination of the first structured light and the image 3 of the object to be measured in a scene without illumination of the light source.

[0186] The pixels in image 2 correspond to the object to be measured, and the reflected light intensity of the object to be measured under the first structured light and ambient light can be expressed as P5. The pixels in image 3 correspond to the object to be measured, and the reflected light intensity of the object to be measured under the ambient light can be expressed as P4.

[0187] P5 can be expressed as [P51…P5 n ], n is an integer, n represents the nth sub-area, P5 n Indicates the intensity of the reflected light of the nth sub-area on the surface of the object to be measured under the illumination of ambient light and the first structured light. P51…P5 n The values ​​of can be the same or different. n Indicates the intensity of the reflected light of the nth sub-area on the surface of the object to be measured under ambient light. nρ represents the intensity of the first structured light emitted by the light source to the nth sub-region on the surface of the object to be measured. n Indicates the reflectivity of the nth sub-area on the surface of the object to be measured.

[0188] P6 can be expressed as [P61…P6 n ], n is an integer, n represents the nth sub-area, P6 n Indicates the light intensity of the nth sub-area on the surface of the object to be measured under the illumination of the first structured light after removing the ambient light interference. P61…P6 n The values ​​can be the same or different.

[0189] P4 n and P5 n Formula 4 and Formula 5 can be satisfied. P5 n =P3 n ×ρ n +P4 n Formula 4 P6 n =P5 n -P4 n Formula 5

[0190] After obtaining image 2 of the object under test captured by the camera under the first structured light, the controller can filter out ambient light reflected from the object according to formula 5, thereby obtaining image 4 of the object under test with more uniform brightness values ​​of the first structured light. The controller extracts three-dimensional information from image 4, thereby improving the accuracy of detecting the three-dimensional information of the object under test. The brightness value in image 4 represents the light intensity P6 of the object under test under the first structured light after removing interference from ambient light.

[0191] An embodiment of the present application also provides an image detection method that can be applied to a mobile device. A light source in the mobile device emits a second structured light and a first structured light. The second structured light emitted by the light source to the object to be detected is located in front of the first structured light.

[0192] Referring to FIG16 , taking the mobile device as a vehicle as an example, referring to FIG16 (a), at time t1, along the direction of movement of the vehicle, the area of ​​the object to be measured covered by the second structured light (the irradiation area, shown as black filling) is located in front of the area of ​​the object to be measured covered by the first structured light (the detection area, shown as oblique lines), so that the electronic device first collects the light intensity of the second structured light irradiation area, obtains the reflectivity of the irradiation area, and thus obtains the light intensity of the light emitted by the light source to the irradiation area (the light intensity emitted to the irradiation area is the light intensity of the first structured light). Then, referring to FIG16 (b), at time t2, as the vehicle moves, the detection area moves to coincide with the irradiation area, thereby emitting the first structured light to the detection area based on the light intensity of the first structured light that has been obtained.

[0193] The electronic device can pre-set the distance between the detection area and the illumination area. The distance between the detection area and the illumination area can refer to the distance between the geometric center of the detection area and the geometric center of the illumination area, or other distances can be used to represent the distance between the detection area and the illumination area. Referring to Figures 17 and 18, the horizontal axis represents the direction of movement of the mobile device, and the vertical axis represents the positions of the detection area and the illumination area at different times. The corresponding areas in the illumination area and the detection area are used to display the distance between the illumination area and the detection area, and the corresponding areas between the illumination area and the detection area are represented by black dots. It can be seen that at time T1, the black dot is at position 1. Subsequently, at time T2, after the detection area and the illumination area move a distance L, the detection area can detect position 1, and at this time, the black dot in the illumination area moves to position 2. Subsequently, at time T3, after the detection area and the illumination area move another distance L, the detection area can detect position 2, and the black dot in the illumination area moves to position 3. Therefore, the electronic device can pre-set the distance between the detection area and the illumination area to be L.

[0194] In some embodiments, the distance between the detection area and the illumination area is less than or equal to the shorter of a length of the illumination area along the moving direction of the mobile device and a length of the detection area along the moving direction of the mobile device.

[0195] As shown in Figure 17, the area of ​​the detection area is smaller than the area of ​​the illumination area (the length of the detection area along the moving direction of the mobile device is smaller than the length of the illumination area along the moving direction of the mobile device). In order to enable the electronic device to continuously capture images of the illumination area and the detection area, the distance between the detection area and the illumination area is less than or equal to the length of the detection area along the moving direction of the mobile device.

[0196] As shown in Figure 18, the area of ​​the illumination area is smaller than the area of ​​the detection area (the length of the illumination area along the moving direction of the mobile device is smaller than the length of the detection area along the moving direction of the mobile device). In order to enable the electronic device to continuously capture images of the illumination area and the detection area, the distance between the detection area and the illumination area is less than or equal to the length of the illumination area along the moving direction of the mobile device.

[0197] In some embodiments, the direction of vehicle movement may be the direction in which the wheels are pointing, and the light source may change the illumination direction as the wheels rotate, thereby changing the illumination area and the detection area.

[0198] In some embodiments, the mobile device is an electronic device with a moving light source, and the detection area of ​​the first structured light and the illumination area of ​​the second structured light move with the movement of the light source. The movement direction of the mobile device is the movement direction of the light source.

[0199] For example, the mobile device is a searchlight as shown in Figure 8, which includes a light source 910, a camera 920, a support 930, a position adjustment device 900, and a controller (not shown). The position adjustment device 900 can rotate around the support 930, and the light source is arranged on the position adjustment device 900. The light source can rotate with the rotation of the position adjustment device 900, thereby changing the illumination area and the detection area.

[0200] It is understandable that the movement of the light source may be the rotation of the light source around a certain point of the light source, or the movement of the entire light source along with the movement of the mobile device, which is not limited here.

[0201] The image detection system is applied in mobile devices, and the image detection method also includes S9000-S9300.

[0202] S9000: The controller obtains the moving speed of the mobile device.

[0203] It can be understood that the mobile device is a device that moves the light source, and the moving speed of the mobile device is the moving speed of the light source.

[0204] It can be understood that when the mobile device is an electronic device with a rotating light source, the moving speed of the mobile device can be the moving speed of the irradiation area and the detection area.

[0205] Taking the lighting as an example, referring to Figure 19, the position adjustment device 900 drives the light source 910 to rotate around the pillar 930. The moving trajectory of the illumination area emitted by the light source 910 is circular. Then, the moving speed of the mobile device is the circumference length of the moving trajectory of the illumination area divided by the time required for the illumination area to move one circle.

[0206] When the mobile device is a vehicle, the controller may obtain the running speed of the vehicle through a vehicle speed detection sensor.

[0207] S9100: Obtain the distance between the detection area and the illumination area.

[0208] S9200: Determine an interval time based on a distance between the detection area and the irradiation area and a moving speed of the mobile device.

[0209] In some embodiments, the interval time is equal to the distance between the detection area and the illumination area divided by the moving speed of the mobile device.

[0210] The above-mentioned S140 can be implemented as S9300.

[0211] S9300: After step S100, the controller sends a third instruction signal to the light source after an interval. For example, as shown in FIG16(a), at time t1, the second structured light is sent to the illumination area. The controller can calculate the interval time T based on the vehicle's moving speed and the preset distance between the illumination areas. After the interval time T, at time t1+T (time t2), the controller controls the light source to send the first structured light so that the first structured light illuminates the detection area.

[0212] It is understandable that the controller's execution speed is very fast compared to the mobile device's movement speed. In actual scenarios, S100, S200, and S110 can be considered to occur at the same time. Furthermore, S300 and S310 can also be considered to occur at the same time as S100, S200, and S110. Similarly, S140 and S210 can be considered to occur at the same time. S150, S320, and S330 can also be considered to occur at the same time as S140 and S210.

[0213] When the controller sends a first instruction signal to the light source, the second structured light is irradiated on the irradiation area (i.e., the second structured light is irradiated on the surface of the object to be measured). After a time interval, as the mobile device moves, the irradiation area and the detection area move in the direction of the moving object, and the detection area is located at the position of the irradiation area before the time interval (i.e., the first structured light is irradiated on the surface of the object to be measured). The controller sends a third instruction signal to the light source, so that as the mobile device moves, the first structured light and the second structured light can be irradiated on the same position (i.e., the first structured light and the second structured light are both irradiated on the surface of the object to be measured), so that the camera can capture images of the surface of the object to be measured under the second structured light and the first structured light, thereby realizing the acquisition of the surface of the object to be measured. The controller processes the image of the object to be measured under the irradiation of the first structured light to obtain three-dimensional information of the object to be measured.

[0214] In some embodiments, there are multiple cameras, each of which detects measurement light in different fields of view (i.e., each camera is responsible for collecting only one type of measurement light). For example, referring to (a) and (b) of FIG20 , camera 1 is responsible for collecting the reflected light of the first structured light (detection light), and camera 2 is responsible for collecting the reflected light of the second structured light (illumination light). Each camera detects measurement light in different fields of view. If the irradiation position of the measurement light is far from the camera installation position, a camera that can capture distant images can be selected. If the irradiation position of the measurement light is close to the camera installation position, a camera that can capture close-range images can be selected. Thus, different cameras can be used in different usage scenarios, fully utilizing the functions of the cameras and capturing higher-quality images.

[0215] The embodiment of the present application further provides an image detection method, which includes steps S400-S410.

[0216] S400: The controller sends an illumination light signal to the light source.

[0217] Illumination light can achieve lighting.

[0218] S410: The light source receives an illumination light signal and emits illumination light according to the illumination light signal.

[0219] In some embodiments, the illumination light and the structured light (the second structured light and the first structured light described above) do not interfere with each other and can be emitted simultaneously. For example, if the structured light is invisible light such as infrared light, the light source can continuously emit the illumination light while intermittently emitting the second structured light and the first structured light. In this case, detection without the human eye's perception is possible.

[0220] The light source emitting the illumination light and the light source emitting the structured light may be the same light source A. The light source A may emit the second structured light while emitting the illumination light, or may emit the first structured light while emitting the illumination light.

[0221] The light source emitting the illumination light and the light source emitting the structured light may be different light sources. For example, the light source A emits the illumination light, and the light source B emits the second structured light and / or the first structured light.

[0222] It should be noted that the above-mentioned multiple embodiments can be combined and the combined scheme can be implemented. Optionally, some operations in the process of each method embodiment are optionally combined, and / or the order of some operations is optionally changed. In addition, the execution order between the steps of each process is only exemplary and does not constitute a limitation on the execution order between the steps. There can also be other execution orders between the steps. It is not intended to indicate that the execution order is the only order in which these operations can be performed. Ordinary technicians in this field will think of many ways to reorder the operations described herein. In addition, it should be pointed out that the process details involved in a certain embodiment of this article are also applicable to other embodiments in a similar manner, or different embodiments can be used in combination.

[0223] In addition, some steps in the method embodiment may be equivalently replaced with other possible steps. Alternatively, some steps in the method embodiment may be optional and may be deleted in certain usage scenarios. Alternatively, other possible steps may be added to the method embodiment. Alternatively, the execution entities (such as functional modules) of some steps in the method embodiment may be replaced with other execution entities.

[0224] Furthermore, the above method embodiments may be implemented separately or in combination.

[0225] FIG21 is a schematic diagram of the structure of an image detection device 2000 provided in an embodiment of the present application. The image detection device 2000 can be used to implement the methods described in the above method embodiments. Optionally, the image detection device 2000 can be an independent device or a module in a device (such as a chip system). The independent device can be a vehicle, an electronic device (such as a mobile phone), etc. Exemplarily, the image detection device 2000 can specifically include: a processing unit 2002 and a communication unit 2003.

[0226] The processing unit 2002 is used to support the image detection device 2000 in executing steps S120 and S130 in Figure 9. And / or, the processing unit 2002 is also used to support the image detection device 2000 in executing other steps executed by the vehicle control device in the embodiment of the present application.

[0227] Communication unit 2003, which is used to support the image detection device 2000 in executing steps S100 and S110 in FIG9 . And / or, the communication unit 2003 is also used to support the image detection device 2000 in executing other steps of communication between the vehicle control device and other devices in the embodiments of the present application.

[0228] In other embodiments, the communication unit 2003 may also implement communication between the image detection apparatus 2000 and other devices.

[0229] Optionally, the image detection device 2000 shown in FIG21 may further include a storage unit (not shown in FIG21 ) storing a program or instruction. When the processing unit 2002 executes the program or instruction, the image detection device 2000 shown in FIG21 may perform the method described in the above method embodiment.

[0230] The technical effects of the image detection device 2000 shown in FIG21 can refer to the technical effects described in the above method embodiment, and will not be repeated here.

[0231] The processing unit 2002 may be a processor or controller, such as a CPU, a general-purpose processor, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. A processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0232] The communication unit 2003 may be a communication interface, a transceiver, or a transceiver circuit, etc., wherein the communication interface is a general term. In a specific implementation, the communication interface may include multiple interfaces.

[0233] The storage unit may be a memory.

[0234] When the processing unit 2002 is a processor, the communication unit 2003 is a communication interface, and the storage module is a memory, the image detection device 2000 involved in the embodiment of the present application may be the image detection device 2100 shown in FIG. 22 .

[0235] Referring to FIG. 22 , the image detection device 2100 includes a processor 2101, a communication interface 2102, and a memory 2103. Optionally, the vehicle control device 2100 may further include a bus 2104. The communication interface 2102, the processor 2101, and the memory 2103 may be interconnected via the bus 2104; the bus 2104 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus 2104 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, FIG. 22 shows only one thick line, but this does not mean that there is only one bus or only one type of bus.

[0236] Optionally, an embodiment of the present application further provides a computer program product carrying computer instructions, which, when executed on a computer, enables the computer to execute the method described in the above embodiment.

[0237] Optionally, an embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the method introduced in the above embodiment.

[0238] An embodiment of the present application also provides a chip system. Referring to Figure 23, the chip system includes at least one processor 1401 and at least one interface circuit 1402. The processor 1401 and the interface circuit 1402 can be interconnected via lines. For example, the interface circuit 1402 can be used to receive signals from other devices (such as a memory of an electronic device). For another example, the interface circuit 1402 can be used to send signals to other devices (such as the processor 1401). Exemplarily, the interface circuit 1402 can read instructions stored in the memory and send the instructions to the processor 1401. When the instructions are executed by the processor 1401, the device can execute the various steps in the above embodiments. Of course, the chip system can also include other discrete devices, which is not specifically limited in the embodiment of the present application.

[0239] An embodiment of the present application also provides a vehicle, which includes the above-mentioned chip system.

[0240] Through the description of the above implementation methods, technical personnel in the relevant field 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. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0241] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, 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 devices or units, which can be electrical, mechanical or other forms.

[0242] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0243] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0244] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0245] The above content is only a specific embodiment of this application, but the scope of protection of this application is not limited to this. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An image detection method, characterized in that: Applied to a first device, the method includes: Obtaining reflectivity of multiple sub-areas on the surface of the object to be measured; According to the reflectivity of each sub-region among the multiple sub-regions, the indicator light source emits a first structured light to the surface of the object to be measured; wherein the multiple sub-regions include a first sub-region and a second sub-region; the light intensity of the first structured light emitted to the first sub-region is a first light intensity, and the light intensity of the first structured light emitted to the second sub-region is a second light intensity; The light intensities of the multiple sub-areas under the illumination of the first structured light are obtained.

2. The image detection method according to claim 1, characterized in that: The light intensity of the first structured light is determined according to the reflectivity of the multiple sub-areas and a preset light intensity.

3. The image detection method according to claim 2, characterized in that: The light intensity P of the first structured light emitted to the nth sub-region among the multiple sub-regions is n It is determined according to the following formula; Where n is a positive integer, ρ n is the reflectivity of the nth sub-area, and a is the preset light intensity.

4. The image detection method according to any one of claims 1 to 3, characterized in that: Acquiring the light intensities of the plurality of sub-areas under the illumination of the first structured light, comprising: collecting, by a camera, a reflected light signal of the first sub-area under the illumination of the first structured light; collecting, by a camera, a reflected light signal of the second sub-area under the illumination of the first structured light; The light intensity of the reflected light signal of the first sub-area under the illumination of the first structured light is equal to the light intensity of the reflected light signal of the second sub-area under the illumination of the first structured light.

5. The image detection method according to any one of claims 1 to 4, characterized in that: The step of obtaining the reflectivity of a plurality of sub-areas on the surface of the object to be measured comprises: emitting a second structured light of a third light intensity to a plurality of sub-regions of the object to be measured; Acquiring fourth light intensities of a plurality of sub-areas on the surface of the object to be measured under illumination of the second structured light; The reflectivity of the plurality of sub-regions is determined according to the third light intensity and the fourth light intensity.

6. The image detection method according to claim 5, characterized in that: The method further comprises: Acquiring a fifth light intensity of the surface of the object to be measured when the surface is not illuminated by the second structured light and the first structured light; The preset light intensity is determined according to the light intensity of the surface of the object to be measured when not illuminated by the second structured light and the first structured light.

7. The image detection method according to claim 5 or 6, characterized in that: The step of obtaining the reflectivity of a plurality of sub-regions on the surface of the object to be measured comprises: Acquiring a fifth light intensity of the surface of the object to be measured when the surface is not illuminated by the second structured light and the first structured light; The reflectivity of the plurality of sub-regions is determined according to the third light intensity, the fourth light intensity, and the fifth light intensity.

8. The image detection method according to any one of claims 1 to 7, characterized in that: The light intensities of the plurality of sub-areas under the illumination of the first structured light include: Collecting light signals of the multiple sub-areas under the illumination of the first structured light and the ambient light by a camera; In the collected optical signal, the ambient light is filtered out to obtain the multiple sub-areas under the first structured light illumination. The intensity of the light emitted.

9. The image detection method according to any one of claims 1 to 8, characterized in that: The first device includes a mobile device, the detection area of ​​the first structured light is located behind the illumination area of ​​the second structured light along the moving direction of the mobile device, and the method further includes: Acquire the moving speed of the mobile device; Acquiring a distance between the detection area and the irradiation area; determining an interval time according to the distance and a moving speed of the mobile device; Instructing the light source to emit the first structured light to the surface of the object to be measured includes: after instructing the light source to emit the second structured light with the first light intensity to the surface of the object to be measured, instructing the light source to emit the first structured light to the surface of the object to be measured after the interval time.

10. The image detection method according to claim 5, characterized in that: The first structured light is a stripe light; the multiple sub-areas are detection areas of the multiple stripe lights; The plurality of stripe lights include a first stripe light and a second stripe light, wherein a detection area of ​​the first stripe light is different from a detection area of ​​the second stripe light.

11. A chip system, characterized in that: The chip system includes a memory and one or more processors; the memory and the processor are coupled; the memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the one or more processors execute the method described in any one of claims 1-10.

12. A means of transport, characterized in that: Comprising the chip system as claimed in claim 11.

13. A computer-readable storage medium, characterized in that: The method comprises computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method as claimed in any one of claims 1 to 10.

Images