WO2019144629A1 - 图像采集控制方法及其装置、图像采集系统和tof相机 - Google Patents

图像采集控制方法及其装置、图像采集系统和tof相机 Download PDF

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Publication number
WO2019144629A1
WO2019144629A1 PCT/CN2018/105471 CN2018105471W WO2019144629A1 WO 2019144629 A1 WO2019144629 A1 WO 2019144629A1 CN 2018105471 W CN2018105471 W CN 2018105471W WO 2019144629 A1 WO2019144629 A1 WO 2019144629A1
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Prior art keywords
light source
infrared light
time
exposure
tof camera
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Ceased
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PCT/CN2018/105471
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English (en)
French (fr)
Inventor
王明
侯晓迪
郝佳男
孙杰
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Beijing Tusen Weilai Technology Co Ltd
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Beijing Tusen Weilai Technology Co Ltd
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Priority to EP18902695.8A priority Critical patent/EP3745703A4/en
Priority to AU2018405051A priority patent/AU2018405051B2/en
Publication of WO2019144629A1 publication Critical patent/WO2019144629A1/zh
Priority to US16/923,660 priority patent/US12050270B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/663—Remote control of cameras or camera parts, e.g. by remote control devices for controlling interchangeable camera parts based on electronic image sensor signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4868—Controlling received signal intensity or exposure of sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time

Definitions

  • the invention relates to the field of image acquisition, in particular to an image acquisition control method, an image acquisition control device, an image acquisition system and a TOF (Time-of-Flight) camera.
  • an image acquisition control method an image acquisition control device, an image acquisition system and a TOF (Time-of-Flight) camera.
  • TOF Time-of-Flight
  • the present invention provides an image acquisition control method and apparatus thereof to solve the technical problem that the prior art cannot capture a clear image of an object at a specific distance in inclement weather.
  • a first aspect of the embodiments of the present invention provides an image acquisition control method, where the method includes:
  • parameter control information carrying the infrared light source emission time, the exposure start time, and the exposure end time
  • an image acquisition control apparatus includes:
  • a time calculation unit configured to determine an infrared light source emission time, an exposure start time, and an exposure end time of the TOF camera according to the preset target distance range
  • control unit configured to send, to the TOF camera, parameter control information carrying the infrared light source emission time, an exposure start time, and an exposure end time;
  • an image receiving unit configured to receive an image that is collected by the TOF camera according to the parameter control information and that includes an object located within the target distance range.
  • an image acquisition control apparatus includes a processor and at least one memory, at least one memory storing at least one machine executable instruction, and the processor executing at least one machine executable instruction to perform:
  • parameter control information carrying the infrared light source emission time, the exposure start time, and the exposure end time
  • an image acquisition system includes a TOF camera and an image acquisition control device, wherein:
  • An image acquisition control device configured to determine an infrared light source emission time, an exposure start time, and an exposure end time of the TOF camera according to the preset target distance range; and send the infrared light source emission time, an exposure start time, and the TOF camera Parameter control information of an exposure end time; receiving an image of the object included in the target distance range acquired by the TOF camera according to the parameter control information;
  • the TOF camera is configured to receive the parameter control information from the image acquisition control device, and perform image acquisition according to the parameter control information to obtain an image including an object within the target distance range.
  • a TOF camera comprising a data processor, an infrared light source transmitter and an image sensor, wherein:
  • a data processor configured to receive parameter control information including an infrared light source emission time, an exposure start time, and an exposure end time; configuring an emission time of the infrared light source emitter according to the infrared light source emission time, and according to the exposure start time And exposing an exposure parameter of the image sensor with an exposure end time;
  • An infrared light source emitter for emitting an infrared light source according to the infrared light source emission time
  • an image sensor for performing exposure according to the exposure start time and the exposure end time to generate image data including an object located within the target distance range.
  • the TOF camera provides a depth of field map through a CMOS (Complementary Metal Oxide Semiconductor) image array and an active modulation light source technology
  • the modulated infrared light is continuously transmitted to the target object, and the image sensor is used to receive the image.
  • the emitted light returned by the target object detects the time of flight of the light pulse to obtain the distance of the target object.
  • the TOF camera can not only detect objects with small area (such as lines, cone objects, etc.), but also has a long distance and high resolution. The response is fast and unaffected by ambient light.
  • the technical solution of the present invention utilizes the characteristics of the TOF camera to accurately control the infrared light source emission time, the exposure start time and the exposure end time of the TOF camera to control the TOF camera to acquire a clear image of the object within the target distance range, and thus, even in a bad situation In the environment, the clear technical image of the object within the target distance range can also be captured by the technical solution of the present invention, which overcomes the technical problems existing in the prior art.
  • FIG. 1 is a schematic structural diagram of an image acquisition system according to an embodiment of the present invention.
  • FIG. 2 is a second schematic structural diagram of an image acquisition system according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of an image acquisition control apparatus according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of determining an exposure start time and an exposure end time in an embodiment of the present invention.
  • FIG. 5 is a second schematic diagram of determining an exposure start time and an exposure end time according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of filtering reflected light in an embodiment of the present invention.
  • FIG. 7 is a third schematic structural diagram of an image acquisition system according to an embodiment of the present invention.
  • FIG. 8 is a fourth schematic structural diagram of an image acquisition system according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a TOF camera emitting infrared light and receiving reflected light according to an embodiment of the present invention.
  • FIG. 10 is a second schematic structural diagram of an image collection control apparatus according to an embodiment of the present invention.
  • FIG. 11 is a flowchart of an image collection control method according to an embodiment of the present invention.
  • FIG. 12 is a flowchart of determining an infrared light source emission time, an exposure start time, and an exposure end time of a TOF camera according to an embodiment of the present invention.
  • the image acquisition control method and device thereof, the image acquisition system and the TOF camera provided by the invention can be applied to an unmanned vehicle (including a truck, a bus, a bus, a trolley, a tractor, a sprinkler, a garbage truck, etc.), a drone
  • an unmanned vehicle including a truck, a bus, a bus, a trolley, a tractor, a sprinkler, a garbage truck, etc.
  • a drone The unmanned ship, the robot, and the like, the application does not strictly limit the application scenario of the technical solution of the present invention.
  • FIG. 1 is a schematic structural diagram of an image acquisition system according to an embodiment of the present invention.
  • the system includes an image acquisition control device 1 and a TOF camera 2, wherein:
  • the image acquisition control device 1 is configured to determine an infrared light source emission time, an exposure start time, and an exposure end time of the TOF camera 2 according to a preset target distance range; and send the infrared light source carrying time and exposure to the TOF camera 2 Parameter control information of a start time and an exposure end time; receiving an image of the object included in the target distance range acquired by the TOF camera 2 according to the parameter control information.
  • the TOF camera 2 is configured to receive the parameter control information from the image acquisition control device 1, and perform image acquisition according to the parameter control information to obtain an image including an object within the target distance range.
  • the image capture control device 1 and the TOF camera 2 may be one-to-one or one-to-many, and the present application is not strictly limited.
  • the image acquisition control device 1 transmits the parameter control information to the TOF camera 2 at a frequency greater than or equal to the frame rate of the TOF camera 2. It is assumed that the infrared light source emission time in the parameter control information transmitted by the image acquisition control device 1 to the TOF camera 2 for the first time is a preset initial value T 1 , and the parameter transmitted to the TOF camera 2 at the i-th time is assumed.
  • the target distance range refers to the distance range from the TOF camera, and the target distance range may be a fixed value set in the image acquisition control device 1 according to the application scenario in advance; or may be the image acquisition control device 1 from the client.
  • the parameter value received by the front end of the terminal is input by the operator through the operation interface at the front end of the client; and the image acquisition control device 1 can also provide feedback according to other sensors (for example, ordinary camera, air quality sensor, humidity sensor, etc.)
  • the information determines the target distance range.
  • This application does not strictly limit the source of the target distance range.
  • the target distance range can be flexibly set according to actual needs. For example, in the foggy day/moderate sandstorm, the target distance can be set from 50 meters to 100 meters.
  • the target distance range can be set in thick fog days/severe dust storms. It is 0 to 50 meters, and this application is not strictly limited.
  • the structure of the image collection and control device 1 can be as shown in FIG. 2, and includes:
  • the time calculation unit 11 is configured to determine an infrared light source emission time, an exposure start time, and an exposure end time of the TOF camera according to the preset target distance range;
  • the control unit 12 is configured to send, to the TOF camera, parameter control information that carries the infrared light source emission time, the exposure start time, and the exposure end time;
  • the image receiving unit 13 is configured to receive an image that is collected by the TOF camera according to the parameter control information and that includes an object located within the target distance range.
  • the structure of the time calculation unit 11 can be as shown in FIG. 3, and specifically includes a first calculation subunit 11a, a second calculation subunit 11b, and a third calculation subunit 11c, where:
  • the first calculating sub-unit 11a is configured to estimate, according to the lower limit distance value of the target distance range, a first time period required for the TOF camera to receive the infrared light source after receiving the infrared light source to reflect the infrared light source.
  • the second calculating sub-unit 11b is configured to estimate, according to the upper limit distance value of the target distance range, a second duration required for the TOF camera to receive the infrared light source after receiving the infrared light source to reflect the infrared light source.
  • the third calculating sub-unit 11c is specifically configured to determine an exposure start time and an exposure end time of the TOF camera according to a preset infrared light source emission time, a first duration, and a second duration.
  • the CMOS of the TOF camera requires a certain amount of time for charge accumulation, if the object whose distance is the upper limit distance reflects light back to the CMOS and stops the exposure immediately, the charge accumulation of the part of the emitted light may be insufficient to cause underexposure.
  • the exposure extension duration (this period of time is hereinafter referred to as the exposure extension duration, represented by ⁇ t)
  • the three calculation sub-unit 11c can be specifically implemented as follows: determining the sum of the infrared light source emission time and the first duration as the exposure start time; determining the sum of the infrared light source emission time and the second duration and the preset exposure extension duration, For the end of exposure time. As shown in Fig.
  • the infrared light source emission time is t 0
  • the exposure start time is represented by t 1
  • the exposure extension time is ⁇ t
  • the exposure end time is represented by t 2
  • t 1 t 0 + 2 (d 1 /c)
  • t 2 t 0 + 2 (d 2 /c) + ⁇ t.
  • the value of the exposure extension time ⁇ t in the embodiment of the present invention can be obtained according to experimental data or empirical values, and the present application is not strictly limited.
  • the duration of the infrared light source from the object reaching the distance d 1 is d 1 /c, and the time taken for the object reflected light to return to the CMOS surface of the TOF camera is d 1 /c;
  • the object of d 2 is used for d 2 /c, and the time taken for the reflected light of the object to return to the CMOS surface is d 2 /c.
  • the TOF camera starts to expose the reflected light returned by the object with the distance d 1 on the CMOS surface, and stops after a short period of time after the CMOS surface receives the reflected light returned by the object with the distance d 2 ; therefore, the CMOS surface is When the reflected light returned by an object whose distance is lower than d 1 is received, the TOF camera has not started to expose, and the shutter of the TOF camera is turned off, so that the reflected light returned by the object with a distance lower than d 1 can be filtered; similarly, the CMOS surface is When the emitted light returned by the object whose distance is greater than d 2 is received, the TOF camera has stopped exposing, that is, the shutter of the TOF camera is in a closed state, so that the reflected light returned by the object having a distance greater than d 2 can be filtered; therefore, the technical solution of the present invention can be Filters the reflected light returned by the object outside the target distance range, and retains the reflected light returned by the object
  • the structure of the TOF camera 2 shown in FIG. 1 and FIG. 2 in the embodiment of the present invention can be as shown in FIG. 7, and includes a data processor 21, an infrared light source emitter 22, and an image sensor 23, wherein:
  • a data processor 21 configured to receive parameter control information including an infrared light source emission time, an exposure start time, and an exposure end time; configuring an emission time of the infrared light source emitter 22 according to the infrared light source emission time, and according to the exposure Setting an exposure parameter of the image sensor 23 at a start time and an exposure end time;
  • An infrared light source emitter 22 configured to emit an infrared light source according to the infrared light source emission time
  • the image sensor 23 is configured to perform exposure according to the exposure start time and the exposure end time to generate image data including an object located within the target distance range.
  • the data processor 21 can transmit image data (including luminance data and depth data of pixel points) to the image acquisition control device 1 through a DVP interface or a MIPI (Mobile Industry Processor Interface) interface.
  • the image acquisition control device 1 can transmit parameter control information to the data processor 21 through the parameter control channel. As shown in Figure 8.
  • the infrared light source emitter 22 emits infrared rays.
  • the object returns reflected light, and the surface of the image sensor 23 receives the reflected light returned by the object.
  • the second embodiment of the present invention provides an image acquisition control apparatus.
  • the apparatus includes: a processor 31 and at least one memory 32, and at least one memory 32 stores At least one machine executable instruction, processor 31 executing at least one machine executable instruction to perform:
  • parameter control information carrying the infrared light source emission time, the exposure start time, and the exposure end time
  • the processor 31 executes the at least one machine executable instruction to determine the infrared light source emission time, the exposure start time, and the exposure end time of the TOF camera according to the preset target distance range, including: a lower limit distance according to the target distance range a value, estimating a first time period required for the TOF camera to receive the infrared light source after receiving the infrared light source to reflect the infrared light source; and estimating the TOF camera to receive the infrared light source according to the upper limit distance value of the target distance range The second time period required for the object having the upper limit distance value to reflect the infrared light source; determining the exposure start time and the exposure end time of the TOF camera according to the preset infrared light source emission time, the first duration and the second duration.
  • the processor 31 executes the at least one machine executable instruction to determine an exposure start time and an exposure end time of the TOF camera according to a preset infrared light source emission time, a first duration, and a second duration, including: The sum of the infrared light source emission time and the first duration is determined as the exposure start time; and the sum of the infrared light source emission time and the second duration is determined as the exposure end time.
  • the processor 31 executes the at least one machine executable instruction to determine an exposure start time and an exposure end time of the TOF camera according to a preset infrared light source emission time, a first duration, and a second duration, including: The sum of the infrared light source emission time and the first duration is determined as the exposure start time; and the sum of the infrared light source emission time and the second duration and the preset exposure extension time is determined as the exposure end time.
  • the third embodiment of the present invention provides an image acquisition control method.
  • the flowchart of the method is as shown in FIG.
  • Step 101 Determine, according to a preset target distance range, an infrared light source emission time, an exposure start time, and an exposure end time of the TOF camera;
  • Step 102 Send, to the TOF camera, parameter control information that carries the infrared light source emission time, an exposure start time, and an exposure end time;
  • Step 103 Receive an image that is collected by the TOF camera according to the parameter control information and that includes an object located within the target distance range.
  • step 101 can be implemented by using the method shown in FIG. 12, and specifically includes:
  • Step 101A Estimating, according to a lower limit distance value of the target distance range, a first time period required for the TOF camera to receive the infrared light source after receiving the infrared light source to reflect the infrared light source;
  • Step 101B Estimating, according to an upper limit distance value of the target distance range, a second time period required for the TOF camera to receive the infrared light source after receiving the infrared light source to reflect the infrared light source;
  • Step 101C Determine an exposure start time and an exposure end time of the TOF camera according to a preset infrared light source emission time, a first duration, and a second duration.
  • the foregoing steps 101A and 101B do not have a strict sequence of execution.
  • the step 101A may be performed before the step 101B is performed, or the step 101B may be performed before the step 101A, or the step 101A and the step 101B may be performed at the same time.
  • step 101C may be specifically implemented as follows: determining a sum value of an infrared light source emission time and a first duration as an exposure start time; and determining a sum of an infrared light source emission time and a second duration as an exposure end time.
  • the step 101C may be specifically implemented as follows: determining a sum of an infrared light source emission time and a first duration as an exposure start time; and summing an infrared light source emission time with a second duration and a preset exposure extension duration The value is determined as the exposure end time.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

本发明公开图像采集控制方法及其装置、图像采集系统和TOF相机，以解决现有技术无法在恶劣天气下拍摄得到特定距离物体的清晰图像的问题。方法包括：根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。

Description

图像采集控制方法及其装置、图像采集系统和TOF相机
本申请要求在2018年1月24日提交中国专利局、申请号为201810066597.8、发明名称为“图像采集控制方法及其装置、图像采集系统和TOF相机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及图像采集领域，特别涉及一种图像采集控制方法、一种图像采集控制装置、一种图像采集系统和一种TOF(Time-of-Flight)相机。
背景技术
随着无人机、无人船舶、无人驾驶、VR(Virtual Reality，虚拟现实)、三维扫描、机器人避障、SLAM(Simultaneous Localization And Mapping，即时定位与地图构建)等技术领域的发展，摄像头在这些技术领域被大量使用，而摄像头最大的缺点在于受环境影响较大，当自然光照过强或过弱时摄像头的成像质量较差，尤其是一些例如暴雨、暴雪、大雾、沙尘暴等恶劣天气，这些恶劣天气下的自然光照较差，摄像头的成像质量较差，摄像头的视距非常短，通过摄像拍摄的图像只能看清近距离的物体，但是无法看清远距离的物体，如何能够在恶劣天气下拍摄得到特定距离物体的清晰图像，则成为前述技术领域亟待解决的技术问题。
发明内容
鉴于上述问题，本发明提供一种图像采集控制方法及其装置，以解决现有技术无法在恶劣天气下拍摄得到特定距离物体的清晰图像的技术问题。
本发明实施例第一方面，提供一种图像采集控制方法，方法包括：
根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；
向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；
接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。
本发明实施例第二方面，一种图像采集控制装置，包括：
时间计算单元，用于根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光 开始时间和曝光结束时间；
控制单元，用于向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；
图像接收单元，用于接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。
本发明实施例第三方面，一种图像采集控制装置，包括一个处理器和至少一个存储器，至少一个存储器中存储有至少一条机器可执行指令，处理器执行至少一条机器可执行指令以执行：
根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；
向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；
接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。
本发明实施例第四方面，提供一种图像采集系统，包括TOF相机和图像采集控制装置，其中：
图像采集控制装置，用于根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像；
TOF相机，用于从图像采集控制装置接收所述参数控制信息，并根据所述参数控制信息进行图像采集，得到包含所述目标距离范围内的物体的图像。
本发明实施例第五方面，提供一种TOF相机，该相机包括数据处理器、红外光源发射器和图像传感器，其中：
数据处理器，用于接收包含红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；根据所述红外光源发射时间配置所述红外光源发射器的发射时间，以及根据所述曝光开始时间和曝光结束时间配置所述图像传感器的曝光参数；
红外光源发射器，用于根据所述红外光源发射时间发射红外光源；
图像传感器，用于根据所述曝光开始时间和曝光结束时间进行曝光，以生成包含位于所述目标距离范围内的物体的图像数据。
由于TOF相机通过CMOS(Complementary Metal Oxide Semiconductor，互补金属氧化物半导体，即图像传感器)像素阵列和主动调制光源技术来提供景深图，通过给目标物体连续 发射调制的红外光，并利用图像传感器接收从目标物体返回的发射光来探测光脉冲的飞行时间来得到目标物体的距离，TOF相机不仅能够检测到面积较小的物体(如线、锥形体物体等)，而且测距远、分辨率高、响应速度快且不受环境光的影响。本发明技术方案利用TOF相机的特性，通过精准控制TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间来控制TOF相机采集得到目标距离范围内的物体的清晰图像，因此，即使在恶劣的环境下通过本发明技术方案也能够拍摄目标距离范围内的物体的清晰图像，克服了现有技术存在的技术问题。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。显而易见地，下面描述中的附图仅仅是本发明一些实施例，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1为本发明实施例中图像采集系统的结构示意图之一；
图2为本发明实施例中图像采集系统的结构示意图之二；
图3为本发明实施例中图像采集控制装置的结构示意图之一；
图4为本发明实施例中确定曝光开始时间和曝光结束时间的示意图之一；
图5为本发明实施例中确定曝光开始时间和曝光结束时间的示意图之二；
图6为本发明实施例中过滤反射光的示意图；
图7为本发明实施例中图像采集系统的结构示意图之三；
图8为本发明实施例中图像采集系统的结构示意图之四；
图9为本发明实施例中TOF相机发射红外光和接收反射光的示意图；
图10为本发明实施例中图像采集控制装置的结构示意图之二；
图11为本发明实施例中图像采集控制方法的流程图；
图12为本发明实施例中确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间的流程图。
具体实施方式
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中 的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
本发明提供的图像采集控制方法及其装置、图像采集系统和TOF相机可以适用于无人驾驶车辆(包括卡车、公交车、大巴车、小车、拖拉机、洒水车、垃圾车等)、无人机、无人船舶、机器人等，本申请不对本发明技术方案的应用场景作严格限定。
实施例一
参见图1，为本发明实施例中图像采集系统的结构示意图，该系统包括图像采集控制装置1和TOF相机2，其中：
图像采集控制装置1，用于根据预置的目标距离范围确定TOF相机2的红外光源发射时间、曝光开始时间和曝光结束时间；向所述TOF相机2发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；接收所述TOF相机2根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。
TOF相机2，用于从图像采集控制装置1接收所述参数控制信息，并根据所述参数控制信息进行图像采集，得到包含所述目标距离范围内的物体的图像。
本发明实施例中，图像采集控制装置1与TOF相机2可以是一对一，也可以是一对多，本申请不作严格限定。
本发明实施例中，图像采集控制装置1向TOF相机2发送参数控制信息的频率大于等于TOF相机2的帧率。假设在一段时间内，图像采集控制装置1第一次向TOF相机2发送的参数控制信息中的红外光源发射时间为一个预置的初始值T 1，则第i次向TOF相机2发送的参数控制信息中的红外光源发射时间为T i，其中T i＝T 1+(i-1)/f，其中f为图像采集控制装置1向TOF相机2发送参数控制信息的频率。
本发明实施例中，目标距离范围是指与TOF相机的距离范围，目标距离范围可以为预先根据应用场景在图像采集控制装置1中设置的固定值；也可以是由图像采集控制装置1从客户端前端接收到的参数值，该参数值由操作人员通过在客户端前端的操作界面输入得到；还可以由图像采集控制装置1根据其他传感器(例如普通摄像机、空气质量传感器、湿度传感器等)反馈的信息确定目标距离范围。本申请对目标距离范围的来源方式不作严格限定。目标距离范围的取值可根据实际需求灵活设置，例如，在大雾天/中度沙尘暴等该目标距离范围可以设置为50米～100米，浓雾天/严重沙尘暴等该目标距离范围可设置为0米～50米，本申请不作严格限定。
本发明实施例中，图像采集控制装置1的结构可如图2所示，包括：
时间计算单元11，用于根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝 光开始时间和曝光结束时间；
控制单元12，用于向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；
图像接收单元13，用于接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。
本发明实施例中，时间计算单元11的结构可如图3所示，具体包括第一计算子单元11a、第二计算子单元11b和第三计算子单元11c，其中：
第一计算子单元11a，用于根据目标距离范围的下限距离值，估算TOF相机在发射红外光源之后接收到距离为下限距离值的物体反射所述红外光源所需的第一时长。
第二计算子单元11b，用于根据目标距离范围的上限距离值，估算TOF相机在发射红外光源之后接收到距离为上限距离值的物体反射所述红外光源所需的第二时长。
第三计算子单元11c，具体用于根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间。
假设目标距离范围为[d 1,d 2]，目标距离范围的下限距离值为d 1(单位为米)，目标距离范围的上限距离为d 2(单位为米)，第一时长用Δt 1表示，第二时长用Δt 2表示，则Δt 1＝d 1/c，Δt 2＝d 2/c，其中c为光速3×10 8米/秒。
在一个示例中，第三计算子单元11c具体实现可如下：将红外光源发射时间与第一时长的和值，确定为曝光开始时间；将红外光源发射时间与第二时长的和值，确定为曝光结束时间。如图4所示，假设红外光源发射时间为t 0，曝光开始时间用t 1表示，曝光结束时间用t 2表示，则t 1＝t 0+2(d 1/c)，t 2＝t 0+2(d 2/c)。
由于TOF相机的CMOS对电荷积累需要一定时间，因此，若距离为上限距离值的物体反射光回到CMOS之后立马停止曝光将可能会使得这部分发射光的电荷积累不够导致欠曝光，因此，本发明实施例中，在距离为上限距离值的物体发射光回到CMOS之后不能立即结束曝光，而是继续延长曝光一段时间(该段时间后续称为曝光延长时长，用Δt表示)，则前述第三计算子单元11c具体实现可如下：将红外光源发射时间与第一时长的和值，确定为曝光开始时间；将红外光源发射时间与第二时长、预置的曝光延长时长的和值，确定为曝光结束时间。如图5所示，假设红外光源发射时间为t 0，曝光开始时间用t 1表示，曝光延长时长为Δt，曝光结束时间用t 2表示，则t 1＝t 0+2(d 1/c)，t 2＝t 0+2(d 2/c)+Δt。本发明实施例中曝光延长时长Δt的取值，可根据实验数据或经验值得到，本申请不做严格限定。
本发明实施例中，红外光源从发射到达距离为d 1的物体所用时长为d 1/c，物体反射光返回到TOF相机的CMOS表面所用时长为d 1/c；红外光源从发射到达距离为d 2的物体所用时长为d 2/c，物体反射光返回到CMOS表面所用时长为d 2/c。TOF相机在CMOS表面接收到 距离为d 1的物体返回的反射光开始曝光，并在CMOS表面接收到距离为d 2的物体返回的反射光之后的一小段时间后停止曝光；因此，CMOS表面在接收到距离低于d 1的物体返回的反射光时TOF相机还没有开始曝光，TOF相机的快门处于关闭状态，因此能够过滤距离低于d 1的物体返回的反射光；同理，CMOS表面在接收到距离大于d 2的物体返回的发射光时TOF相机已经停止曝光，即TOF相机的快门处于关闭状态，因此能够过滤距离大于d 2的物体返回的反射光；因此，通过本发明技术方案可以过滤目标距离范围以外的物体返回的反射光，而保留目标距离范围内的物体返回的反射光，从而使得TOF相机得到的图像为包含位于目标距离范围内的物体的图像，而不包含目标距离范围之外的物体。如图6所示。
本发明实施例中图1和图2所示的TOF相机2的结构可如图7所示，包括数据处理器21、红外光源发射器22和图像传感器23，其中：
数据处理器21，用于接收包含红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；根据所述红外光源发射时间配置所述红外光源发射器22的发射时间，以及根据所述曝光开始时间和曝光结束时间配置所述图像传感器23的曝光参数；
红外光源发射器22，用于根据所述红外光源发射时间发射红外光源；
图像传感器23，用于根据所述曝光开始时间和曝光结束时间进行曝光，以生成包含位于所述目标距离范围内的物体的图像数据。
本发明实施例中，数据处理器21可通过DVP接口或MIPI(Mobile Industry Processor Interface，移动产业处理器接口)接口向图像采集控制装置1传输图像数据(包括像素点的亮度数据和深度数据)。图像采集控制装置1可通过参数控制通道向数据处理器21传输参数控制信息。如图8所示。
如图9所示，红外光源发射器22发射红外线，红外线遇到物体时，物体返回反射光，图像传感器23表面接收物体返回的反射光。
实施例二
基于前述实施例一相同的发明构思，本发明实施例二提供一种图像采集控制装置，如图10所示，该装置包括：一个处理器31和至少一个存储器32，至少一个存储器32中存储有至少一条机器可执行指令，处理器31执行至少一条机器可执行指令以执行：
根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；
向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；
接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物 体的图像。
在一些实施例中，处理器31执行至少一条机器可执行指令执行根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间，包括：根据目标距离范围的下限距离值，估算TOF相机在发射红外光源之后接收到距离为下限距离值的物体反射所述红外光源所需的第一时长；根据目标距离范围的上限距离值，估算TOF相机在发射红外光源之后接收到距离为上限距离值的物体反射所述红外光源所需的第二时长；根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间。
在一些实施例中，处理器31执行至少一条机器可执行指令执行根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间，包括：将红外光源发射时间与第一时长的和值，确定为曝光开始时间；将红外光源发射时间与第二时长的和值，确定为曝光结束时间。
在一些实施例中，处理器31执行至少一条机器可执行指令执行根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间，包括：将红外光源发射时间与第一时长的和值，确定为曝光开始时间；将红外光源发射时间与第二时长、预置的曝光延长时长的和值，确定为曝光结束时间。
实施例三
基于前述实施例一相同的发明构思，本发明实施例三提供一种图像采集控制方法，该方法的流程图如图11所示，包括：
步骤101、根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；
步骤102、向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；
步骤103、接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。
在一些实施例中，步骤101具体实现可通过图12所示的方法流程实现，具体包括：
步骤101A、根据目标距离范围的下限距离值，估算TOF相机在发射红外光源之后接收到距离为下限距离值的物体反射所述红外光源所需的第一时长；
步骤101B、根据目标距离范围的上限距离值，估算TOF相机在发射红外光源之后接收到距离为上限距离值的物体反射所述红外光源所需的第二时长；
步骤101C、根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间。
前述步骤101A与步骤101B没有严格的先后执行顺序，可以先执行步骤101A再执行步骤101B，也可以先执行步骤101B再执行步骤101A，也可以同时执行步骤101A和步骤101B。
在一个示例中，步骤101C具体实现可如下：将红外光源发射时间与第一时长的和值，确定为曝光开始时间；将红外光源发射时间与第二时长的和值，确定为曝光结束时间。具体可参见实施例一中相关的内容，在此不在赘述。
在另一个示例中，步骤101C具体实现可如下：将红外光源发射时间与第一时长的和值，确定为曝光开始时间；将红外光源发射时间与第二时长、预置的曝光延长时长的和值，确定为曝光结束时间。具体可参见实施例一中相关的内容，在此不再赘述。
以上结合具体实施例描述了本发明的基本原理，但是，需要指出的是，对本领域普通技术人员而言，能够理解本发明的方法和装置的全部或者任何步骤或者部件可以在任何计算装置(包括处理器、存储介质等)或者计算装置的网络中，以硬件固件、软件或者他们的组合加以实现，这是本领域普通技术人员在阅读了本发明的说明的情况下运用它们的基本编程技能就能实现的。
本领域普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工 作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明的上述实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括上述实施例以及落入本发明范围的所有变更和修改。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (14)

  1. 一种图像采集控制方法，其特征在于，包括：
    根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；
    向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；
    接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。
  2. 根据权利要求1所述的方法，其特征在于，根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间，具体包括：
    根据目标距离范围的下限距离值，估算TOF相机在发射红外光源之后接收到距离为下限距离值的物体反射所述红外光源所需的第一时长；
    根据目标距离范围的上限距离值，估算TOF相机在发射红外光源之后接收到距离为上限距离值的物体反射所述红外光源所需的第二时长；
    根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间。
  3. 根据权利要求2所述的方法，其特征在于，根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间，具体包括：
    将红外光源发射时间与第一时长的和值，确定为曝光开始时间；
    将红外光源发射时间与第二时长的和值，确定为曝光结束时间。
  4. 根据权利要求2所述的方法，其特征在于，根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间，具体包括：
    将红外光源发射时间与第一时长的和值，确定为曝光开始时间；
    将红外光源发射时间与第二时长、预置的曝光延长时长的和值，确定为曝光结束时间。
  5. 一种图像采集控制装置，其特征在于，包括：
    时间计算单元，用于根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；
    控制单元，用于向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；
    图像接收单元，用于接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。
  6. 根据权利要求5所述的装置，其特征在于，所述时间计算单元，具体包括：
    第一计算子单元，用于根据目标距离范围的下限距离值，估算TOF相机在发射红外光源之后接收到距离为下限距离值的物体反射所述红外光源所需的第一时长；
    第二计算子单元，用于根据目标距离范围的上限距离值，估算TOF相机在发射红外光源之后接收到距离为上限距离值的物体反射所述红外光源所需的第二时长；
    第三计算子单元，具体用于根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间。
  7. 根据权利要求6所述的装置，其特征在于，所述第三计算子单元具体用于：
    将红外光源发射时间与第一时长的和值，确定为曝光开始时间；
    将红外光源发射时间与第二时长的和值，确定为曝光结束时间。
  8. 根据权利要求6所述的装置，其特征在于，所述第三计算子单元具体用于：
    将红外光源发射时间与第一时长的和值，确定为曝光开始时间；
    将红外光源发射时间与第二时长、预置的曝光延长时长的和值，确定为曝光结束时间。
  9. 一种图像采集控制装置，其特征在于，包括一个处理器和至少一个存储器，至少一个存储器中存储有至少一条机器可执行指令，处理器执行至少一条机器可执行指令以执行：
    根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；
    向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；
    接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像。
  10. 根据权利要求9所述的装置，其特征在于，处理器执行至少一条机器可执行指令执行根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间，包括：
    根据目标距离范围的下限距离值，估算TOF相机在发射红外光源之后接收到距离为下限距离值的物体反射所述红外光源所需的第一时长；
    根据目标距离范围的上限距离值，估算TOF相机在发射红外光源之后接收到距离为上限距离值的物体反射所述红外光源所需的第二时长；
    根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间。
  11. 根据权利要求10所述的装置，其特征在于，处理器执行至少一条机器可执行指令执行根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间，包括：
    将红外光源发射时间与第一时长的和值，确定为曝光开始时间；
    将红外光源发射时间与第二时长的和值，确定为曝光结束时间。
  12. 根据权利要求10所述的装置，其特征在于，处理器执行至少一条机器可执行指令执行根据预置的红外光源发射时间、第一时长和第二时长，确定所述TOF相机的曝光开始时间和曝光结束时间，包括：
    将红外光源发射时间与第一时长的和值，确定为曝光开始时间；
    将红外光源发射时间与第二时长、预置的曝光延长时长的和值，确定为曝光结束时间。
  13. 一种图像采集系统，其特征在于，包括TOF相机和图像采集控制装置，其中：
    图像采集控制装置，用于根据预置的目标距离范围确定TOF相机的红外光源发射时间、曝光开始时间和曝光结束时间；向所述TOF相机发送携带有所述红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；接收所述TOF相机根据所述参数控制信息采集得到的包含位于所述目标距离范围内的物体的图像；
    TOF相机，用于从图像采集控制装置接收所述参数控制信息，并根据所述参数控制信息进行图像采集，得到包含所述目标距离范围内的物体的图像。
  14. 一种TOF相机，其特征在于，包括数据处理器、红外光源发射器和图像传感器，其中：
    数据处理器，用于接收包含红外光源发射时间、曝光开始时间和曝光结束时间的参数控制信息；根据所述红外光源发射时间配置所述红外光源发射器的发射时间，以及根据所述曝光开始时间和曝光结束时间配置所述图像传感器的曝光参数；
    红外光源发射器，用于根据所述红外光源发射时间发射红外光源；
    图像传感器，用于根据所述曝光开始时间和曝光结束时间进行曝光，以生成包含位于所述目标距离范围内的物体的图像数据。
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