CN-121985105-A - Brightness control method and system of 3D camera warning lamp

CN121985105ACN 121985105 ACN121985105 ACN 121985105ACN-121985105-A

Abstract

The application relates to a brightness control method and a system of a 3D camera warning lamp, wherein the method comprises the steps of obtaining image data through a 3D camera and obtaining depth information of an object to be measured based on the image data. Based on the depth information, whether the object to be measured is at a maximum working distance threshold of the 3D camera is judged. And if the measured object is not positioned at the maximum working distance threshold of the 3D camera, adjusting the driving current of the warning lamp according to depth information by a preset rule, and controlling the brightness of the warning lamp. The problem of how to improve the flexibility of 3D camera warning light luminance control among the related art is solved.

Inventors

FAN BIN
FU WEINAN
ZHANG GUANSHENG

Assignees

杭州灵西机器人智能科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. A method for controlling brightness of a warning lamp of a 3D camera, the method being applied to the 3D camera, the method comprising: Acquiring image data through the 3D camera, and acquiring depth information of an object to be measured based on the image data; judging whether the detected object is positioned at a maximum working distance threshold of the 3D camera or not based on the depth information; And if the measured object is not positioned at the maximum working distance threshold of the 3D camera, adjusting the driving current of the warning lamp according to the depth information by a preset rule, and controlling the brightness of the warning lamp.
2. The method for controlling the brightness of a warning lamp for a 3D camera according to claim 1, wherein the acquiring image data by the 3D camera, based on the image data, acquires depth information of an object to be measured, comprises: Starting a drawing operation through a 3D camera to acquire image data comprising scene point cloud information, wherein the warning lamp works with a preset minimum driving current in the drawing operation; Based on the image data, analyzing depth values corresponding to all pixel points in an image scene, identifying a region of a measured object through an image segmentation algorithm, calculating an average value of the depth values of all pixel points in the region, obtaining the distance between the measured object and the 3D camera, and taking the distance as the depth information of the measured object.
3. The method for controlling the brightness of a warning lamp of a 3D camera according to claim 2, wherein if the object is at a maximum working distance threshold of the 3D camera, controlling the warning lamp to work at the maximum brightness comprises: When the measured object is positioned at the maximum working distance threshold of the 3D camera, calculating whether the maintaining time of the measured object at the maximum working distance threshold is longer than the preset time; Calculating whether the fluctuation range is smaller than a preset error threshold value or not by monitoring the fluctuation data of the distance in real time; And if the maintaining time is longer than the preset time and the fluctuation range is smaller than the preset error threshold, controlling the driving current of the warning lamp to be set to be a preset maximum value so as to control the warning lamp to work at the maximum brightness.
4. The method for controlling the brightness of a warning lamp of a 3D camera according to claim 1, wherein if the object is not at the maximum working distance of the 3D camera, adjusting the driving current of the warning lamp according to the depth information by a preset rule, and controlling the brightness of the warning lamp, comprises: acquiring a target driving current value according to the depth information through a preset rule; generating a corresponding control signal based on the target drive current value; and adjusting the driving current of the warning lamp based on the control signal so as to control the brightness of the warning lamp.
5. The method for controlling the brightness of a 3D camera warning lamp according to claim 4, wherein the obtaining the target driving current value according to the depth information by a preset rule includes: inquiring a current value corresponding to the current depth information according to the depth information through a mapping relation between the depth information and the current value, and obtaining a target driving current value corresponding to the current depth information; The mapping relation is configured to increase the driving current value along with the increase of the measured object distance within the effective working distance range of the 3D camera.
6. The method of claim 4, wherein generating the corresponding control signal based on the target driving current value comprises: generating a pulse width modulation signal with a corresponding duty ratio by a main control module of the 3D camera based on the target driving current value; And inputting the pulse width modulation signal into an analog dimming circuit, converting the pulse width modulation signal into an analog voltage signal through the analog dimming circuit, and taking the analog voltage signal as a control signal.
7. The method of claim 6, wherein adjusting the driving current of the warning lamp according to the control signal to control the brightness of the warning lamp comprises: inputting the analog voltage signal to a brightness adjusting pin of a driving chip in a constant current driving circuit to set an internal current reference standard of the driving chip; Acquiring an actual current value flowing through the warning lamp in real time through a current sampling network in the constant current driving circuit, and feeding back the actual current value to a current feedback pin of the driving chip; Based on the internal current reference standard and the actual current value of the current feedback pin, the driving chip generates an adjusting signal through an internal control loop so as to control the conduction state of the power switch tube; and controlling current change through the adjustment of the conducting state, and enabling the output current of the constant current driving circuit to be consistent with the internal current reference standard so as to control the brightness of the warning lamp.
8. The method for controlling the brightness of a warning lamp for a3D camera according to claim 1, further comprising, after adjusting the driving current of the warning lamp by a preset rule and controlling the brightness of the warning lamp: Judging whether personnel exist in the visual field of the 3D camera or not when the 3D camera is used for drawing each time; if people exist, the warning lamp is controlled to flash according to preset frequency; And if no personnel exist, controlling the warning lamp to keep the normally-on state of the current brightness.
9. The method of any one of claims 1 to 8, wherein the 3D camera comprises a driving circuit, wherein the driving circuit comprises a driving module, an analog dimming module and a strobe control module; the driving module is constant-current driving and is used for conducting constant-current operation on the warning lamp; The analog dimming module is used for converting pulse width modulation into analog signals and outputting the analog signals to the driving module so as to control the output current of the driving module; the stroboscopic control module is used for controlling the warning lamp to flash according to preset frequency by judging the level of the enabling pin to open or close the output current.
10. A brightness control system of a 3D camera warning light, characterized in that the system is configured to perform the method of any one of the preceding claims 1 to 7, the system comprising a depth information module, a judgment module and a warning light brightness control module, wherein: the depth information module is used for acquiring image data through the 3D camera and acquiring depth information of an object to be measured based on the image data; the judging module is used for judging whether the object to be detected is positioned at the maximum working distance of the 3D camera or not based on the depth information; The warning lamp brightness control module is used for controlling the warning lamp to work with maximum brightness if the measured object is at the maximum working distance of the 3D camera, and controlling the brightness of the warning lamp by adjusting the driving current of the warning lamp according to the depth information and a preset rule if the measured object is not at the maximum working distance of the 3D camera.

Description

Brightness control method and system of 3D camera warning lamp Technical Field The application relates to the technical field of camera warning lamp control, in particular to a brightness control method and system of a 3D camera warning lamp. Background The inside constitution of the multi-line laser 3D camera is complicated, the warning lamp is one of the modules, and when the multi-line laser 3D camera works, people nearby need to be warned not to directly watch the laser projection window of the camera so as to avoid the eyes from being injured by laser (the laser device adopts infrared light or near infrared light to improve the environment light resistance capacity, and human eyes cannot see the laser completely). At present, if the brightness of the warning lamp is too low, the warning effect cannot be achieved under the scene that the 3D camera is installed higher, the multi-line laser 3D camera warning lamp generally adopts a high-power LED lamp with high brightness which is more conspicuous so as to achieve the warning effect, and the problem that the brightness is too high and introduces new problems is solved, so that the power consumption is increased, the influence on eyes of people is caused to different degrees (the influence is large when the camera is installed lower), the control scheme of the conventional 3D camera warning lamp is simpler, the warning lamp is turned on when the conventional 3D camera warning lamp is operated, and the warning lamp is turned off when the conventional 3D camera warning lamp is operated, so that the problem of low flexibility exists. Therefore, for the brightness control method of the 3D camera warning lamp, how to improve the flexibility of the brightness control of the 3D camera warning lamp has not been proposed yet. Disclosure of Invention The embodiment of the application provides a brightness control method and a system of a 3D camera warning lamp, which at least solve the problem of how to improve the flexibility of the brightness control of the 3D camera warning lamp in the related technology. In a first aspect, an embodiment of the present application provides a method for controlling brightness of a warning light of a 3D camera, where the method is applied to the 3D camera, and the method includes: Acquiring image data through the 3D camera, and acquiring depth information of an object to be measured based on the image data; judging whether the detected object is positioned at a maximum working distance threshold of the 3D camera or not based on the depth information; And if the measured object is not positioned at the maximum working distance threshold of the 3D camera, adjusting the driving current of the warning lamp according to the depth information by a preset rule, and controlling the brightness of the warning lamp. In an embodiment, the acquiring image data by the 3D camera, and acquiring depth information of the object to be measured based on the image data, includes: Starting a drawing operation through a 3D camera to acquire image data comprising scene point cloud information, wherein the warning lamp works with a preset minimum driving current in the drawing operation; Based on the image data, analyzing depth values corresponding to all pixel points in an image scene, identifying a region of a measured object through an image segmentation algorithm, calculating an average value of the depth values of all pixel points in the region, obtaining the distance between the measured object and the 3D camera, and taking the distance as the depth information of the measured object. In an embodiment, if the object is at the maximum working distance threshold of the 3D camera, controlling the warning lamp to work at the maximum brightness includes: When the measured object is positioned at the maximum working distance threshold of the 3D camera, calculating whether the maintaining time of the measured object at the maximum working distance threshold is longer than the preset time; Calculating whether the fluctuation range is smaller than a preset error threshold value or not by monitoring fluctuation data of the distance in real time; And if the maintaining time is longer than the preset time and the fluctuation range is smaller than the preset error threshold, controlling the driving current of the warning lamp to be set to be a preset maximum value so as to control the warning lamp to work at the maximum brightness. In an embodiment, if the object is not at the maximum working distance of the 3D camera, adjusting the driving current of the warning lamp according to the depth information by a preset rule, and controlling the brightness of the warning lamp includes: acquiring a target driving current value according to the depth information through a preset rule; generating a corresponding control signal based on the target drive current value; and adjusting the driving current of the warning lamp according to the control signal so as to control the