CN108072879A - A kind of anallatic method and device - Google Patents
A kind of anallatic method and device Download PDFInfo
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- CN108072879A CN108072879A CN201711176822.5A CN201711176822A CN108072879A CN 108072879 A CN108072879 A CN 108072879A CN 201711176822 A CN201711176822 A CN 201711176822A CN 108072879 A CN108072879 A CN 108072879A
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- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of optical distance measurement apparatus, including optical transmitting set, for emitting light into target object；Optical receiver, with the optical transmitting set in an angle, the optical receiver for receive it is described emit light into the reflected light after target object, and the reflected light signal is converted into electric signal and is exported；For obtaining the electric signal of the optical receiver output, according to the electric signal, the target object is calculated to the distance of the optical distance measurement apparatus using time-of-flight method for processor.The present invention substantially increases ranging speed, and reduces cost on the premise of measurement accuracy is ensured.
Description
Technical field
The invention belongs to space orientation fields, and in particular, to a kind of anallatic method and device.
Background technology
Space orientation technique with the miniaturization of component, cost it is cheaper, increasingly spread to ordinary consumption
In grade market, wherein most typical application scenarios are the independent navigation field of the mobile terminals such as household small-size robot, unmanned plane.It is empty
Between in location technology, optical alignment is positioned compared with other positioning methods such as ultrasonic wave, and radio circuit positioning etc. has that precision is high, response
Soon, relatively strong etc. advantages of anti-interference, therefore have been widely adopted.
TOF methods are a kind of common optical measurements of distance.TOF is writing a Chinese character in simplified form for Time of flight, is literal translated as the flight time
The meaning, by continuously transmitting light pulse to target, then with sensor receive from object return light, pass through detecting optical pulses
Flight (round-trip) time obtain object distance.Distance D=C*T/2, C are the speed of light, i.e. 3*108Meter per second, T are hairs
Go out to the time interval received.
In the prior art, TOF measurement method is phase modulation, refers to that the light source of TOF measurement system emits one and shakes
The continuous optical signal of width modulation, which is generally Light-emitting diode LED or laser, when continuous optical signal is irradiated to barrier
When, barrier returns to reflected light signal to TOF measurement system, and TOF measurement system calculates barrier according to the signal phase of reflected light
Hinder the distance of object and TOF measurement system, but in TOF measurement system, with the increase of measurement distance, return signal can drop
It is low, cause the light signal strength that receiver receives inadequate, separately due to special sensitive chip, improve its receiving sensitivity, so
Its cost is caused to remain high always, separately since TOF measurement needs repeatedly measurement to ensure its measurement accuracy, causes its measurement speed
It spends low.
The content of the invention
The present invention provides a kind of anallatic method and devices, employ low-cost CCD/COMS sensors,
And the propagation characteristic of light is make use of, the structure of optical transmitting set and optical receiver is creatively changed, is allowed to show a clamp
Angle significantly improves the intensity that optical receiver receives light, while utilizes multiple spot integration technology, and entire surface information is fused to a letter
Breath, the face information that the processing of script needs is contained to multiple points shorten to only need to handle information, are ensureing measurement essence
On the premise of degree, ranging speed is substantially increased, and reduces cost.
To achieve these goals, the present invention provides a kind of optical distance measurement apparatus, which includes：
Optical transmitting set, for emitting light into target object；
Optical receiver, with the optical transmitting set in an angle, the optical receiver described emits light into target for receiving
Reflected light after object, and the reflected light signal is converted into electric signal and is exported；
Processor for obtaining the electric signal of the optical receiver output, according to the electric signal, utilizes time-of-flight method
The target object is calculated to the distance of the optical distance measurement apparatus.
In one embodiment of the present of invention, the optical receiver includes multiple light sensing elements, the light sensing element point
Array arrangement is presented on the photosurface of the optical receiver in cloth, for the independently received reflected light.
In one embodiment of the present of invention, the optical receiver described emits light into the reflection after target object for receiving
Light, and the reflected light signal is converted into electric signal and is exported, including：
The optical receiver is used to receive the reflected light signal respectively by the multiple light sensing element, and obtain and
The multiple time difference is made average value processing by the corresponding multiple time differences of the multiple light sensing element, export it is described
It is worth time difference, wherein, the time difference is to emit light into the time difference for receiving light.
In one embodiment of the present of invention, often row includes N number of light sensing element to the optical receiver, and each column includes M
A light sensing element, then the optical receiver is for acquisition multiple time differences corresponding with the multiple light sensing element
Value, makees average value processing by the multiple time difference, exports the mean time difference, including：
The optical sensor is used to get corresponding N*M time difference based on the N*M light sensing element, by institute
State N*M time difference be filtered it is hot-tempered after average, export the mean time difference.
In one embodiment of the present of invention, the processor is used for according to the electric signal, is calculated using time-of-flight method
The target object to the optical distance measurement apparatus distance, including：
The processor calculates the target object extremely according to the mean time difference using formula D=C* △ T/2
The distance of the optical distance measurement apparatus, wherein, C is the light velocity, and △ T are mean time difference.
In one embodiment of the present of invention, the optical receiver further includes optical lens, and the optical lens is fixed on institute
State the top in light sensation face in optical receiver.
The embodiment of the present invention also provides a kind of anallatic method, which is specially：
Optical transmitting set emits light into target object；
Optical receiver emits light into the reflected light after target object described in receiving, and the reflected light signal is converted to electricity
Signal simultaneously exports, wherein, the optical receiver is in an angle with the optical transmitting set；
Processor obtains the electric signal of the optical receiver output, according to the electric signal, is calculated using time-of-flight method
The target object to the optical distance measurement apparatus distance.
In one embodiment of the present of invention, the optical receiver includes multiple light sensing elements, then the optical receiver connects
The reflected light after target object is emitted light into described in receipts, and the reflected light signal is converted into electric signal and is exported, including：
The optical receiver receives the reflected light signal respectively by the multiple light sensing element, and obtain with it is described
The corresponding multiple time differences of multiple light sensing elements, make average value processing, when exporting the average by the multiple time difference
Between difference, wherein, the time difference be emit light into receive light time difference.
In one embodiment of the present of invention, often row includes N number of light sensing element to the optical receiver, and each column includes M
A light sensing element, then the optical receiver acquisition multiple time differences corresponding with the multiple light sensing element, are incited somebody to action
The multiple time difference makees average value processing, exports the mean time difference, including：
The optical sensor gets corresponding N*M time difference based on the N*M light sensing element, by the N*
M time difference be filtered it is hot-tempered after average, export the mean time difference.
In one embodiment of the present of invention, described in the processor is calculated according to the electric signal, using time-of-flight method
Target object to the optical distance measurement apparatus distance, including：
The processor calculates the target object extremely according to the mean time difference using formula D=C* △ T/2
The distance of the optical distance measurement apparatus, wherein, C is the light velocity, and △ T are mean time difference.
The method of the embodiment of the present invention has following advantages：
In the embodiment of the present invention, cheap array CCD/CMOS sensors are employed, to traditional optical transmitting set and light
The structure of receiver is changed, and is allowed to that certain angle is presented, is improved the intensity of light-receiving, while employs multiple spot fusion
Technology, it is only necessary to calculate the time difference after average, you can the distance of target object is calculated according to time-of-flight method.Significantly
Improve processing speed.Meanwhile the scheme of the embodiment of the present invention also overcomes technology prejudice, for traditional array-type sensor
For, multiple M*N distances are obtained by independent multiple light sensing elements, so as to obtain the depth information in a face, and this hair
In bright embodiment, using multiple spot integration technology, by the information aggregate in a face into a point, it can be shown in certain finding range
It writes and improves sweep speed.In addition, the embodiment of the present invention is due to its good ranging speed and range accuracy, and it is of low cost, also
Bring commercial success.
Description of the drawings
Fig. 1 a are that optical distance measurement apparatus forms structure chart in the embodiment of the present invention 1；
Fig. 1 b are another optical distance measurement apparatus composition structure charts in the embodiment of the present invention 1；
Fig. 2 a are illumination contrast schematic diagrams in the embodiment of the present invention 1；
Fig. 2 b are that illumination compares another schematic diagram in the embodiment of the present invention 1；
Fig. 3 is optical receiver structure diagram in the embodiment of the present invention 1；
Fig. 4 is optical ranging method flow chart in the embodiment of the present invention 2.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Conflict is not formed each other to can be combined with each other.
Embodiment 1
To achieve the above objectives, as shown in Figure 1a, the present invention provides a kind of anallatic device 11, which wraps
It includes with lower component：
Optical transmitting set 101, for emitting light into target object；
The structure of optical transmitting set 101 can include light source and optical lens.The light source of optical transmitting set 101 can be LED light
Source or laser light source, such as infrared acquisition light etc..Optical lens can assemble the transmitting light of LED light source.The optical lens can
Think convex lens or for total internal reflection (Total Internal Reflection, abbreviation TIR) lens.Emitted by setting
The angle of divergence of detection light beam is propagated in light convergent lens, control in space, and the control of the angle of divergence is according to the need of required search coverage
It selects to set, such as when preferential detection is located at testee closely, the infrared acquisition light propagated in space
Angle of divergence control is the larger angle of divergence, such as 20 degree, when needing to detect remote testee, it is necessary to by emitting light meeting
Poly- lens control the angle of divergence in such as 1 degree, 2 degree or 3 degree.
An embodiment wherein, multiple LED light sources are evenly arranged around reception device, for example, using receiving sensor as
Symmetrical centre point, multiple LED are evenly arranged with triangle, rectangle, circle, polygon etc., when for two LED when in sensor two
Side is symmetrical arranged.
Optical receiver 102, with the optical transmitting set in an angle, the optical receiver described emits light into mesh for receiving
The reflected light after object is marked, and the reflected light signal is converted into electric signal and is exported；
Optical receiver 102 can include multiple light sensing elements, and the light sensing element is distributed in the optical receiver
On photosurface, and array arrangement is presented, for the independently received reflected light.As shown in figure 3, optical receiver 102 can be with
Comprising the block array sensor being made of N rows M row light sensing elements, which is by being arranged in photosurface
N*M independent light sensing elements formed.Each light sensing element can standalone probe reflected light.Optionally, optical receiver
102 can be ccd sensor or be cmos sensor, and correspondingly, light sensing element can be CCD elements or cmos element.
As shown in Figure 1 b, certain angle is presented with optical transmitting set 101 (rectangle object) in optical receiver 102 (circular object)
Θ can be in certain distance scope d, and the signal strength for reflecting return is stronger.Itself the reason is as follows that：
Fig. 2 a are in the embodiment of the present invention, and optical receiver is presented certain angle with optical transmitting set and keeps horizontal signal
Figure, wherein, left figure is identical with the hardware composition of right figure, the difference is that irradiation of the optical transmitting set for target object
Angle.It is assumed that the light source of Fig. 2 a is Lambertian source (divergence expression light source), then：
Figure is left, and the light intensity that light source is irradiated to target object is I0；
Figure is right, and the light intensity that light source is irradiated to target object is I0’；
There are following reduction formulas between the two light intensity：I0'=I0cosC<I0
Therefore, the left signal strength received of figure is better than the figure right side.
Fig. 2 b are another schematic diagrames.In Fig. 2 b, left figure is identical with the hardware composition of right figure, the difference is that light is sent out
Emitter for target object illumination angle and target object compared with optical receiver azimuth because light source be collimation shine
It is bright, so the light source of Fig. 2 b is set as semiconductor laser collimated light source, then：
In left figure, the illuminance that unit area target object receives is I0；
In right figure, the illuminance that unit area target object receives is I0’；
Then there are following reduction formulas between the two light intensity：I0=I0’cos4(90-B)；
In left figure, the light intensity of unit area target object reflection is I；
In right figure, the light intensity of unit area target object reflection is I '；
Then I/I '=(I0cos(90-A))/(I0’cos(90-D))
In left figure, the illuminance that receive mirror head mould group receives is S
In right figure, the illuminance that receive mirror head mould group receives is S '
S/S '=(I0cos4(90-A))/(I0' cos4 (90-D))=cos8(90-A)/cos4(90-D)
Therefore, the illuminance of left figure is more than the illuminance of right figure.
Wherein, the measurable maximum range equation below of optical distance measurement apparatus：
D=f/arcsin (180- Θ)
Wherein, f is the focal length of lens, and d is the maximum range with the corresponding measurement of angle.
By setting an angle between optical transmitting set and optical receiver, which is different from traditional the embodiment of the present invention
Rotary platform type laser scanning device, traditional rotary platform type laser scanning device are adopted every time due to itself being rotation
Collection data can all turn over an angle, and two data heaps of angle and distance can be obtained by the structure in entire space, this
The data stacking of sample also referred to as point cloud.Therefore, traditional rotating platform laser scanning device is due to above-mentioned characteristic, can't be
One angle is set between optical transmitting set and optical receiver.
Optionally, optical receiver 102 further includes optical lens, and the optical lens is fixed on light sensation in the optical receiver
The top in face.The optical lens can be identical with the optical lens of optical transmitting set 101.
It should be noted that optical receiver 102 for receive it is described emit light into the reflected light after target object, and by institute
It states reflected light signal to be converted to electric signal and export, is specially：
Optical receiver is used to receive the reflected light signal respectively by multiple light sensing elements on photosurface, and obtains
The multiple time difference is made average value processing, described in output by multiple time differences corresponding with the multiple light sensing element
Mean time difference, wherein, the time difference is to emit light into the time difference for receiving light.
It should be noted that optical receiver 102 is for acquisition multiple time differences corresponding with the multiple light sensing element
Value, makees average value processing by the multiple time difference, exports the mean time difference, is specially：Optical sensor 102 is used for base
Corresponding N*M time difference is got in the N*M light sensing element, the N*M time difference is filtered
It is averaged after hot-tempered, exports the mean time difference.For each light sensing element, due to the integral characteristic of its element,
Each position of components is different, and the luminous intensity obtained is different, and therefore, each element can be there are one the independent time difference
TN*M, optical receiver 102 can obtain the time difference of each element, after being filtered using this N*M time difference,
Mean value computation (equalizing) is carried out again, an average time difference △ T is calculated, and is equivalent to a CCD or CMOS sensings
It is that device module has carried out multiple measurement as a result, such precision for ensuring that TOF measurement, and the process is directly in light-receiving
102 inside of device is completed, and does not consume time and the resource of ppu, and such speed also can be very high, reaches and measures at a high speed, the party
Method is multiple spot integration technology.
Multiple spot integration technology is substantially a kind of multiple points (or a face) to be assembled a point, it is only necessary to pass through calculating
Go out the point, you can ranging is realized according to time-of-flight method.And in traditional CCD or cmos sensor, such as CN205643711U
CCD the or CMOS photoelectric sensors being mentioned to, purposes are the independent distance for measuring multiple points (N*M point), so as to
To the depth information in a face, do 3D scannings for rotating platform and use.And in the embodiment of the present invention, merge skill using multiple spot
Art, it is only necessary to calculate the time difference after average, you can the quick distance for calculating target object, without measuring N*M again
The distance of a point, so as to substantially increase processing speed.In addition, the normal usage of traditional CCD/CMOS sensors is that survey is more
A point is of the invention then be the letter creatively proposed by the information aggregate in face into a point so as to obtain the depth information in face
Breath, overcomes technology prejudice.
Processor 103, for obtaining the electric signal of optical receiver output, according to the electric signal, during using flight
Between method calculate the target object to the distance of the optical distance measurement apparatus.
Wherein, the processor is used for according to the electric signal, and the target object is calculated to institute using time-of-flight method
The distance of optical distance measurement apparatus is stated, is specially：The processor utilizes formula D=C* △ T/2 according to the mean time difference
The target object is calculated to the distance of the optical distance measurement apparatus, wherein, D represents the distance of target object, and C is the light velocity,
△ T are mean time difference.
Optionally, the embodiment of the present invention can also include terminal 104, the terminal can be mobile terminal, PC or
Industrial computer etc., the terminal are used to receive distance and the display of processor output, and can realize herein on basis more
Subsequent processing mechanism and human-computer interaction mechanism.
Optionally, in the embodiment of the present invention, processor 103 controls optical receiver 102, the sensitivity of regulating system, system
Sensitivity can be adjusted according to the illumination condition of the reflectivity of object, the distance of object and surrounding.Optical receiver 102
Built-in laser tube circuit can be driven, but if lighting power is inadequate, external laser driver can also be used, make transmitting
Power can reach requirement.The communication interface of processor 103 and terminal 104 can be USB, serial ports etc.；Processor 103 and light connect
The communication interface received between device 102 can be I2C interface, SPI interface etc..There are temperature sensor and ring inside optical receiver 102
Border optical measuring module, to correct measurement error.
In the embodiment of the present invention, cheap array CCD/CMOS sensors are employed, to traditional optical transmitting set and light
The structure of receiver is changed, and is allowed to that certain angle is presented, is improved the intensity of light-receiving, while employs multiple spot fusion
Technology, it is only necessary to calculate the time difference after average, you can the distance of target object is calculated according to time-of-flight method.Significantly
Improve processing speed.Meanwhile the scheme of the embodiment of the present invention also overcomes technology prejudice, for traditional array-type sensor
For, multiple M*N distances are obtained by independent multiple light sensing elements, so as to obtain the depth information in a face, and this hair
In bright embodiment, using multiple spot integration technology, by the information aggregate in a face into a point, it can be shown in certain finding range
It writes and improves sweep speed.In addition, the embodiment of the present invention is due to its good ranging speed and range accuracy, and it is of low cost, also
Bring commercial success.
Embodiment 2
An embodiment of the present invention provides a kind of anallatic method, as shown in figure 4, this method includes：
S201, optical transmitting set emit light into target object；
Wherein, the structure of optical transmitting set can include light source and optical lens.The light source of optical transmitting set 101 can be LED
Light source or laser light source, such as infrared acquisition light etc..Optical lens can assemble the transmitting light of LED light source.The optical lens
It can be convex lens or be total internal reflection (Total Internal Reflection, abbreviation TIR) lens.It is sent out by setting
Light convergent lens is penetrated, the angle of divergence of detection light beam is propagated in control in space, and the control of the angle of divergence is according to required search coverage
Selection is needed to set.
S202, optical receiver emit light into the reflected light after target object described in receiving, and the reflected light signal is turned
It is changed to electric signal and exports, wherein, an angle is presented with optical transmitting set in optical receiver；
Optical receiver can include multiple light sensing elements, and the light sensing element is distributed in the photosensitive of the optical receiver
On face, and array arrangement is presented, for the independently received reflected light.It is arranged for example, optical receiver can be included by N rows M
The block array sensor that a light sensing element is formed, the sensor array are independent by N*M be arranged in photosurface
Light sensing element is formed.Each light sensing element can standalone probe reflected light.Optionally, optical receiver can be that CCD is passed
Sensor is cmos sensor, and correspondingly, light sensing element can be CCD elements or cmos element.
Certain angle Θ is presented with optical transmitting set 101 in optical receiver 102, can be in certain distance scope d, reflection is returned
The signal strength returned is stronger.Reason is described again here with embodiment 1.
How much is one light reflection intensity, and with originally incident light intensity, this light is on the horizontal and vertical face direction of reflecting surface
The size of component, incident angle, refractive index have a relation, in the embodiment of the present invention, can set a suitable angle Θ, make
It needs in ranging range, the intensity higher of reflected light, and entire receiving plane can be covered, reception is made to reach best.
It should be noted that optical receiver receive described in emit light into the reflected light after target object, and by the reflection
Optical signal is converted to electric signal and exports, and is specially：
Optical receiver receives the reflected light signal, and acquisition and institute respectively by multiple light sensing elements on photosurface
The corresponding multiple time differences of multiple light sensing elements are stated, the multiple time difference is made into average value processing, exports the average
Time difference, wherein, the time difference is to emit light into the time difference for receiving light.
It should be noted that optical receiver obtains multiple time differences corresponding with the multiple light sensing element, by institute
It states multiple time differences and makees average value processing, export the mean time difference, be specially：Optical sensor is based on the N*M light
Sensing element gets corresponding N*M time difference, by the N*M time difference be filtered it is hot-tempered after be averaged
Change, export the mean time difference.For each light sensing element, due to the integral characteristic of its element, each element position
Difference is put, the luminous intensity obtained is different, and therefore, each element can be there are one independent time difference TN*M, optical receiver
102 can obtain the time difference of each element, after being filtered using this N*M time difference, then carry out average meter
It calculates and (equalizes), an average time difference △ T is calculated, is equivalent to a CCD or cmos sensor module carries out
It is repeatedly measuring as a result, such precision for ensuring that TOF measurement, and the process is directly complete in 102 inside of optical receiver
Into, do not consume time and the resource of ppu, such speed also can be very high, reach at a high speed measure, this method is multiple spot
Integration technology.
Multiple spot integration technology is substantially a kind of multiple points (or a face) to be assembled a point, it is only necessary to pass through calculating
Go out the point, you can ranging is realized according to time-of-flight method.And in traditional CCD or cmos sensor, such as CN205643711U
CCD the or CMOS photoelectric sensors being mentioned to, purposes are the independent distance for measuring multiple points (N*M point), so as to
To the depth information in a face, do 3D scannings for rotating platform and use.And in the embodiment of the present invention, merge skill using multiple spot
Art, it is only necessary to calculate the time difference after average, you can the quick distance for calculating target object, without measuring N*M again
The distance of a point, so as to substantially increase processing speed.In addition, the normal usage of traditional CCD/CMOS sensors is that survey is more
A point is of the invention then be the letter creatively proposed by the information aggregate in face into a point so as to obtain the depth information in face
Breath, overcomes technology prejudice.
S203, processor obtain the electric signal of the optical receiver output, according to the electric signal, utilize time-of-flight method
The target object is calculated to the distance of the optical distance measurement apparatus.
Wherein, the processor calculates the target object to the light according to the electric signal using time-of-flight method
The distance of range unit is learned, is specially：Processor calculates institute according to the mean time difference using formula D=C* △ T/2
Target object is stated to the distance of the optical distance measurement apparatus, wherein, D represents the distance of target object, and C is the light velocity, and △ T are average
Time difference.
Method provided in an embodiment of the present invention employs cheap array CCD/CMOS sensors, and traditional light is sent out
Emitter and the structure of optical receiver are changed, and are allowed to that certain angle is presented, are improved the intensity of light-receiving, employ simultaneously
Multiple spot integration technology, it is only necessary to calculate the time difference after average, you can target object is calculated according to time-of-flight method
Distance.Substantially increase processing speed.Meanwhile the scheme of the embodiment of the present invention also overcomes technology prejudice, for traditional battle array
For column sensor, multiple M*N distances are obtained by independent multiple light sensing elements, so as to obtain the depth letter in a face
Breath, and in the embodiment of the present invention, using multiple spot integration technology, by the information aggregate in a face into a point, in certain ranging
In the range of can significantly improve sweep speed.In addition, the embodiment of the present invention is due to its good ranging speed and range accuracy, and into
This is cheap, also brings commercial success.
It is to be understood that in the various embodiments of the application, the size of the sequence number of each process is not meant to execution sequence
Successively, the execution sequence of each process should be determined with its function and internal logic, the implementation process without tackling the embodiment of the present application
Form any restriction.
Those of ordinary skill in the art may realize that each exemplary moulds described with reference to the embodiments described herein
Block and method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
Scope of the present application.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and module may be referred to the corresponding process in preceding method embodiment, and details are not described herein.
The various pieces of this specification are described by the way of progressive, identical similar portion between each embodiment
Point just to refer each other, and what each embodiment introduced is and other embodiment difference.Especially for device and it is
For embodiment of uniting, since it is substantially similar to embodiment of the method, so description is fairly simple, related part is real referring to method
Apply the explanation of example part.
Finally, it is necessary to which explanation is：The foregoing is merely the preferred embodiments of technical scheme, are not intended to
Limit the protection domain of the application.Obviously, those skilled in the art can carry out the application various modification and variations without de-
From scope of the present application.If these modifications and variations of the application belong to the scope of the application claim and its equivalent technologies
Within, then any modifications, equivalent replacements and improvements are made, should be included within the protection domain of the application.
Claims (10)
1. a kind of optical distance measurement apparatus, which is characterized in that the optical distance measurement apparatus includes：
Optical transmitting set, for emitting light into target object；
Optical receiver, with the optical transmitting set in an angle, the optical receiver described emits light into target object for receiving
Reflected light afterwards, and the reflected light signal is converted into electric signal and is exported；
Processor for obtaining the electric signal of the optical receiver output, according to the electric signal, is calculated using time-of-flight method
The target object to the optical distance measurement apparatus distance.
2. the apparatus according to claim 1, which is characterized in that the optical receiver includes multiple light sensing elements, described
Light sensing element is distributed on the photosurface of the optical receiver, and array arrangement is presented, for independently received described anti-
Penetrate light.
3. the apparatus of claim 2, which is characterized in that the optical receiver described emits light into target for receiving
Reflected light after object, and the reflected light signal is converted into electric signal and is exported, including：
The optical receiver is used to receive the reflected light signal respectively by the multiple light sensing element, and acquisition with it is described
The corresponding multiple time differences of multiple light sensing elements, make average value processing, when exporting the average by the multiple time difference
Between difference, wherein, the time difference be emit light into receive light time difference.
4. device according to claim 3, which is characterized in that often row includes N number of light sensing member to the optical receiver
Part, each column include the M light sensing elements, then the optical receiver is corresponding with the multiple light sensing element for obtaining
The multiple time difference is made average value processing by multiple time differences, exports the mean time difference, including：
The optical sensor is used to get corresponding N*M time difference based on the N*M light sensing element, by the N*
M time difference be filtered it is hot-tempered after average, export the mean time difference.
5. device according to claim 4, which is characterized in that the processor is used for according to the electric signal, using flying
Row Time Method calculates the target object to the distance of the optical distance measurement apparatus, including：
The processor calculates the target object to described according to the mean time difference, using formula D=C* △ T/2
The distance of optical distance measurement apparatus, wherein, C is the light velocity, and △ T are mean time difference.
6. according to claim 1-5 any one of them devices, which is characterized in that the optical receiver further includes optical lens,
The optical lens is fixed on the top in light sensation face in the optical receiver.
7. a kind of optical ranging method, which is characterized in that the described method includes：
Optical transmitting set emits light into target object；
Optical receiver emits light into the reflected light after target object described in receiving, and the reflected light signal is converted to electric signal
And export, wherein, the optical receiver is in an angle with the optical transmitting set；
Processor obtains the electric signal of optical receiver output, according to the electric signal, calculated using time-of-flight method described in
Target object to the optical distance measurement apparatus distance.
8. the method according to the description of claim 7 is characterized in that the optical receiver includes multiple light sensing elements, then institute
It states and emits light into the reflected light after target object described in optical receiver reception, and the reflected light signal is converted into electric signal simultaneously
Output, including：
The optical receiver receives the reflected light signal respectively by the multiple light sensing element, and obtain with it is the multiple
The corresponding multiple time differences of light sensing element, make average value processing by the multiple time difference, it is poor to export the mean time
Value, wherein, the time difference is to emit light into the time difference for receiving light.
9. according to the method described in claim 8, it is characterized in that, the optical receiver, which is often gone, includes N number of light sensing member
Part, each column include the M light sensing elements, then the optical receiver obtains corresponding with the multiple light sensing element multiple
The multiple time difference is made average value processing by time difference, exports the mean time difference, including：
The optical sensor gets corresponding N*M time difference based on the N*M light sensing element, by the N*M
Time difference be filtered it is hot-tempered after average, export the mean time difference.
10. according to the method described in claim 9, the processor calculates institute according to the electric signal using time-of-flight method
Target object is stated to the distance of the optical distance measurement apparatus, including：
The processor calculates the target object to described according to the mean time difference, using formula D=C* △ T/2
The distance of optical distance measurement apparatus, wherein, C is the light velocity, and △ T are mean time difference.
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