CN109031331A - Flight time ranging sensing chip and sensing device, electronic equipment - Google Patents
Flight time ranging sensing chip and sensing device, electronic equipment Download PDFInfo
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- CN109031331A CN109031331A CN201810889926.9A CN201810889926A CN109031331A CN 109031331 A CN109031331 A CN 109031331A CN 201810889926 A CN201810889926 A CN 201810889926A CN 109031331 A CN109031331 A CN 109031331A
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- sensing chip
- clock signal
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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
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
The present invention relates to a kind of flight time ranging sensing chip, a kind of sensing device and a kind of electronic equipment, the flight time ranging sensing chip includes: clock synchronization module, the clock synchronization module includes: Base clock unit, for generating reference clock signal；The clock synchronization module further include: clock signal input terminal, clock signal feedback end and switch unit, the clock signal input terminal, clock signal feedback end are connected to the Base clock unit by the switch unit, the switch unit is used to control the conducting and disconnection between the clock signal input terminal, clock signal feedback end and Base clock unit respectively, the clock signal input terminal is used for input clock signal, and the clock signal feedback end is for exporting feedback clock signal.The flight time ranging sensing chip can improve the synchronism of all angles sensing by cascade.
Description
Technical field
The present invention relates to field of sensing technologies more particularly to a kind of flight time distance measuring sensor flight time ranging to sense
Chip and sensing device, electronic equipment.
Background technique
The pulse signal that time-of-flight method (Time Of Flight, TOF) is issued by measurement measuring instrument is from being emitted to
Received time interval or the round-trip testee of laser once caused by phase realizing to the three-dimensional structure of testee or
The measurement of three-D profile.TOF measuring instrument can obtain gray level image and range image simultaneously, be widely used in motion sensing control, row
For numerous areas such as analysis, monitoring, automatic Pilot, artificial intelligence, machine vision and automatic 3D modelings.
Flight time ranging (TOF) sensor generally comprises: light source module and illuminant module；The light source module is for sending out
The light wave of specific band and frequency is penetrated, the light wave reflects on the surface of testee, and reflected light is by the illuminant module
It is received；The illuminant module is according to transmitting light wave and receives the time difference between light wave or phasometer calculating testee
Depth information.
The illuminant module of TOF sensor includes that a TOF sensing chip makes since described image sensing chip size is limited
The photosensitive limited viewing angle of the illuminant module is obtained, single image sensing chip can not obtain the letter of the measured object depth in larger range
Breath, such as need to monitor different perspectives in the same space simultaneously.
In the prior art, in order to expand the monitoring visual angle of TOF sensor, multiple and different sensing directions are usually set
Image sensor chip, still, the problems such as will lead to signal delay due to circuit transmission or other many factors, so that each TOF
Clock between sensing chip is asynchronous, can not be same between the image for causing the image sensor chip at different angle to obtain
Step, is unfavorable for monitoring in real time.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of flight time distance measuring sensor and sensing devices, electronics
Equipment to improve the imaged viewing angle of sensor, and improves the synchronism being imaged at different perspectives.
To solve the above-mentioned problems, the present invention provides a kind of flight time ranging sensing chips, comprising: the synchronous mould of clock
Block, the clock synchronization module includes: Base clock unit, for generating reference clock signal；The clock synchronization module is also
It include: clock signal input terminal, clock signal feedback end and switch unit, the clock signal input terminal, clock signal are anti-
Feedback end is connected to the Base clock unit by the switch unit, and the switch unit for controlling the clock letter respectively
Conducting and disconnection number between input terminal, clock signal feedback end and Base clock unit, the clock signal input terminal are used for
Input clock signal, the clock signal feedback end is for exporting feedback clock signal.
Optionally, comprising: the clock signal input terminal includes first input end and the second input terminal, first input
End is for inputting chip exterior clock signal；Second input terminal is used for input feedback clock signal.
Optionally, further include at least one functional clock unit, connect with the Base clock unit, according to the reference
Clock signal forms functional clock signal.
Optionally, further includes: control module, sensing module and analog-to-digital conversion module；The control module is connected to described
Clock synchronization module, the sensing module are connected to the control module, and the analog-to-digital conversion module is connected to the sensing mould
Block and clock synchronization module.
To solve the above-mentioned problems, technical solution of the present invention also provides a kind of flight time ranging sensing device, comprising:
Main sensing chip and at least one from sensing chip, the main sensing chip and it is described from sensing chip be flight time ranging
Sensing chip, the flight time ranging sensing chip includes clock synchronization module；The synchronous mould of the clock of the main sensing chip
Block is connected to the clock synchronization module from sensing chip, is used in the flight time ranging sensing device course of work, to
Reference clock signal is sent from the clock synchronization module of sensing chip, keeps the internal clocking from sensing chip and the master
The internal clocking of sensing chip is consistent.
Optionally, the clock synchronization module includes: Base clock unit, for generating reference clock signal；The master
The Base clock unit of sensing chip is connected to the Base clock unit from sensing chip.
Optionally, the clock synchronization module further include: clock signal input terminal, clock signal feedback end and switch are single
Member, the clock signal input terminal, clock signal feedback end are connected to the Base clock unit, institute by the switch unit
Switch unit is stated for controlling leading between the clock signal input terminal, clock signal feedback end and Base clock unit respectively
Through and off are opened, and the clock signal input terminal is used for input clock signal, when the clock signal feedback end is for exporting feedback
Clock signal；The clock signal feedback end of the main sensing chip is connected to the clock signal input terminal from sensing chip.
Optionally, the clock signal input terminal includes first input end and the second input terminal, and the first input end is used
In input chip exterior clock signal；Second input terminal is used for input feedback clock signal.
Optionally, when the main sensing chip is in running order, the switch unit of the main sensing chip is for controlling
The first input end of the main sensing chip is connected with the Base clock unit, the second input terminal and the Base clock unit
It disconnects, clock signal feedback end and the Base clock unit disconnect.
Optionally, described to be used to control from the switch unit of sensing chip when described in running order from sensing chip
Described to disconnect from the first input end, clock signal feedback end and the Base clock unit of sensing chip, control is described from biography
Second input terminal of sense chip is connected with Base clock unit.
Optionally, further includes: more than two processors, respectively with the main sensing chip and it is described at least one from biography
Sense chip connects one to one, for it is corresponding receive main sensing chip and each sensing data exported from sensing chip and to
Main sensing chip and from sensing chip issue control signal respectively sends control signal.
Optionally, further includes: a processor, with the main sensing chip and it is described at least one from sensing chip connect
Connect, for receive main sensing chip and from sensing chip export sensing data and with main sensing chip and from sensing chip it
Between transmission of control signals.
Optionally, further includes: light source module is connect with the main sensing chip.
Optionally, further includes: multiple light sources module, be respectively connected to the main sensing chip and at least one from sensing core
Piece.
Optionally, the main sensing chip and at least one from sensing chip in one plane array arrangement；Alternatively, institute
State main sensing chip and at least one from sensing chip the array arrangement on a curved surface.
Optionally, the flight time ranging sensing chip further include: control module, sensing module and analog-to-digital conversion mould
Block；The control module is connected to the clock synchronization module, and the sensing module is connected to the control module, the modulus
Conversion module is connected to the sensing module and clock synchronization module.
To solve the above problems, technical solution of the present invention also provides a kind of electronic equipment, including the above-mentioned flight time
Ranging sensing chip.
To solve the above problems, technical solution of the present invention also provides a kind of electronic equipment, including the above-mentioned flight time
Ranging sensing device.
The flight time ranging sensing device of the specific embodiment of the invention includes main sensing chip and from sensing chip, and
And the clock synchronization module of the main sensing chip is connected to each from sensing chip, sends the master from sensing chip to each
The feedback clock signal of sensing chip, so that each keep clock consistency between the main sensing chip from sensing chip,
So that each sensing chip can synchronize the sensing data for obtaining all angles.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the flight time ranging sensing chip of the embodiment of the invention；
Fig. 2 is that the structure of the clock synchronization module of the flight time ranging sensing chip of the embodiment of the invention is shown
It is intended to；
Fig. 3 is that the structure of the clock synchronization module of the flight time ranging sensing chip of the embodiment of the invention is shown
It is intended to；
Fig. 4 is the structural schematic diagram of the flight time ranging sensing device of the embodiment of the invention；
Fig. 5 is the structural schematic diagram of the flight time ranging sensing device of the embodiment of the invention；
Fig. 6 is the structural schematic diagram of the flight time ranging sensing device of the embodiment of the invention.
Specific embodiment
With reference to the accompanying drawing to the tool of flight time ranging sensing chip provided by the invention and sensing device, electronic equipment
Body embodiment elaborates.
Referring to FIG. 1, the structural schematic diagram of the flight time ranging sensing chip for the embodiment of the invention.
The flight time ranging sensing chip 100 includes: clock synchronization module 101, for providing chip interior clock,
And can be connect with other chips, keep the clock between different chips synchronous.The flight time ranging sensing chip 100 removes
Except the clock synchronization module 101, can also have a functional module of other forms, for example, sensing module, drive module,
Signal processing module etc..
The specific embodiment, the flight time ranging sensing chip 100 also control module 102,103 and of sensing module
Analog-to-digital conversion module 104；The control module 102 is connected to the clock synchronization module 101, and the sensing module 103 connects
To the control module 102, the analog-to-digital conversion module is connected to the sensing module 103 and clock synchronization module 101.
The clock synchronization module 101 is used to receive externally input clock signal, and accordingly to the control module 102
And analog-to-digital conversion module 104 provides internal clock signal.
The clock signal that the control module 102 is used to be provided according to the clock synchronization module 101 controls the sensing
Module 103 obtains sensing data.
The clock signal that the AD conversion unit 104 is provided according to the clock synchronization module 1001 is to the sensing mould
The analog sensed data that block 103 exports carry out analog-to-digital conversion, are changed into digital signal and export to ppu.
In other specific embodiments, the flight time ranging sensing chip 100 can also have other function mould
Block structure.
Referring to FIG. 2, the clock synchronization module of the flight time ranging sensing chip for the embodiment of the invention
101 structural schematic diagram.
The clock synchronization module 101 includes: Base clock unit 201, for generating reference clock signal；The clock
Synchronization module 101 further include: clock signal input terminal 202, clock signal feedback end 203 and switch unit 204, the clock
Signal input part 202, clock signal feedback end 203 are connected to the Base clock unit 201 by the switch unit 204,
The switch unit 204 for controlling the clock signal input terminal 202, clock signal feedback end 203 and Base clock respectively
Conducting and disconnection between unit 201, the clock signal input terminal 202 are used for input clock signal, and the clock signal is anti-
Feedback end 203 is for exporting feedback clock signal.
The Base clock unit 201 is used to generate a reference clock signal according to externally input external timing signal,
Reference signal as chip interior clock.In the specific embodiment, the Base clock unit 201 is believed according to the clock
The signal that number input terminal 202 inputs generates reference clock signal, also, the Base clock unit 201 can also be by described
The outside feedback clock signal of clock signal feedback end 203, such as the clock signal input to other row time ranging sensing chips
End inputs the feedback clock signal, so that internal clocking having the same in different time ranging sensing chip.
Include multiple switch element in the switch unit 204, is respectively used to control clock signal input terminal 202 and basis
Conducting and off-state between clock unit 201, between clock signal feedback end 203 and Base clock unit 201.It is described to open
The unlatching of each switch element can be controlled and break by a PLC technology element according to external control signal by closing unit 204
It opens.
The clock synchronization module 101 further includes at least one functional clock unit 205, with the Base clock unit
201 connections form functional clock signal according to the reference clock signal that the Base clock unit 201 generates.When different function
Clock unit 205 provides functional clock signal for the different function module into the time ranging sensing chip, such as wherein
The one or more control units or driving unit that one or more functions clock unit 205 is used for into control module 102 mention
For corresponding functional clock signal；One or more functions clock unit 205 be used for analog-to-digital conversion module 104 provide one or
Multiple corresponding functional clock signals.
The functional clock for each functional module that the functional clock unit 205 generates is based on the Base clock
The reference clock signal that unit 201 generates, therefore, the reference clock signal determines the interior of flight time ranging sensing chip
Portion's clock.Different flight time ranging sensing chips is only in respective 201 reference having the same of Base clock unit
When clock signal, it is just able to achieve synchronous working.
Referring to FIG. 3, for the synchronous mould of clock of the flight time ranging sensing chip of another specific embodiment of the present invention
The structural schematic diagram of block.
In the specific embodiment, the clock signal input terminal includes first input end 301 and the second input terminal 302,
The first input end 301 is for inputting chip exterior clock signal；Second input terminal 302 is for inputting other present invention
The feedback clock signal that the clock signal feedback end 203 of flight time ranging sensing chip in specific embodiment exports.It can
To be controlled between the first input end 301, the second input terminal 302 and Base clock unit 201 by the switch unit 204
Be switched on and off state, so that controlling the Base clock unit obtains first input end 301 or the input of the second input terminal 302
Clock signal.
Above-mentioned flight time ranging sensing chip multiple can cascade, and form flight time ranging sensing device.Due to tool
There are multiple flight time ranging sensing chips that the sensing visual angle of flight time ranging sensing device can be improved.
In a specific embodiment of the invention, the flight time ranging sensing device includes: main sensing chip and at least
One from sensing chip, the main sensing chip and it is described from sensing chip be flight time ranging sensing chip, it is described to fly
Row time ranging sensing chip includes clock synchronization module；The clock synchronization module of the main sensing chip is connected to from sensing core
The clock synchronization module of piece is used in the flight time ranging sensing device course of work, to the clock from sensing chip
Synchronization module sends reference clock signal, when keeping the inside of the clock signal from sensing chip and the main sensing chip
Clock is consistent.
Referring to FIG. 4, the structural schematic diagram of the flight time ranging sensing device for the embodiment of the invention.
The flight time ranging sensing device includes four flight time ranging sensing chips, one of them flight time
Ranging sensing chip is used as main sensing chip 400, other flight time ranging sensing chips from sensing chip 401.
The clock synchronization module 4001 of the main sensing chip 400 is connected to the clock synchronization module from sensing chip 401
4011, it is used in the flight time ranging sensing device course of work, to the clock synchronization module from sensing chip 401
4011 send reference clock signal, keep in the internal clocking and the main sensing chip 4001 from sensing chip 4011
Portion's clock is consistent.
In the specific embodiment of the present invention, the main sensing chip 400 and from sensing chip 401 have it is identical
Structure, specifically as described in Fig. 1 and its corresponding specific embodiment, details are not described herein.
The main sensing chip 400 is with the sensing chip 401 in one plane along array arrangement or the main biography
Sense chip 400 and the sensing chip 401 can also may be used in other specific embodiments on a curved surface along array arrangement
To have other arrangement forms, rationally arranged according to specific requirements.
In other specific embodiments, each from sensing chip 401 can also be respectively connected at least one it is secondary from
Sensing chip sends reference clock signal to secondary from sensing chip, keep it is described it is secondary from sensing chip with from sensing chip
401 internal clocking is consistent.The secondary sensing chip can be with described from sensing chip, main sensing chip knot having the same
Structure.
Referring to FIG. 5, the structural schematic diagram of the flight time ranging sensing device for another specific embodiment.
The flight time ranging sensing device includes main sensing chip 500 and from sensing chip 501, the main sensing core
Piece 500 includes clock synchronization module 5001, described to include clock synchronization module 5011 from sensing chip 501.
The clock synchronization module 5001 includes: that Base clock unit 512, clock signal input terminal 515, clock signal are anti-
End 514 and switch unit 513 are presented, further includes at least one functional clock unit 511.
The clock synchronization module 5011 and the clock synchronization module 5001 structure having the same, specifically please refer to figure
2 and its corresponding specific embodiment.
The clock signal feedback end 514 of the main sensing chip 500 is connected to the clock signal input from sensing chip 501
End 525, for sending feedback clock signal from sensing chip 501 to described, so that the flight time ranging sensing device exists
Under working condition, the internal clocking of the main sensing chip 500 and it is consistent from the internal clocking of sensing chip 501, thus
Enable the main sensing chip 500 with from the synchronous sensing data for obtaining different angle of sensing chip 501, two chips obtain
There is no the time difference between the sensing data taken, to improve the object to be detected or field that the flight time ranging sensing device obtains
The depth information of scape or the accuracy of image.
The clock signal input terminal 515 of the main sensing chip 500 is for inputting external timing signal CK, when described basic
Clock unit 512 generates the reference clock signal of chip interior according to the external timing signal CK, and passes through the clock signal
Feedback clock signal is sent to described from sensing chip by feedback end 514.
In other specific embodiments of the invention, the clock signal input terminal 515,525 includes first input end
With the second input terminal, the first input end is for inputting chip exterior clock signal CK；Second input terminal is for inputting
Feedback clock signal.
When the main sensing chip 500 is in running order, the switch unit 513 of the main sensing chip 500 is for controlling
Make first input end and the Base clock unit 512 conducting, the second input terminal and Base clock of the main sensing chip 500
Unit 512 disconnects, clock signal feedback end 514 and the clock unit disconnect.It is described in running order from sensing chip 501
When, it is described to be used to control the first input end from sensing chip 501, clock letter from the switch unit 523 of sensing chip 501
Number feedback end 524 and the Base clock unit 522 disconnect, control second input terminal and basis from sensing chip 501
Clock unit 522 is connected.
The flight time ranging sensing device further include: light source module 505 is connect with the main sensing chip 500.Tool
Body, the light source module 505 is connected to the clock synchronization module 5001, by 5001 output light source of clock synchronization module
The corresponding clock signal of module 505, so that the internal clocking pair of the clock of the light source module 505 and main sensing chip 500
It answers.
In other specific embodiments, the flight time ranging sensing device can also include: multiple light sources module,
It is respectively connected to the main sensing chip 500, is one or more from sensing chip 501.The multiple light source module can be distinguished
Be connected to main sensing chip 500 and at least one from the clock synchronization module of sensing chip 501, with the sensing core that respectively connect
Piece internal clocking is corresponding.Preferably, multiple light sources module can be connected to the clock synchronization module of the main sensing chip 500
5001, to ensure to keep clock synchronous between different light source modules.
With continued reference to FIG. 5, the flight time ranging sensing device further includes a processor 502, at the same with it is described
Main sensing chip 500 and it is described from sensing chip 501 connect.
The processor 502 includes control signal transmission end 503 and data transmission terminal 504, is respectively connected to the master
Sensing chip 500 is connected with from the corresponding interface of sensing chip 501, for the corresponding main sensing chip 500 and each from biography of receiving
Sensing data that sense chip 501 exports and with main sensing chip and from transmission of control signals between sensing chip.The flight
Time ranging sensing device can by single processor 502 to all main sensing chip 500 and from sensing chip 501 into
Row control, and the main sensing chip 500 and all sensing datas obtained from sensing chip 501 are handled.This
In the case of kind, it is desirable that the processor 502 control ability with higher and data-handling capacity.The external timing signal
CK can also be exported by the processor 502.
Referring to FIG. 6, the structural schematic diagram of the flight time ranging sensing device for another specific embodiment of the present invention.
In the specific embodiment, the flight time ranging sensing device includes processor 502 and processor 600.Institute
Processor 502 is stated for receiving the sensing data and the transmission control letter between main sensing chip that main sensing chip 500 exports
Number；The processor 600 is used to receive the sensing data exported from sensing chip 501 and passes between sensing chip 501
Defeated control signal.In this case, for the control of the processor 502 and processor 600 can and data processing energy
Force request is lower, it is only necessary to can be controlled single chip and be capable of handling the sensing data of single chip.
In other specific embodiments, the quantity of the processor can also with main sensing chip, from sensing chip
Quantity does not correspond to, and single processor can carry out control to one or more sensing chips and to one or more sensing chips
Sensing data handled.Technical staff can select according to the actual performance of the processor of use.
It, can be according to practical application need at least one sensing chip of the flight time ranging sensing device
It asks, opens all or part therein time sensing chip；Or all or part of sensing core is only obtained by the processor
The sensing data of piece.
The flight time ranging sensing device of the specific embodiment of the invention includes main sensing chip and from sensing chip, and
And the clock synchronization module of the main sensing chip is connected to each from sensing chip, sends the master from sensing chip to each
The feedback clock signal of sensing chip, so that each keep clock consistency between the main sensing chip from sensing chip,
So that each sensing chip can synchronize the sensing data for obtaining all angles.
A specific embodiment of the invention also provides a kind of electronic equipment, when including flight in above-mentioned specific embodiment
Between ranging sensing chip；Further, a specific embodiment of the invention also provides a kind of electronic equipment, including above-mentioned specific reality
Apply the flight time ranging sensing device in mode.The electronic equipment can be for sweeping robot, camera etc., can be simultaneously
The real-time pictures of the synchronous multiple angles of monitoring, to improve the accuracy that electronic equipment obtains surrounding enviroment.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (18)
1. a kind of flight time ranging sensing chip characterized by comprising
Clock synchronization module, the clock synchronization module includes: Base clock unit, for generating reference clock signal；
The clock synchronization module further include: clock signal input terminal, clock signal feedback end and switch unit, the clock
Signal input part, clock signal feedback end are connected to the Base clock unit, the switch unit by the switch unit
For controlling conducting and disconnection between the clock signal input terminal, clock signal feedback end and Base clock unit respectively,
The clock signal input terminal is used for input clock signal, and the clock signal feedback end is for exporting feedback clock signal.
2. flight time ranging sensing chip according to claim 1 characterized by comprising the clock signal is defeated
Entering end includes first input end and the second input terminal, and the first input end is for inputting chip exterior clock signal；Described
Two input terminals are used for input feedback clock signal.
3. flight time ranging sensing chip according to claim 1, which is characterized in that when further including at least one function
Clock unit is connect with the Base clock unit, forms functional clock signal according to the reference clock signal.
4. flight time ranging sensing chip according to claim 1, which is characterized in that further include: control module, sensing
Module and analog-to-digital conversion module；The control module is connected to the clock synchronization module, and the sensing module is connected to described
Control module, the analog-to-digital conversion module are connected to the sensing module and clock synchronization module.
5. a kind of flight time ranging sensing device characterized by comprising
Main sensing chip and at least one from sensing chip, the main sensing chip and it is described from sensing chip be the flight time
Ranging sensing chip, the flight time ranging sensing chip includes clock synchronization module；The clock of the main sensing chip is same
Step module is connected to the clock synchronization module from sensing chip, in the flight time ranging sensing device course of work
In, send reference clock signal to from the clock synchronization module of sensing chip, keep the internal clocking from sensing chip with
The internal clocking of the main sensing chip is consistent.
6. flight time ranging sensing device according to claim 5, which is characterized in that the clock synchronization module packet
It includes: Base clock unit, for generating reference clock signal；The Base clock unit of the main sensing chip be connected to it is described from
The Base clock unit of sensing chip.
7. flight time ranging sensing device according to claim 6, which is characterized in that the clock synchronization module also wraps
It includes: clock signal input terminal, clock signal feedback end and switch unit, the clock signal input terminal, clock signal feedback
End is connected to the Base clock unit by the switch unit, and the switch unit for controlling the clock signal respectively
Conducting and disconnection between input terminal, clock signal feedback end and Base clock unit, the clock signal input terminal is for defeated
Enter clock signal, the clock signal feedback end is for exporting feedback clock signal；The clock signal of the main sensing chip is anti-
Feedback end is connected to the clock signal input terminal from sensing chip.
8. flight time ranging sensing device according to claim 7, which is characterized in that the clock signal input terminal packet
First input end and the second input terminal are included, the first input end is for inputting chip exterior clock signal；Second input
End is used for input feedback clock signal.
9. flight time ranging sensing device according to claim 8, which is characterized in that the main sensing chip is in work
When making state, the switch unit of the main sensing chip be used to control the main sensing chip first input end and the basis
Clock unit conducting, the second input terminal and Base clock unit disconnection, clock signal feedback end and the Base clock list
Member disconnects.
10. flight time ranging sensing device according to claim 8, which is characterized in that described to be in from sensing chip
It is described to be used to control the first input end from sensing chip, clock letter from the switch unit of sensing chip when working condition
Number feedback end and the Base clock unit disconnect, and control is described to be led from the second input terminal of sensing chip with Base clock unit
It is logical.
11. flight time ranging sensing device according to claim 5, which is characterized in that further include: more than two places
Manage device, respectively with the main sensing chip and it is described at least one connect one to one from sensing chip, receive master for corresponding
Sensing chip and it is each from sensing chip export sensing data and to main sensing chip and from sensing chip issue control letter
Control signal is sent number respectively.
12. flight time ranging sensing device according to claim 5, which is characterized in that further include: a processor,
With the main sensing chip and it is described at least one connect from sensing chip, for receive main sensing chip and from sensing chip it is defeated
Sensing data out and with main sensing chip and from transmission of control signals between sensing chip.
13. flight time ranging sensing device according to claim 5, which is characterized in that further include: light source module, with
The main sensing chip connection.
14. flight time ranging sensing device according to claim 5, which is characterized in that further include: multiple light sources mould
Block, be respectively connected to the main sensing chip and at least one from sensing chip.
15. flight time ranging sensing device according to claim 5, which is characterized in that the main sensing chip and extremely
Few one from sensing chip in one plane array arrangement；Alternatively, the main sensing chip and at least one from sensing chip
The array arrangement on a curved surface.
16. flight time ranging sensing device according to claim 5, which is characterized in that the flight time ranging passes
Sense chip further include: control module, sensing module and analog-to-digital conversion module；The control module is connected to the synchronous mould of the clock
Block, the sensing module are connected to the control module, and the analog-to-digital conversion module is connected to the sensing module and clock is same
Walk module.
17. a kind of electronic equipment, which is characterized in that passed including flight time ranging according to any one of claims 1 to 4
Sense chip.
18. a kind of electronic equipment, which is characterized in that including the flight time ranging as described in any one of claim 5 to 16
Sensing device.
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| CN201810889926.9A CN109031331A (en) | 2018-08-07 | 2018-08-07 | Flight time ranging sensing chip and sensing device, electronic equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113055000A (en) * | 2021-03-23 | 2021-06-29 | 加特兰微电子科技(上海)有限公司 | Sensing system, related device and method for acquiring working clock signal |
| CN114072255A (en) * | 2019-07-31 | 2022-02-18 | X开发有限责任公司 | Mobile robot sensor configuration |
| CN114466446A (en) * | 2022-04-12 | 2022-05-10 | 杭州优智联科技有限公司 | Time sequence synchronization method, device and medium based on UWB system |
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