CN109031333A - Distance measurement method and device, storage medium, electronic equipment - Google Patents
Distance measurement method and device, storage medium, electronic equipment Download PDFInfo
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- CN109031333A CN109031333A CN201810962047.4A CN201810962047A CN109031333A CN 109031333 A CN109031333 A CN 109031333A CN 201810962047 A CN201810962047 A CN 201810962047A CN 109031333 A CN109031333 A CN 109031333A
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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
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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
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
This application involves a kind of distance measurement methods and device, electronic equipment, computer readable storage medium, by the real-time range for emitting the light wave measurement moving target of initial modulation frequency, the first real-time range is obtained, initial modulation frequency is screens corresponding from preset modulation frequency set according to the initial distance of moving target；When the first real-time range falls in the measurement of the light wave of initial modulation frequency except section, then adjusting initial modulation frequency is new modulating frequency, and new modulating frequency and initial modulation frequency are adjacent in preset modulation frequency sequence；By emitting the real-time range of the light wave measurement moving target of new modulating frequency, the second real-time range is obtained, using the second real-time range as the real-time range of moving target.During moving target is subjected to displacement, the frequency of light wave is adjusted in time so as to accurately measure the real-time range of moving target.
Description
Technical field
This application involves field of computer technology, more particularly to a kind of distance measurement method and device, storage medium, electricity
Sub- equipment.
Background technique
TOF (Time of Flight) ranging technology has application scenarios abundant, in automobile, industry, recognition of face, is good for
Health, the numerous areas such as game, amusement, film special efficacy, 3D printing and robot have application.TOF (Time of Flight) is surveyed
Just refer to jet lag distance measuring method away from technology.Traditional TOF measurement method, which always is the ranging of static target, to be compared
Accurately, measured real-time range accuracy is lower when working as to moving target progress target following.
Summary of the invention
The embodiment of the present application provides a kind of distance measurement method and device, storage medium, electronic equipment, can to improve away from
Accuracy from measurement.
A kind of distance measurement method, comprising:
By emitting the real-time range of the light wave measurement moving target of initial modulation frequency, the first real-time range, institute are obtained
Stating initial modulation frequency is screen corresponding from preset modulation frequency sequence according to the initial distance of the moving target；
When first real-time range falls in the measurement of the light wave of the initial modulation frequency except section, then adjust
The whole initial modulation frequency is new modulating frequency, the new modulating frequency and the initial modulation frequency described default
It is adjacent in modulating frequency sequence；
By emitting the real-time range of moving target described in the light wave measurement of the new modulating frequency, second is obtained in real time
Distance, using second real-time range as the real-time range of the moving target.
A kind of distance-measuring device, described device include:
First real-time range obtains module, for the real-time of the light wave measurement moving target by transmitting initial modulation frequency
Distance, obtains the first real-time range, and the initial modulation frequency is according to the initial distance of the moving target from default modulation
Correspondence screens in frequency sequence；
Frequency regulation block, for when first real-time range fall in the initial modulation frequency light wave measurement away from
When from except section, then adjusting the initial modulation frequency is new modulating frequency, the new modulating frequency and described initial
Modulating frequency is adjacent in the preset modulation frequency sequence；
Second real-time range obtains module, for moving mesh described in the light wave measurement by emitting the new modulating frequency
Target real-time range obtains the second real-time range, using second real-time range as the real-time range of the moving target.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
The step of distance measurement method as described above is realized when row.
A kind of electronic equipment including memory, processor and stores the meter that can be run on a memory and on a processor
The step of calculation machine program, processor executes distance measurement method as described above when executing computer program.
Above-mentioned distance measurement method and device, storage medium, electronic equipment, the light wave by emitting initial modulation frequency are surveyed
The real-time range for measuring moving target, obtains the first real-time range, initial modulation frequency be according to the initial distance of moving target from
Correspondence screens in preset modulation frequency set；When the first real-time range fall in the measurement of the light wave of initial modulation frequency away from
When from except section, then adjusting initial modulation frequency is new modulating frequency, and new modulating frequency and initial modulation frequency are pre-
If adjacent in modulating frequency sequence；By emitting the real-time range of the light wave measurement moving target of new modulating frequency, the is obtained
Two real-time ranges, using the second real-time range as the real-time range of moving target.The measurement distance of the light wave of initial modulation frequency
Section is to precompute the light wave of the modulating frequency can accurately carry out the distance range of range measurement.It is sent out in moving target
During raw displacement, judge whether the real-time range according to measured by the light wave of initial modulation frequency falls in initial modulation frequency
Light wave measurement except section, thus in time find initial modulation frequency light wave whether can also accurately measure movement
The real-time range of target is adjusted to new modulating frequency if real-time range can not be measured accurately in time, so as to accurately
Measure the real-time range of moving target.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the internal structure chart of electronic equipment in one embodiment；
Fig. 2 is the flow chart of distance measurement method in one embodiment；
Fig. 3 is the flow chart of setting method of the measurement of the light wave of initial modulation frequency apart from section；
Fig. 4 is according to a kind of light wave of adjacent modulation frequency, a kind of reality that the light wave measurement of initial modulation frequency is obtained
When distance and the real-time range corresponding to accuracy value, the curve synoptic diagram drawn out；
Fig. 5 is the reality that is obtained according to the light wave measurement of a kind of light wave of initial modulation frequency, two kinds of adjacent modulation frequencies
When distance and the real-time range corresponding to accuracy value, the curve synoptic diagram drawn out；
Fig. 6 is the structural schematic diagram of distance-measuring device in one embodiment；
Fig. 7 is the structural schematic diagram of distance-measuring device in another embodiment；
Fig. 8 is structural schematic diagram of the measurement of the light wave of initial modulation frequency in Fig. 7 apart from section setup module；
Fig. 9 is the schematic diagram of image processing circuit in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
Fig. 1 is the schematic diagram of internal structure of electronic equipment in one embodiment.As shown in Figure 1, the electronic equipment includes logical
Cross processor, memory and the network interface of system bus connection.Wherein, which is used to provide calculating and control ability,
Support the operation of entire electronic equipment.Memory for storing data, program etc., at least one computer journey is stored on memory
Sequence, the computer program can be executed by processor, to realize the scene suitable for electronic equipment provided in the embodiment of the present application
Recognition methods.Memory may include that magnetic disk, CD, read-only memory (Read-Only Memory, ROM) etc. are non-volatile
Storage medium or random access memory (Random-Access-Memory, RAM) etc..For example, in one embodiment, depositing
Reservoir includes non-volatile memory medium and built-in storage.Non-volatile memory medium is stored with operating system and computer journey
Sequence.The computer program can be performed by processor, for realizing a kind of range measurement provided by following each embodiment
Method.Built-in storage provides the running environment of cache for the operating system computer program in non-volatile memory medium.
Network interface can be Ethernet card or wireless network card etc., for being communicated with external electronic equipment.The electronic equipment can
To be mobile phone, tablet computer or personal digital assistant or wearable device etc..
In one embodiment, as shown in Fig. 2, providing a kind of distance measurement method, it is applied in Fig. 1 in this way
It is illustrated for electronic equipment, comprising:
Step 220, by emitting the real-time range of the light wave measurement moving target of initial modulation frequency, first is obtained in real time
Distance, initial modulation frequency are screen corresponding from preset modulation frequency sequence according to the initial distance of moving target.
Pass through transmitting light wave and receives through people or the reflected light wave of object, calculate transmitting light wave and receive reflection
The time difference of light wave back, so that it may the distance for calculating people or object range transmission, receiving light wave device.Wherein, emit,
Reception light wave device can there are many kinds of equipment, such as TOF (Time of Flight, flight time) distance measuring sensor, laser
Rangefinder etc., wherein laser range finder can be using infrared laser, visible laser or ultraviolet laser etc..
Distance-measuring equipment can generally launch the light wave of a variety of different modulating frequencies.By above-mentioned distance-measuring equipment to movement mesh
When mark measures real-time range, need first to determine the initial modulation frequency of emitted light wave.For example, can be according to current fortune
Initial distance between moving-target and distance-measuring equipment is determined, and a kind of general light wave of modulating frequency can be correspondingly arranged roughly
Measurement apart from section.For example, the light wave of 60MHz can be used to measure distance within 2.5M (rice), the light wave of 30MHz can be used
Measure distance within 5M (rice), the light wave of 15MHz can be used to measure distance within 10M (rice).So out of distance-measuring equipment
Modulating frequency corresponding with the initial distance is screened in the preset modulation frequency sequence set as initial modulation frequency.Pass through
The real-time range for emitting the light wave measurement moving target of initial modulation frequency, obtains the first real-time range.Occur in moving target
During displacement, light wave is emitted by distance-measuring equipment and is received through the reflected light wave of moving target, transmitting light is calculated
Wave and the time difference for receiving reflected light wave, so that it may calculate between distance-measuring equipment and moving target first in real time away from
From.First real-time range is clearly that can be followed by moving target and constantly changed.It is specified that moving target can be user
, it is also possible to some moving object being located in current scene that distance-measuring equipment automatically identifies.
Step 240, it when the first real-time range falls in the measurement of the light wave of initial modulation frequency except section, then adjusts
Whole initial modulation frequency is new modulating frequency, new modulating frequency phase in preset modulation frequency sequence with initial modulation frequency
It is adjacent.
During moving target is subjected to displacement, the first real-time range is clearly that can be followed by moving target and constantly send out
Changing.After the light wave using initial modulation frequency calculates the first real-time range, whether the first real-time range is judged
The measurement of the light wave of initial modulation frequency is fallen in except section.The measurement of the light wave of initial modulation frequency is root apart from section
It is correspondingly arranged according to the light wave of adjacent with initial modulation frequency modulating frequency in preset modulation frequency sequence, is more accurate
Measurement apart from section.When judging result, which is, is, then the first real-time range has fallen in the light wave of initial modulation frequency
Measurement then illustrates that the first real-time range measured by initial modulation frequency at this time has been inaccurate except section.Cause
This, it is necessary to initial modulation frequency is adjusted to new modulating frequency.The actual range of moving target should be fallen in newly at this time
Modulating frequency measurement within section, and new modulating frequency and initial modulation frequency is in preset modulation frequency sequence
In it is adjacent.Because the measurement of the light wave of initial modulation frequency is according in preset modulation frequency sequence and initially apart from section
What the light wave of the adjacent modulating frequency of modulating frequency was correspondingly arranged is more accurate measurement apart from section.For example, it is assumed that ranging
Built-in this 3 kinds of modulating frequencies of 15MHz, 30MHz and 60MHz, i.e. distance-measuring equipment can emit this 3 kinds of modulating frequencies in equipment
Light wave.It is real-time using first of moving target measured by the light wave of 15MHz at this time so as initial modulation frequency 15MHz
Distance has fallen in the measurement of the light wave of 15MHz except section, then just needs 15MHz being adjusted to 30MHz.Using 15MHz
Light wave real-time range is measured to moving target.
Step 260, by emitting the real-time range of the light wave measurement moving target of new modulating frequency, second is obtained in real time
Distance, using the second real-time range as the real-time range of moving target.
After the modulating frequency that the initial modulation frequency of distance-measuring equipment is adjusted to new, so that it may by emitting new tune
The real-time range of the light wave measurement moving target of frequency processed, obtains the second real-time range, using the second real-time range as movement mesh
Target real-time range.Because moving target constantly moves, then next time is transported using the light wave measurement of new modulating frequency
After the real-time range of moving-target, need to judge again whether the real-time range of this time resulting moving target falls in the new tune
The measurement of the light wave of frequency processed is except section, if then illustrating to measure moving target using the new modulating frequency at this time
Real-time range it is inaccurate, just also need to be adjusted as the modulating frequency new with this new modulating frequency again
Adjacent modulating frequency.Then the reality of moving target is measured using the light wave of the modulating frequency adjacent with the new modulating frequency
When distance.So circulation is gone down, it just can guarantee that it is accurate for measuring the real-time range of obtained moving target every time.
In the embodiment of the present application, the measurement of the light wave of initial modulation frequency is to precompute the modulating frequency apart from section
Light wave can accurately carry out the distance range of range measurement.During moving target is subjected to displacement, judge according to just
Whether real-time range measured by the light wave of beginning modulating frequency falls in the measurement of the light wave of initial modulation frequency except section,
To find whether the light wave of initial modulation frequency can also accurately measure the real-time range of moving target in time, if can not be quasi-
Really measurement real-time range, then be adjusted to new modulating frequency in time, so as to accurately measure the real-time range of moving target.
In one embodiment, pass through the real-time range of the light wave measurement moving target of transmitting initial modulation frequency, comprising:
By the light wave measurement moving target of flight time TOF measurement sensor emission initial modulation frequency it is real-time away from
From TOF measurement sensor can emit the light wave of any modulating frequency in preset modulation frequency sequence.
In the embodiment of the present application, the flight time range measurement principle of TOF measurement sensor is: by continuously transmitting to object
Then light pulse receives the light pulse that returns from object with sensor, by flight (round-trip) time of detecting optical pulses come
To object distance.What TOF measurement sensor was emitted is usually near infrared light.It is built-in multiple red in TOF measurement sensor
UV light-emitting diode, every kind of infrared light-emitting diode can launch the light wave of different modulating frequency.In in TOF measurement sensor
The different modulating frequency for the light wave that these infrared light-emitting diodes set can emit just constitutes the TOF measurement sensor
Preset modulation frequency sequence, different modulating frequency is arranged successively in the sequence, such as successively according to sequence from small to large
Arrangement.TOF measurement sensor can emit the light wave of any modulating frequency in preset modulation frequency sequence.
In one embodiment, the measurement of the light wave of initial modulation frequency is according to section in preset modulation frequency sequence
The light wave of the modulating frequency adjacent with initial modulation frequency is correspondingly arranged in column.
In the embodiment of the present application, the light wave of adjacent modulation frequency is obtained, adjacent modulation frequency is in preset modulation frequency sequence
In it is adjacent with initial modulation frequency；Movement is measured respectively from by the light wave of adjacent modulation frequency, the light wave of initial modulation frequency
In the coordinate system of distance and precision that the real-time range of target is obtained, obtain adjacent modulation frequency the corresponding curve of light wave with
The corresponding numerical value apart from coordinate of intersection point is denoted as intersection point distance by the intersection point of the corresponding curve of the light wave of initial modulation frequency；?
Intersection point distance nearby calculates the range measurement error of the light wave of initial modulation frequency；According to intersection point distance and initial modulation frequency
Light wave range measurement error calculation go out initial modulation frequency light wave measurement apart from section.
In one embodiment, as shown in figure 3, the measurement of the light wave of initial modulation frequency is being preset according to section
The light wave of the modulating frequency adjacent with initial modulation frequency is correspondingly arranged in modulating frequency sequence, comprising:
Step 320, the light wave of adjacent modulation frequency is obtained, adjacent modulation frequency is in preset modulation frequency sequence and initially
Modulating frequency is adjacent.
The light wave of adjacent modulation frequency can be one or two, such as when infrared hair built-in in TOF measurement sensor
Optical diode can emit the light wave of this 3 kinds of modulating frequencies of 15MHz, 30MHz and 60MHz, these three modulating frequencies constitute pre-
If modulating frequency sequence.So when initial modulation frequency be preset modulation frequency sequence in both sides value when, then adjacent modulation frequency
The light wave of rate is just only a kind of.When initial modulation frequency be preset modulation frequency sequence among this value when, then adjacent modulation frequency
The light wave of rate is with regard to there are two types of.
Step 340, moving target is measured respectively from by the light wave of adjacent modulation frequency, the light wave of initial modulation frequency
In the coordinate system of distance and precision that real-time range is obtained, the corresponding curve of light wave and initial tune of adjacent modulation frequency are obtained
The corresponding numerical value apart from coordinate of intersection point is denoted as intersection point distance by the intersection point of the corresponding curve of the light wave of frequency processed.
In advance under experimental conditions, set a moving target from apart from TOF measurement sensor 0M (rice) to infinite point
Setting in motion, respectively by the light wave of adjacent modulation frequency, initial modulation frequency light wave measurement moving target real-time range,
And calculate the light wave of adjacent modulation frequency, the accuracy value for the real-time range that the light wave measurement of initial modulation frequency is obtained.Root
The real-time range obtained according to the light wave measurement of the light wave of adjacent modulation frequency, initial modulation frequency and real-time range institute are right
The accuracy value answered draws curve in precision-real-time range coordinate system.The intersection point that curve is obtained from the curve drawn, when
When the optical wave number of adjacent modulation frequency is one, then the number of intersection point is one；When the optical wave number of adjacent modulation frequency is
At two, then the number of intersection point is two.
As shown in figure 4, when to be the optical wave number of adjacent modulation frequency be one, using the real-time range measured as horizontal seat
Mark, using the corresponding precision of the real-time range as ordinate, according to the light wave of adjacent modulation frequency, the light wave of initial modulation frequency
Measure accuracy value corresponding to obtained real-time range and the real-time range, the curve graph drawn out.Curve 1 is in figure
Precision-distance Curve corresponding to frequency 1 (initial modulation frequency), curve 2 are essence corresponding to frequency 2 (adjacent modulation frequency)
Degree-distance Curve.A point is the intersection point of curve 1 and curve 2, and the numerical value of the corresponding abscissa of A point is denoted as intersection point distance a.In A
Abscissa corresponding to two curves and ordinate are all equal at point, i.e., measured real-time range is equal, and precision is also identical.
Step 360, the range measurement error of the light wave of initial modulation frequency is calculated near intersection point distance.
R1 is right endpoint of the measurement of the light wave of initial modulation frequency apart from section, it is assumed that intersection point distance a is 10M (rice),
The range measurement error of the light wave of initial modulation frequency is so just calculated near 10M.The actual distance of moving target is known
, so the corresponding average distance measurement error of the light wave that initial modulation frequency can be calculated near 10M, such as work as fortune
When the actual distance of moving-target is 9.8M, and use the real-time range of the light wave measurement of initial modulation frequency out for 10.2M, then
Show that the corresponding average distance measurement error (R1-a) of the light wave of initial modulation frequency is 0.4M.I.e. using initial modulation frequency
Real-time range measured by light wave is 0.4M bigger than normal than actual distance.So working as reality measured by the light wave using initial modulation frequency
When distance be 10.4M when, and actual distance be 10M, at this time when in figure be less than or equal to 10.4M when, initial modulation
The precision of real-time range measured by the light wave of frequency is higher than the light wave of adjacent modulation frequency.Obtain the light wave of initial modulation frequency
Measurement apart from section be less than or equal to R1 be less than or equal to 10.4M, i.e., R1 at this time be 10.4M.
Similarly, so while it is (corresponding on the right side of A point from the precision using 2 ranging of frequency obtained in curve 1 and curve 2
It is a point to abscissa) it is greater than or equal to the precision for using 1 ranging of frequency.It is left in a point using the precision of 2 ranging of frequency in practice
It is just had been above at the 0.4M of side or equal to the precision using 1 ranging of frequency.
Step 380, initial modulation is gone out according to the range measurement error calculation of the light wave of intersection point distance and initial modulation frequency
The measurement of the light wave of frequency is apart from section.
By intersection point distance plus the range measurement error of the light wave of initial modulation frequency, initial modulation frequency has just been calculated
Light wave measurement apart from section.For example, intersection point distance has just obtained 10.4M plus 0.4M for 10M.The light of initial modulation frequency
The measurement of wave is apart from the section that section is less than or equal to 10.4M.The light wave of initial modulation frequency is in the section for being less than or equal to 10.4M
Interior measurement accuracy is above the light wave of adjacent modulation frequency.
L1 is left end point of the measurement of the light wave of adjacent modulation frequency apart from section, it is assumed that counting near intersection point distance
Calculate the measurement error (a-L1) of the light wave of adjacent modulation frequency are as follows: when the actual distance of moving target is 10.2M, and use phase
The real-time range that the light wave measurement of adjacent modulating frequency goes out is 9.8M, then obtaining the corresponding average departure of the light wave of adjacent modulation frequency
It is 0.4M, 0.4M less than normal from measurement error.So obtain when use real-time range measured by the light wave of adjacent modulation frequency for
When 9.6M, and actual distance is 10M, at this time when being greater than or equal to 9.6M in Fig. 4, the light of adjacent modulation frequency
The precision of real-time range measured by wave will be higher than or equal to initial modulation frequency light wave.Obtain the light of adjacent modulation frequency
It is more than or equal to 9.6M that the measurement of wave, which is greater than or equal to L1 apart from section, i.e., L1 at this time is 9.6M.
In the embodiment of the present application, if avoiding the distance of the only light wave using 10M as two kinds of modulating frequencies in this way
The separation of surveying range, then when occur use real-time range measured by the light wave of initial modulation frequency for 10.2M, then just recognize
For have exceeded initial modulation frequency light wave range measurement section, and actual distance is 9.8M, and is less than 10M.At this time will
Initial modulation frequency changes adjacent modulation frequency into, and the light wave of adjacent modulation frequency is used to measure real-time range for 9.4M, also not
In the range measurement section of the light wave of adjacent modulation frequency, it is necessary to initial modulation frequency is switched back into, it thus can be at two
Constantly switch repeatedly between modulating frequency, and these switchings are really beyond all doubt, can fall into endless loop.
In one embodiment, when adjacent modulation frequency includes the first adjacent modulation frequency, and the first adjacent modulation frequency
When greater than initial modulation frequency, the measurement of the light wave of initial modulation frequency includes first end point apart from section, and first end point is to hand over
Point distance subtracts the range measurement error of the light wave of initial modulation frequency；The corresponding measurement of initial modulation frequency is big apart from section
In or equal to first end point the section that is constituted of distance range.
Specifically, it is assumed that curve 1 is precision-corresponding to frequency 1 (the first adjacent modulation frequency) in figure
Distance Curve, curve 2 is precision-distance Curve corresponding to frequency 2 (initial modulation frequency), wherein the first adjacent modulation frequency
Greater than initial modulation frequency, the more big measurable distance value of frequency is smaller.A point is the intersection point of curve 1 and curve 2, and A point is corresponding
The numerical value of abscissa be denoted as intersection point distance a.Abscissa corresponding to two curves and ordinate are all equal at the A point, i.e. institute
The real-time range measured is equal, and precision is also identical.
The range measurement error of the light wave of initial modulation frequency is (a-L1), and first end point is that intersection point distance subtracts initial tune
The range measurement error of the light wave of frequency processed, so showing that first end point of the measurement of initial modulation frequency apart from section is
L1.The section that the measurement of the light wave of initial modulation frequency is constituted apart from section for the distance range more than or equal to L1.
In the embodiment of the present application, the number for defining adjacent modulation frequency is one, i.e. the first adjacent modulation frequency, and the
One adjacent modulation frequency is greater than the case where initial modulation frequency.The measurement for having obtained the light wave of initial modulation frequency is apart from section
The section constituted more than or equal to the distance range of first end point.
In one embodiment, when adjacent modulation frequency includes the second adjacent modulation frequency, and the second adjacent modulation frequency
When less than initial modulation frequency, the measurement of initial modulation frequency includes the second endpoint apart from section, and the second endpoint is intersection point distance
In addition the range measurement error of the light wave of initial modulation frequency；The measurement of the light wave of initial modulation frequency apart from section be less than or
The section constituted equal to the distance range of the second endpoint.
Specifically, as shown in figure 4, curve 1 is precision-distance Curve corresponding to frequency 1 (initial modulation frequency) in figure,
Curve 2 is precision-distance Curve corresponding to frequency 2 (the second adjacent modulation frequency), wherein the second adjacent modulation frequency is less than
Initial modulation frequency, the smaller measurable distance value of frequency are bigger.A point is the intersection point of curve 1 and curve 2, the corresponding cross of A point
The numerical value of coordinate is denoted as intersection point distance a.Abscissa corresponding to two curves and ordinate are all equal at the A point, i.e., measured
Real-time range it is equal, and precision is also identical.
The range measurement error of the light wave of initial modulation frequency is (R1-a), and the second endpoint is that intersection point distance is adjusted plus initial
The range measurement error of the light wave of frequency processed, so showing that second endpoint of the measurement of initial modulation frequency apart from section is
R1.The section that the measurement of the light wave of initial modulation frequency is constituted apart from section for the distance range less than or equal to R1.
In the embodiment of the present application, the number for defining adjacent modulation frequency is one, i.e. the second adjacent modulation frequency, and the
Two adjacent modulating frequencies are less than the case where initial modulation frequency.The measurement for having obtained the light wave of initial modulation frequency is apart from section
The section constituted less than or equal to the distance range of the second endpoint.
In one embodiment, when adjacent modulation frequency further includes the adjacent modulating frequency of third, and third adjacent modulation frequency
When rate is greater than initial modulation frequency；
Go out the light of initial modulation frequency according to the range measurement error calculation of the light wave of intersection point distance and initial modulation frequency
The default measurement of wave is apart from section, comprising:
From the real-time range of light wave, the light wave measurement moving target of initial modulation frequency by the first adjacent modulation frequency
In the coordinate system of the distance and precision that are obtained, the corresponding curve of light wave and initial modulation frequency of the first adjacent modulation frequency are obtained
The corresponding numerical value apart from coordinate of intersection point is denoted as the first intersection point distance by the intersection point of the corresponding curve of the light wave of rate；
From the real-time range of light wave, the light wave measurement moving target of initial modulation frequency by the adjacent modulating frequency of third
In the coordinate system of the distance and precision that are obtained, the corresponding curve of light wave and initial modulation frequency of the adjacent modulating frequency of third are obtained
The corresponding numerical value apart from coordinate of intersection point is denoted as the second intersection point distance by the intersection point of the corresponding curve of the light wave of rate；
The measurement of initial modulation frequency includes the second endpoint apart from section, and the second endpoint is subtracted initially by the first intersection point distance
Obtained by the range measurement error of the light wave of modulating frequency；
The measurement of initial modulation frequency includes third endpoint apart from section, and third endpoint is by the second intersection point distance plus initial
Obtained by the range measurement error of the light wave of modulating frequency；
The corresponding default measurement of initial modulation frequency is more than or equal to the second endpoint and to be less than or equal to the apart from section
The section that the distance range of three endpoints is constituted.
Specifically, as shown in fig. 5, it is assumed that curve 1 is precision-corresponding to frequency 1 (the first adjacent modulation frequency) in figure
Distance Curve, curve 2 are precision-distance Curve corresponding to frequency 2 (initial modulation frequency), and curve 3 is 3 (third phase of frequency
Neighbour adjust modulating frequency) corresponding to precision-distance Curve, wherein the first adjacent modulation frequency be greater than initial modulation frequency, and just
Beginning modulating frequency is greater than the adjacent tune frequency of third, and the more big measurable distance value of frequency is smaller.A point is curve 1 and song
The intersection point of line 2, the numerical value of the corresponding abscissa of A point are denoted as intersection point distance a.At the A point abscissa corresponding to two curves and
Ordinate is all equal, i.e., measured real-time range is equal, and precision is also identical.B point is the intersection point of curve 2 and curve 3, B
The numerical value of the corresponding abscissa of point is denoted as intersection point distance b.Abscissa and ordinate all phases corresponding to two curves at the B point
Deng that is, measured real-time range is equal, and precision is also identical.
Obtain the corresponding curve of the light wave curve corresponding with the light wave of initial modulation frequency of the first adjacent modulation frequency
The corresponding numerical value apart from coordinate of intersection point A is denoted as the first intersection point distance a by intersection point A.The measurement of initial modulation frequency is apart from section
Including the second endpoint, the second endpoint is subtracted by the first intersection point distance obtained by the range measurement error of the light wave of initial modulation frequency.
Range measurement error of the light wave of initial modulation frequency near the first intersection point distance a is (a-L1) at this time, then the second endpoint
It is subtracted obtained by the range measurement error of the light wave of initial modulation frequency by the first intersection point distance, as L1.
Obtain the corresponding curve of the light wave curve corresponding with the light wave of initial modulation frequency of the adjacent modulating frequency of third
The corresponding numerical value apart from coordinate of intersection points B is denoted as the second intersection point distance b by intersection points B.Third endpoint is added by the second intersection point distance
Obtained by the range measurement error of the light wave of initial modulation frequency.The light wave of initial modulation frequency is attached in the second intersection point distance b at this time
Close range measurement error be (R2-b), then third endpoint by the second intersection point distance plus initial modulation frequency light wave away from
From measurement error gained, as R2.
It is more than or equal to the second endpoint and to be less than that the corresponding default measurement of initial modulation frequency, which is finally obtained, apart from section
Or the section that is constituted of distance range equal to third endpoint.As it is greater than or equal to L1, and is less than or equal to the section of R2.This
Apply for that the number that adjacent modulation frequency is defined in embodiment is two, and the first adjacent modulation frequency is greater than initial modulation frequency
Rate, and the case where initial modulation frequency is greater than third adjacent tune frequency.Show that the light wave of initial modulation frequency is corresponding
The area that default measurement is constituted apart from section more than or equal to the second endpoint and less than or equal to the distance range of third endpoint
Between.If avoiding only separation using distance a, distance b as frequency error factor in this way, thus distance a, distance b it is attached
It closely just appears in and constantly switches repeatedly between two modulating frequencies, and these switchings are really beyond all doubt, can fall into dead
Circulation.And according to the range measurement error of the light wave of initial modulation frequency by the corresponding default measurement distance regions of initial modulation frequency
Between suitably expand, to avoid above-mentioned beyond all doubt switching repeatedly, and ensure that the light of initial modulation frequency simultaneously
The measurement accuracy of wave.
In one embodiment, as shown in fig. 6, providing a kind of distance-measuring device 600 includes: that the first real-time range obtains
Modulus block 620, frequency regulation block 640 and the second real-time range obtain module 660.Wherein,
First real-time range obtains module 620, for the light wave measurement moving target by transmitting initial modulation frequency
Real-time range, obtains the first real-time range, and initial modulation frequency is according to the initial distance of moving target from preset modulation frequency
Correspondence screens in sequence；
Frequency regulation block 640, the measurement distance regions of the light wave for falling in initial modulation frequency when the first real-time range
Between except when, then adjusting initial modulation frequency is that new modulating frequency, new modulating frequency and initial modulation frequency are adjusted default
It is adjacent in frequency sequence processed；
Second real-time range obtains module 660, for the light wave measurement moving target by emitting new modulating frequency
Real-time range obtains the second real-time range, using the second real-time range as the real-time range of moving target.
In one embodiment, the first real-time range obtains module 620, is also used to sense by flight time TOF measurement
Device emits the real-time range of the light wave measurement moving target of initial modulation frequency, and TOF measurement sensor can emit default modulation
The light wave of any modulating frequency in frequency sequence.
In one embodiment, as shown in fig. 7, providing a kind of distance-measuring device 600 to include: further includes initial modulation
The measurement of the light wave of frequency apart from section setup module 680, for according in preset modulation frequency sequence with initial modulation frequency
The light wave of the adjacent modulating frequency of rate is correspondingly arranged the measurement of the light wave of initial modulation frequency apart from section.
In one embodiment, as shown in figure 8, the measurement of the light wave of initial modulation frequency is apart from section setup module 680,
Include:
The light wave of adjacent modulation frequency obtains module 682, for obtaining the light wave of adjacent modulation frequency, adjacent modulation frequency
It is adjacent with initial modulation frequency in preset modulation frequency sequence；
Intersection point distance obtains module 684, for the light wave point from light wave, initial modulation frequency by adjacent modulation frequency
The light wave pair of adjacent modulation frequency Ce Liang not be obtained in the coordinate system of distance and precision that is obtained of real-time range of moving target
The corresponding numerical value apart from coordinate of intersection point is denoted as handing over by the intersection point of the curve answered curve corresponding with the light wave of initial modulation frequency
Point distance；
Range measurement error calculating module 686, for calculating the light wave of initial modulation frequency near intersection point distance
Range measurement error；
Measurement is apart from section computing module 688, for according to intersection point distance and the survey of the distance of the light wave of initial modulation frequency
Amount error calculation goes out the measurement of the light wave of initial modulation frequency apart from section.
The division of modules is only used for for example, in other embodiments in above-mentioned distance-measuring device, can will be away from
It is divided into different modules, as required from measuring device to complete all or part of function of above-mentioned distance-measuring device.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
The step of distance measurement method provided by the various embodiments described above is realized when machine program is executed by processor.
In one embodiment, a kind of electronic equipment is provided, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, processor execute computer program when realize the various embodiments described above provided by away from
The step of from measurement method.
The embodiment of the present application also provides a kind of computer program products, when run on a computer, so that calculating
Machine executes the step of distance measurement method provided by the various embodiments described above.
The embodiment of the present application also provides a kind of electronic equipment.It include image processing circuit in above-mentioned electronic equipment, at image
Reason circuit can use hardware and or software component realization, it may include define ISP (Image Signal Processing, figure
As signal processing) the various processing units of pipeline.Fig. 9 is the schematic diagram of image processing circuit in one embodiment.Such as Fig. 9 institute
Show, for purposes of illustration only, only showing the various aspects of image processing techniques relevant to the embodiment of the present application.
As shown in figure 9, image processing circuit includes ISP processor 940 and control logic device 950.Imaging device 910 captures
Image data handled first by ISP processor 940, ISP processor 940 to image data analyzed with capture can be used for really
The image statistics of fixed and/or imaging device 910 one or more control parameters.Imaging device 910 may include having one
The camera of a or multiple lens 912 and imaging sensor 914.Imaging sensor 914 may include colour filter array (such as
Bayer filter), imaging sensor 914 can obtain the luminous intensity captured with each imaging pixel of imaging sensor 914 and wavelength
Information, and the one group of raw image data that can be handled by ISP processor 940 is provided.Sensor 920 (such as gyroscope) can be based on biography
The parameter (such as stabilization parameter) of the image procossing of acquisition is supplied to ISP processor 940 by 920 interface type of sensor.Sensor 920
Interface can use SMIA (Standard Mobile Imaging Architecture, Standard Mobile Imager framework) interface,
The combination of other serial or parallel camera interfaces or above-mentioned interface.
In addition, raw image data can also be sent to sensor 920 by imaging sensor 914, sensor 920 can be based on biography
Raw image data is supplied to ISP processor 940 to 920 interface type of sensor or sensor 920 deposits raw image data
It stores up in video memory 930.
ISP processor 940 handles raw image data pixel by pixel in various formats.For example, each image pixel can
Bit depth with 8,10,12 or 14 bits, ISP processor 940 can carry out raw image data at one or more images
Reason operation, statistical information of the collection about image data.Wherein, image processing operations can be by identical or different bit depth precision
It carries out.
ISP processor 940 can also receive image data from video memory 930.For example, 920 interface of sensor will be original
Image data is sent to video memory 930, and the raw image data in video memory 930 is available to ISP processor 940
It is for processing.Video memory 930 can be independent special in a part, storage equipment or electronic equipment of memory device
It with memory, and may include DMA (Direct Memory Access, direct direct memory access (DMA)) feature.
When receiving from 914 interface of imaging sensor or from 920 interface of sensor or from video memory 930
When raw image data, ISP processor 940 can carry out one or more image processing operations, such as time-domain filtering.Treated schemes
As data can be transmitted to video memory 930, to carry out other processing before shown.ISP processor 940 is from image
Memory 930 receives processing data, and processing data are carried out with the image in original domain and in RGB and YCbCr color space
Data processing.Treated that image data may be output to display 970 for ISP processor 940, so that user watches and/or by scheming
Shape engine or GPU (Graphics Processing Unit, graphics processor) are further processed.In addition, ISP processor 940
Output also can be transmitted to video memory 930, and display 970 can read image data from video memory 930.At one
In embodiment, video memory 930 can be configured to realize one or more frame buffers.In addition, ISP processor 940 is defeated
It is can be transmitted out to encoder/decoder 960, so as to encoding/decoding image data.The image data of coding can be saved, and
It is decompressed before being shown in 970 equipment of display.Encoder/decoder 960 can be realized by CPU or GPU or coprocessor.
The statistical data that ISP processor 940 determines, which can be transmitted, gives control logic device Unit 950.For example, statistical data can wrap
Include the image sensings such as automatic exposure, automatic white balance, automatic focusing, flicker detection, black level compensation, 912 shadow correction of lens
914 statistical information of device.Control logic device 950 may include the processor and/or micro-control for executing one or more routines (such as firmware)
Device processed, one or more routines can statistical data based on the received, determine the control parameter and ISP processor of imaging device 910
940 control parameter.For example, the control parameter of imaging device 910 may include 920 control parameter of sensor (such as gain, exposure
The time of integration, stabilization parameter of control etc.), camera flash control parameter, 912 control parameter of lens (such as focus or zoom
With focal length) or these parameters combination.ISP control parameter may include for automatic white balance and color adjustment (for example, in RGB
During processing) 912 shadow correction parameter of gain level and color correction matrix and lens.
Any reference to memory, storage, database or other media used in this application may include non-volatile
And/or volatile memory.Suitable nonvolatile memory may include read-only memory (ROM), programming ROM (PROM),
Electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include arbitrary access
Memory (RAM), it is used as external cache.By way of illustration and not limitation, RAM is available in many forms, such as
It is static RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDR SDRAM), enhanced
SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM).
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to the application the scope of the patents therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the concept of this application, various modifications and improvements can be made, these belong to the guarantor of the application
Protect range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of distance measurement method characterized by comprising
By the real-time range of the light wave measurement moving target of transmitting initial modulation frequency, the first real-time range is obtained, it is described first
Beginning modulating frequency is screens corresponding from preset modulation frequency sequence according to the initial distance of the moving target；
When first real-time range falls in the measurement of the light wave of the initial modulation frequency except section, then institute is adjusted
Stating initial modulation frequency is new modulating frequency, and the new modulating frequency and the initial modulation frequency are in the default modulation
It is adjacent in frequency sequence；
By emitting the real-time range of moving target described in the light wave measurement of the new modulating frequency, obtain second in real time away from
From using second real-time range as the real-time range of the moving target.
2. the method according to claim 1, wherein moving mesh by the light wave measurement of transmitting initial modulation frequency
Target real-time range, comprising:
Pass through the real-time range of the light wave measurement moving target of flight time TOF measurement sensor emission initial modulation frequency, institute
The light wave of any modulating frequency in the preset modulation frequency sequence can be emitted by stating TOF measurement sensor.
3. the method according to claim 1, wherein the measurement of the light wave of the initial modulation frequency is apart from section
According to the light wave of modulating frequency adjacent with the initial modulation frequency in the preset modulation frequency sequence be correspondingly arranged
's.
4. according to the method described in claim 3, it is characterized in that, the measurement of the light wave of the initial modulation frequency is apart from section
According to the light wave of modulating frequency adjacent with the initial modulation frequency in the preset modulation frequency sequence be correspondingly arranged
, comprising:
Obtain the light wave of adjacent modulation frequency, the adjacent modulation frequency in the preset modulation frequency sequence with it is described initial
Modulating frequency is adjacent；
The real-time of moving target is measured respectively from by the light wave of the adjacent modulation frequency, the light wave of the initial modulation frequency
In the coordinate system of distance and precision that distance is obtained, obtain the adjacent modulation frequency the corresponding curve of light wave and it is described just
The corresponding numerical value apart from coordinate of the intersection point is denoted as intersection point distance by the intersection point of the corresponding curve of the light wave of beginning modulating frequency；
The range measurement error of the light wave of the initial modulation frequency is calculated near the intersection point distance；
Go out the initial modulation according to the range measurement error calculation of the light wave of the intersection point distance and the initial modulation frequency
The measurement of the light wave of frequency is apart from section.
5. according to the method described in claim 4, it is characterized in that, when the adjacent modulation frequency includes the first adjacent modulation frequency
Rate, and the first adjacent modulation frequency be greater than the initial modulation frequency when, the measurement of the light wave of the initial modulation frequency
Include first end point apart from section, the first end point be the intersection point distance subtract the initial modulation frequency light wave away from
From measurement error；Corresponding measure apart from section of the initial modulation frequency is more than or equal to the first end point apart from model
Enclose constituted section.
6. according to the method described in claim 4, it is characterized in that, when the adjacent modulation frequency includes the second adjacent modulation frequency
Rate, and the second adjacent modulation frequency be less than the initial modulation frequency when, the measurement distance regions of the initial modulation frequency
Between include the second endpoint, second endpoint is range measurement of the intersection point distance plus the light wave of the initial modulation frequency
Error；The measurement of the light wave of the initial modulation frequency is the distance range institute less than or equal to second endpoint apart from section
The section of composition.
7. according to the method described in claim 5, it is characterized in that, when the adjacent modulation frequency further includes third adjacent modulation
Frequency, and the adjacent modulating frequency of the third be greater than the initial modulation frequency when；
Go out the initial modulation according to the range measurement error calculation of the light wave of the intersection point distance and the initial modulation frequency
The default measurement of the light wave of frequency is apart from section, comprising:
From by the first adjacent modulation frequency light wave, the light wave measurement moving target of the initial modulation frequency it is real-time
In the coordinate system of distance and precision that distance is obtained, the corresponding curve of light wave and the institute of the first adjacent modulation frequency are obtained
The corresponding numerical value apart from coordinate of the intersection point is denoted as the first friendship by the intersection point for stating the corresponding curve of light wave of initial modulation frequency
Point distance；
From the real-time of the light wave measurement moving target of light wave, the initial modulation frequency by the adjacent modulating frequency of the third
In the coordinate system of distance and precision that distance is obtained, the corresponding curve of light wave and the institute of the adjacent modulating frequency of the third are obtained
The corresponding numerical value apart from coordinate of the intersection point is denoted as the second friendship by the intersection point for stating the corresponding curve of light wave of initial modulation frequency
Point distance；
The measurement of the initial modulation frequency includes the second endpoint apart from section, and second endpoint is by the first intersection point distance
It subtracts obtained by the range measurement error of the light wave of the initial modulation frequency；
The measurement of the initial modulation frequency includes third endpoint apart from section, and the third endpoint is by the second intersection point distance
In addition obtained by the range measurement error of the light wave of the initial modulation frequency；
The corresponding default measurement of the initial modulation frequency is more than or equal to second endpoint and to be less than or wait apart from section
In the section that the distance range of the third endpoint is constituted.
8. a kind of distance-measuring device, which is characterized in that described device includes:
First real-time range obtain module, for by transmitting initial modulation frequency light wave measurement moving target it is real-time away from
From, obtain the first real-time range, the initial modulation frequency be according to the initial distance of the moving target from default modulation frequently
Correspondence screens in rate sequence；
Frequency regulation block, the measurement distance regions of the light wave for falling in the initial modulation frequency when first real-time range
Between except when, then adjusting the initial modulation frequency is new modulating frequency, the new modulating frequency and the initial modulation
Frequency is adjacent in the preset modulation frequency sequence；
Second real-time range obtains module, for moving target described in the light wave measurement by emitting the new modulating frequency
Real-time range obtains the second real-time range, using second real-time range as the real-time range of the moving target.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program quilt
The step of distance measurement method as described in any one of claims 1 to 7 is realized when processor executes.
10. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized described in any one of claims 1 to 7 when executing the computer program
Distance measurement method the step of.
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