CN109031333B - Distance measuring method and device, storage medium, and electronic device - Google Patents
Distance measuring method and device, storage medium, and electronic device Download PDFInfo
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- CN109031333B CN109031333B CN201810962047.4A CN201810962047A CN109031333B CN 109031333 B CN109031333 B CN 109031333B CN 201810962047 A CN201810962047 A CN 201810962047A CN 109031333 B CN109031333 B CN 109031333B
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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
Abstract
The application relates to a distance measuring method and device, electronic equipment and a computer readable storage medium, wherein the real-time distance of a moving target is measured by transmitting light waves with initial modulation frequency to obtain a first real-time distance, and the initial modulation frequency is correspondingly screened from a preset modulation frequency set according to the initial distance of the moving target; when the first real-time distance is beyond the measuring distance interval of the light wave with the initial modulation frequency, adjusting the initial modulation frequency to be a new modulation frequency, wherein the new modulation frequency is adjacent to the initial modulation frequency in a preset modulation frequency sequence; and measuring the real-time distance of the moving target by transmitting the light wave with the new modulation frequency to obtain a second real-time distance, and taking the second real-time distance as the real-time distance of the moving target. In the process of displacement of the moving target, the frequency of the optical wave is adjusted in time so as to accurately measure the real-time distance of the moving target.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a distance measuring method and apparatus, a storage medium, and an electronic device.
Background
The TOF (time of flight) ranging technology has rich application scenes and is applied to the fields of automobiles, industry, face recognition, health, games, entertainment, movie special effects, 3D printing, robots and the like. The tof (time of flight) ranging technique is referred to as a time difference of flight ranging method. The traditional TOF ranging method is always more accurate in ranging of static targets, and the accuracy of the measured real-time distance is lower when the moving targets are tracked.
Disclosure of Invention
The embodiment of the application provides a distance measuring method and device, a storage medium and electronic equipment, which can improve the accuracy of distance measurement.
A distance measurement method comprising:
measuring the real-time distance of a moving target by transmitting light waves with initial modulation frequency to obtain a first real-time distance, wherein the initial modulation frequency is correspondingly screened from a preset modulation frequency sequence according to the initial distance of the moving target;
when the first real-time distance is out of the measuring distance interval of the light wave of the initial modulation frequency, adjusting the initial modulation frequency to be a new modulation frequency, wherein the new modulation frequency is adjacent to the initial modulation frequency in the preset modulation frequency sequence;
and measuring the real-time distance of the moving target by transmitting the light wave with the new modulation frequency to obtain a second real-time distance, and taking the second real-time distance as the real-time distance of the moving target.
A distance measuring device, the device comprising:
the first real-time distance acquisition module is used for measuring the real-time distance of the moving target by transmitting light waves with initial modulation frequency to obtain a first real-time distance, wherein the initial modulation frequency is correspondingly screened from a preset modulation frequency sequence according to the initial distance of the moving target;
a frequency adjusting module, configured to adjust the initial modulation frequency to a new modulation frequency when the first real-time distance falls outside a measurement distance interval of the optical wave with the initial modulation frequency, where the new modulation frequency is adjacent to the initial modulation frequency in the preset modulation frequency sequence;
and the second real-time distance acquisition module is used for measuring the real-time distance of the moving target by transmitting the light wave with the new modulation frequency to obtain a second real-time distance, and the second real-time distance is used as the real-time distance of the moving target.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the distance measuring method as described above.
An electronic device comprising a memory, a processor and a computer program stored on the memory and being executable on the processor, the processor performing the steps of the distance measuring method as described above when executing the computer program.
According to the distance measuring method and device, the storage medium and the electronic equipment, the real-time distance of the moving target is measured by emitting the light wave with the initial modulation frequency, so that a first real-time distance is obtained, wherein the initial modulation frequency is correspondingly screened from a preset modulation frequency set according to the initial distance of the moving target; when the first real-time distance is beyond the measuring distance interval of the light wave with the initial modulation frequency, adjusting the initial modulation frequency to be a new modulation frequency, wherein the new modulation frequency is adjacent to the initial modulation frequency in a preset modulation frequency sequence; and measuring the real-time distance of the moving target by transmitting the light wave with the new modulation frequency to obtain a second real-time distance, and taking the second real-time distance as the real-time distance of the moving target. The measuring distance interval of the light wave with the initial modulation frequency is a distance range in which the light wave with the modulation frequency can accurately measure the distance through pre-calculation. And in the process of displacement of the moving target, judging whether the real-time distance measured by the light wave with the initial modulation frequency falls outside the measurement distance interval of the light wave with the initial modulation frequency, so as to find out whether the light wave with the initial modulation frequency can accurately measure the real-time distance of the moving target in time, and if the real-time distance cannot be accurately measured, adjusting the real-time distance to a new modulation frequency in time so as to accurately measure the real-time distance of the moving target.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a diagram of the internal structure of an electronic device in one embodiment;
FIG. 2 is a flow diagram of a method of distance measurement in one embodiment;
FIG. 3 is a flowchart of a method for setting a measuring distance interval of a light wave with an initial modulation frequency;
FIG. 4 is a schematic graph of a real-time distance measured by light waves of adjacent modulation frequencies, a light wave of an initial modulation frequency, and a precision value corresponding to the real-time distance;
FIG. 5 is a schematic graph of a curve drawn according to a light wave of an initial modulation frequency, a real-time distance measured by two light waves of adjacent modulation frequencies, and an accuracy value corresponding to the real-time distance;
FIG. 6 is a schematic structural view of a distance measuring apparatus according to an embodiment;
FIG. 7 is a schematic structural view of a distance measuring apparatus according to another embodiment;
FIG. 8 is a schematic structural diagram of a measuring distance interval setting module for the light wave with the initial modulation frequency in FIG. 7;
FIG. 9 is a schematic diagram of an image processing circuit in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is a schematic diagram of an internal structure of an electronic device in one embodiment. As shown in fig. 1, the electronic device includes a processor, a memory, and a network interface connected by a system bus. Wherein, the processor is used for providing calculation and control capability and supporting the operation of the whole electronic equipment. The memory is used for storing data, programs and the like, and the memory stores at least one computer program which can be executed by the processor to realize the scene recognition method suitable for the electronic device provided in the embodiment of the application. The Memory may include a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random-Access-Memory (RAM). For example, in one embodiment, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program is executable by a processor for implementing a distance measurement method provided in the following embodiments. The internal memory provides a cached execution environment for the operating system computer programs in the non-volatile storage medium. The network interface may be an ethernet card or a wireless network card, etc. for communicating with an external electronic device. The electronic device may be a mobile phone, a tablet computer, or a personal digital assistant or a wearable device, etc.
In one embodiment, as shown in fig. 2, a distance measuring method is provided, which is described by taking the method as an example applied to the electronic device in fig. 1, and includes:
step 220, measuring the real-time distance of the moving target by emitting light waves with the initial modulation frequency, so as to obtain a first real-time distance, wherein the initial modulation frequency is correspondingly screened from a preset modulation frequency sequence according to the initial distance of the moving target.
The distance between a person or an object and the light wave transmitting and receiving device can be calculated by transmitting the light waves and receiving the light waves reflected by the person or the object and calculating the time difference between the transmitted light waves and the received reflected light waves. The light wave transmitting and receiving device may have a variety of devices, such as a Time of Flight (TOF) distance measuring sensor, a laser distance measuring instrument, and the like, wherein the laser distance measuring instrument may employ infrared laser, visible laser, ultraviolet laser, or the like.
The ranging apparatus may generally emit light waves of a variety of different modulation frequencies. When the distance measuring equipment is used for measuring the real-time distance of a moving target, the initial modulation frequency of the emitted light wave needs to be determined firstly. For example, the determination may be made according to the initial distance between the current moving object and the ranging device, and generally, a light wave with a modulation frequency will set a rough measuring distance interval. For example, a 60MHz light wave may be used to measure distances within 2.5M, a 30MHz light wave may be used to measure distances within 5M, and a 15MHz light wave may be used to measure distances within 10M. Therefore, the modulation frequency corresponding to the initial distance is screened out from a preset modulation frequency sequence built in the ranging device as the initial modulation frequency. And measuring the real-time distance of the moving target by transmitting the light wave with the initial modulation frequency to obtain a first real-time distance. In the process of displacement of the moving target, the distance measuring equipment emits light waves and receives the light waves reflected by the moving target, and the time difference between the emitted light waves and the received reflected light waves is calculated, so that the first real-time distance between the distance measuring equipment and the moving target can be calculated. The first real-time distance will obviously be constantly changing following the moving object. The moving target may be designated by a user, or may be a moving object located in the current scene and automatically identified by the distance measuring device.
In step 240, when the first real-time distance falls outside the measuring distance interval of the optical wave with the initial modulation frequency, the initial modulation frequency is adjusted to be a new modulation frequency, and the new modulation frequency and the initial modulation frequency are adjacent in the preset modulation frequency sequence.
During the displacement of the moving object, the first real-time distance obviously changes continuously along with the moving object. After the first real-time distance is calculated by adopting the light wave of the initial modulation frequency, whether the first real-time distance falls outside a measurement distance interval of the light wave of the initial modulation frequency is judged. The measuring distance interval of the light wave of the initial modulation frequency is correspondingly set according to the light wave of the modulation frequency adjacent to the initial modulation frequency in the preset modulation frequency sequence, and is a relatively accurate measuring distance interval. When the judgment result is yes, the first real-time distance is out of the measuring distance interval of the light wave with the initial modulation frequency, and the first real-time distance measured by the initial modulation frequency is inaccurate at the moment. Therefore, it is necessary to adjust the initial modulation frequency to a new modulation frequency. The actual distance of the moving object should be within the measured distance interval of the new modulation frequency, and the new modulation frequency is adjacent to the initial modulation frequency in the preset modulation frequency sequence. Because the measuring distance interval of the light wave of the initial modulation frequency is set correspondingly according to the light wave of the modulation frequency adjacent to the initial modulation frequency in the preset modulation frequency sequence, the measuring distance interval is relatively accurate. For example, it is assumed that 3 modulation frequencies of 15MHz, 30MHz and 60MHz are built in the distance measuring device, that is, the distance measuring device can emit light waves of the 3 modulation frequencies. Then, when the initial modulation frequency is 15MHz, and the first real-time distance of the moving target measured by using the light wave of 15MHz at this time falls outside the measurement distance interval of the light wave of 15MHz, the 15MHz needs to be adjusted to 30 MHz. And measuring the real-time distance of the moving target by adopting a 15MHz light wave.
And step 260, measuring the real-time distance of the moving target by transmitting the light wave with the new modulation frequency to obtain a second real-time distance, and taking the second real-time distance as the real-time distance of the moving target.
After the initial modulation frequency of the distance measuring equipment is adjusted to the new modulation frequency, the real-time distance of the moving target can be measured by transmitting the light wave with the new modulation frequency to obtain a second real-time distance, and the second real-time distance is used as the real-time distance of the moving target. Because the moving target is moving continuously, after the real-time distance of the moving target is measured by adopting the optical wave with the new modulation frequency next time, whether the real-time distance of the moving target obtained this time falls outside the measurement distance interval of the optical wave with the new modulation frequency needs to be judged again, if so, it indicates that the measurement of the real-time distance of the moving target by adopting the new modulation frequency is inaccurate, and the new modulation frequency needs to be adjusted again to be the modulation frequency adjacent to the new modulation frequency. And then measuring the real-time distance of the moving object by using the light wave with the modulation frequency adjacent to the new modulation frequency. The real-time distance of the moving target obtained by each measurement is accurate.
In the embodiment of the present application, the measurement distance interval of the optical wave with the initial modulation frequency is a distance range within which the optical wave with the modulation frequency can be accurately measured in advance. And in the process of displacement of the moving target, judging whether the real-time distance measured by the light wave with the initial modulation frequency falls outside the measurement distance interval of the light wave with the initial modulation frequency, so as to find out whether the light wave with the initial modulation frequency can accurately measure the real-time distance of the moving target in time, and if the real-time distance cannot be accurately measured, adjusting the real-time distance to a new modulation frequency in time so as to accurately measure the real-time distance of the moving target.
In one embodiment, measuring the real-time distance of a moving object by transmitting light waves at an initial modulation frequency comprises:
the real-time distance of the moving target is measured by transmitting the light wave of the initial modulation frequency through the time-of-flight TOF ranging sensor, and the TOF ranging sensor can transmit the light wave of any modulation frequency in the preset modulation frequency sequence.
In the embodiment of the application, the distance measurement principle of the time-of-flight TOF distance measurement sensor is as follows: by continuously sending light pulses to the target and then receiving the light pulses back from the object with the sensor, the target distance is found by detecting the time of flight (round trip) of the light pulses. The TOF ranging sensors typically emit near infrared light. A plurality of infrared light-emitting diodes are built in the TOF ranging sensor, and each infrared light-emitting diode can emit light waves with different modulation frequencies. The different modulation frequencies of the light waves that can be emitted by the infrared light-emitting diodes built into the TOF ranging sensor constitute a predetermined sequence of modulation frequencies of the TOF ranging sensor, in which sequence the different modulation frequencies are arranged in sequence, for example in order of decreasing order to increasing order. The TOF ranging sensor is capable of emitting light waves at any one of a predetermined sequence of modulation frequencies.
In one embodiment, the measuring distance interval of the light wave of the initial modulation frequency is set according to the light wave of the modulation frequency adjacent to the initial modulation frequency in the preset modulation frequency sequence.
In the embodiment of the application, light waves of adjacent modulation frequencies are obtained, and the adjacent modulation frequencies are adjacent to the initial modulation frequency in a preset modulation frequency sequence; acquiring intersection points of curves corresponding to the light waves of the adjacent modulation frequencies and curves corresponding to the light waves of the initial modulation frequencies from a coordinate system of distance and precision obtained by respectively measuring real-time distances of the moving target through the light waves of the adjacent modulation frequencies and the light waves of the initial modulation frequencies, and recording numerical values of distance coordinates corresponding to the intersection points as intersection point distances; calculating the distance measurement error of the light wave of the initial modulation frequency near the intersection point distance; and calculating the measuring distance interval of the light wave of the initial modulation frequency according to the intersection point distance and the distance measuring error of the light wave of the initial modulation frequency.
In one embodiment, as shown in fig. 3, the measuring distance interval of the light wave of the initial modulation frequency is set according to the light wave of the modulation frequency adjacent to the initial modulation frequency in the preset modulation frequency sequence, and includes:
and step 320, acquiring light waves of adjacent modulation frequencies, wherein the adjacent modulation frequencies are adjacent to the initial modulation frequency in the preset modulation frequency sequence.
The number of the light waves with adjacent modulation frequencies can be one or two, for example, when an infrared light emitting diode arranged in the TOF ranging sensor can emit light waves with 3 modulation frequencies of 15MHz, 30MHz and 60MHz, and the three modulation frequencies form a preset modulation frequency sequence. Then when the initial modulation frequency is a value on both sides of the predetermined modulation frequency sequence, there is only one light wave of the adjacent modulation frequency. When the initial modulation frequency is the value in the middle of the preset modulation frequency sequence, the optical waves of the adjacent modulation frequencies have two types.
And 340, acquiring intersection points of curves corresponding to the light waves with adjacent modulation frequencies and curves corresponding to the light waves with the initial modulation frequencies from a distance and precision coordinate system obtained by respectively measuring the real-time distance of the moving target through the light waves with the adjacent modulation frequencies and the light waves with the initial modulation frequencies, and recording numerical values of distance coordinates corresponding to the intersection points as intersection point distances.
In advance, under experimental conditions, a moving target is set to start moving from a distance of 0M (meter) to infinity from a TOF ranging sensor, the real-time distance of the moving target is measured through light waves with adjacent modulation frequencies and light waves with initial modulation frequencies respectively, and the precision value of the real-time distance obtained through the measurement of the light waves with the adjacent modulation frequencies and the light waves with the initial modulation frequencies is calculated. And drawing a curve in a precision-real-time distance coordinate system according to the real-time distance obtained by measuring the light waves with adjacent modulation frequencies and the light waves with the initial modulation frequency and the precision value corresponding to the real-time distance. Acquiring intersection points of the curves from the drawn curves, wherein when the number of light waves of adjacent modulation frequencies is one, the number of the intersection points is one; when the number of the optical waves of the adjacent modulation frequencies is two, the number of the intersection points is two.
As shown in fig. 4, when the number of the light waves of the adjacent modulation frequencies is one, the measured real-time distance is taken as an abscissa, the precision corresponding to the real-time distance is taken as an ordinate, and a graph is drawn according to the light waves of the adjacent modulation frequencies, the real-time distance obtained by measuring the light waves of the initial modulation frequency, and the precision value corresponding to the real-time distance. In the figure, a curve 1 is a precision-distance curve corresponding to a frequency 1 (initial modulation frequency), and a curve 2 is a precision-distance curve corresponding to a frequency 2 (adjacent modulation frequency). The point a is the intersection point of the curve 1 and the curve 2, and the numerical value of the abscissa corresponding to the point a is recorded as the intersection point distance a. The abscissa and the ordinate corresponding to the two curves at the point A are equal, namely the measured real-time distances are equal and the accuracy is also equal.
In step 360, the distance measurement error of the light wave of the initial modulation frequency is calculated near the intersection point distance.
R1 is the right end point of the measurement distance interval of the optical wave of the initial modulation frequency, and assuming that the intersection distance a is 10M (meters), the distance measurement error of the optical wave of the initial modulation frequency is calculated in the vicinity of 10M. The real distance of the moving object is known, so that the average distance measurement error corresponding to the light wave of the initial modulation frequency can be calculated in the vicinity of 10M, for example, when the real distance of the moving object is 9.8M, and the real-time distance measured by using the light wave of the initial modulation frequency is 10.2M, the average distance measurement error (R1-a) corresponding to the light wave of the initial modulation frequency is 0.4M. Namely, the real-time distance measured by adopting the light wave with the initial modulation frequency is larger than the real distance by 0.4M. Therefore, when the real-time distance measured by using the light wave of the initial modulation frequency is 10.4M, and the real-time distance is 10M, the real-time distance measured by using the light wave of the initial modulation frequency is more accurate than the real-time distance measured by using the light wave of the adjacent modulation frequency when the real-time distance is less than or equal to 10.4M in the figure. The measured distance interval of the light wave with the initial modulation frequency is less than or equal to R1 and less than or equal to 10.4M, namely R1 is 10.4M.
Similarly, the accuracy of the range finding using frequency 2 obtained from the curve 1 and the curve 2 is equal to or greater than the accuracy of the range finding using frequency 1 to the right of the point a (corresponding to the point a on the abscissa). In practice the accuracy of the frequency 2 range measurement is already greater than or equal to the accuracy of the frequency 1 range measurement at 0.4M to the left of point a.
And 380, calculating a measuring distance interval of the light wave of the initial modulation frequency according to the intersection point distance and the distance measuring error of the light wave of the initial modulation frequency.
The distance interval of the light wave of the initial modulation frequency is calculated by adding the distance measurement error of the light wave of the initial modulation frequency to the distance of the intersection point. For example, a 10.4M intersection distance of 10M plus 0.4M results. The measuring distance interval of the light wave of the initial modulation frequency is an interval less than or equal to 10.4M. The measurement accuracy of the light wave of the initial modulation frequency in the interval of less than or equal to 10.4M is higher than that of the adjacent modulation frequency.
L1 is the left end point of the measurement distance interval of the light waves of adjacent modulation frequencies, and in this case, the measurement error (a-L1) for calculating the light waves of adjacent modulation frequencies in the vicinity of the intersection distance is assumed to be: when the real distance of the moving target is 10.2M, and the real-time distance measured by using the light waves with adjacent modulation frequencies is 9.8M, the average distance measurement error corresponding to the light waves with the adjacent modulation frequencies is 0.4M, and is slightly smaller than 0.4M. It follows that when the real-time distance measured using the optical waves of adjacent modulation frequencies is 9.6M, and the real distance is 10M, the accuracy of the real-time distance measured using the optical waves of adjacent modulation frequencies is higher than or equal to the optical waves of the initial modulation frequency when the real-time distance measured using the optical waves of adjacent modulation frequencies is greater than or equal to 9.6M in fig. 4. The measured distance interval of the light waves with adjacent modulation frequencies is greater than or equal to L1 and is greater than or equal to 9.6M, namely L1 is 9.6M.
In the embodiment of the application, the condition that if only 10M is used as the boundary point of the distance measurement intervals of the light waves with two modulation frequencies is avoided, when the real-time distance measured by the light wave with the initial modulation frequency is 10.2M, the distance measurement interval of the light wave with the initial modulation frequency is considered to be exceeded, and the real distance is 9.8M and is not over 10M is avoided. At the moment, the initial modulation frequency is changed into the adjacent modulation frequency, the real-time distance measured by the light waves of the adjacent modulation frequency is 9.4M, and the initial modulation frequency is required to be switched back in the distance measurement interval of the light waves of the adjacent modulation frequency, so that the two modulation frequencies can be continuously and repeatedly switched, and the switching is really doubtless and falls into dead cycle.
In one embodiment, when the adjacent modulation frequencies include a first adjacent modulation frequency, and the first adjacent modulation frequency is greater than the initial modulation frequency, the measurement distance interval of the optical wave of the initial modulation frequency includes a first end point, and the first end point is a distance measurement error of the optical wave of the initial modulation frequency subtracted by the intersection point distance; the measuring distance interval corresponding to the initial modulation frequency is an interval formed by a distance range which is larger than or equal to the first end point.
Specifically, as shown in fig. 4, it is assumed that curve 1 is a precision-distance curve corresponding to frequency 1 (a first adjacent modulation frequency), and curve 2 is a precision-distance curve corresponding to frequency 2 (an initial modulation frequency), wherein the first adjacent modulation frequency is greater than the initial modulation frequency, and the distance value measurable with the greater frequency is smaller. The point a is the intersection point of the curve 1 and the curve 2, and the numerical value of the abscissa corresponding to the point a is recorded as the intersection point distance a. The abscissa and the ordinate corresponding to the two curves at the point A are equal, namely the measured real-time distances are equal and the accuracy is also equal.
The distance measurement error of the light wave of the initial modulation frequency is (a-L1), and the first end point is the distance of the intersection minus the distance measurement error of the light wave of the initial modulation frequency, so the first end point of the measurement distance interval of the initial modulation frequency is L1. The measuring distance interval of the light wave of the initial modulation frequency is an interval formed by a distance range which is greater than or equal to L1.
In the embodiment of the present application, a case where the number of adjacent modulation frequencies is one, that is, the first adjacent modulation frequency is defined, and the first adjacent modulation frequency is greater than the initial modulation frequency. And obtaining an interval formed by the distance range of the light wave with the initial modulation frequency, wherein the measured distance interval is greater than or equal to the first end point.
In one embodiment, when the adjacent modulation frequency comprises a second adjacent modulation frequency, and the second adjacent modulation frequency is smaller than the initial modulation frequency, the measurement distance interval of the initial modulation frequency comprises a second end point, and the second end point is the intersection point distance plus the distance measurement error of the optical wave of the initial modulation frequency; the measuring distance interval of the light wave of the initial modulation frequency is an interval formed by a distance range smaller than or equal to the second end point.
Specifically, as shown in fig. 4, a curve 1 is a precision-distance curve corresponding to a frequency 1 (an initial modulation frequency), and a curve 2 is a precision-distance curve corresponding to a frequency 2 (a second adjacent modulation frequency), wherein the second adjacent modulation frequency is smaller than the initial modulation frequency, and the measurable distance value is larger when the frequency is smaller. The point a is the intersection point of the curve 1 and the curve 2, and the numerical value of the abscissa corresponding to the point a is recorded as the intersection point distance a. The abscissa and the ordinate corresponding to the two curves at the point A are equal, namely the measured real-time distances are equal and the accuracy is also equal.
The distance measurement error of the light wave with the initial modulation frequency is (R1-a), and the second end point is the intersection distance plus the distance measurement error of the light wave with the initial modulation frequency, so that the second end point of the measurement distance interval with the initial modulation frequency is R1. The measuring distance interval of the light wave of the initial modulation frequency is an interval formed by a distance range which is less than or equal to R1.
In the embodiment of the present application, a case where the number of adjacent modulation frequencies is one, that is, the second adjacent modulation frequency is defined, and the second adjacent modulation frequency is smaller than the initial modulation frequency. And obtaining an interval formed by the distance range of the light wave with the initial modulation frequency, wherein the measured distance interval is smaller than or equal to the second end point.
In one embodiment, when the adjacent modulation frequencies further include a third adjacent modulation frequency, and the third adjacent modulation frequency is greater than the initial modulation frequency;
the preset measuring distance interval of the light wave with the initial modulation frequency is calculated according to the distance measuring error of the light wave with the initial modulation frequency and the intersection point distance, and the method comprises the following steps:
acquiring an intersection point of a curve corresponding to the optical wave of the first adjacent modulation frequency and a curve corresponding to the optical wave of the initial modulation frequency from a coordinate system of distance and precision obtained by measuring the real-time distance of the moving target through the optical wave of the first adjacent modulation frequency and the optical wave of the initial modulation frequency, and recording a numerical value of a distance coordinate corresponding to the intersection point as a first intersection point distance;
acquiring an intersection point of a curve corresponding to the light wave of the third adjacent modulation frequency and a curve corresponding to the light wave of the initial modulation frequency from a coordinate system of distance and precision obtained by measuring the real-time distance of the moving target through the light wave of the third adjacent modulation frequency and the light wave of the initial modulation frequency, and recording a numerical value of a distance coordinate corresponding to the intersection point as a second intersection point distance;
the measuring distance interval of the initial modulation frequency comprises a second end point, and the second end point is obtained by subtracting the distance measuring error of the light wave of the initial modulation frequency from the distance of the first intersection point;
the measuring distance interval of the initial modulation frequency comprises a third end point, and the third end point is obtained by adding the distance of the second intersection point to the distance measuring error of the light wave of the initial modulation frequency;
the preset measuring distance interval corresponding to the initial modulation frequency is an interval formed by a distance range which is greater than or equal to the second endpoint and less than or equal to the third endpoint.
Specifically, as shown in fig. 5, it is assumed that a curve 1 is a precision-distance curve corresponding to a frequency 1 (a first adjacent modulation frequency), a curve 2 is a precision-distance curve corresponding to a frequency 2 (an initial modulation frequency), and a curve 3 is a precision-distance curve corresponding to a frequency 3 (a third adjacent modulation frequency), where the first adjacent modulation frequency is greater than the initial modulation frequency, and the initial modulation frequency is greater than the third adjacent modulation frequency, the larger the frequency is, the smaller the measurable distance value is. The point a is the intersection point of the curve 1 and the curve 2, and the numerical value of the abscissa corresponding to the point a is recorded as the intersection point distance a. The abscissa and the ordinate corresponding to the two curves at the point A are equal, namely the measured real-time distances are equal and the accuracy is also equal. The point B is the intersection point of the curve 2 and the curve 3, and the numerical value of the abscissa corresponding to the point B is recorded as the intersection point distance B. The abscissa and the ordinate corresponding to the two curves at the point B are equal, namely the measured real-time distances are equal and the accuracy is also equal.
And acquiring an intersection point A of the curve corresponding to the light wave of the first adjacent modulation frequency and the curve corresponding to the light wave of the initial modulation frequency, and recording a numerical value of a distance coordinate corresponding to the intersection point A as a first intersection point distance a. The measured distance interval of the initial modulation frequency includes a second end point, which is obtained by subtracting the distance measurement error of the light wave of the initial modulation frequency from the first intersection distance. At this time, the distance measurement error of the light wave of the initial modulation frequency near the first intersection distance a is (a-L1), and the second end point is obtained by subtracting the distance measurement error of the light wave of the initial modulation frequency from the first intersection distance, i.e., L1.
And acquiring an intersection point B of a curve corresponding to the light wave of the third adjacent modulation frequency and a curve corresponding to the light wave of the initial modulation frequency, and recording a numerical value of a distance coordinate corresponding to the intersection point B as a second intersection point distance B. The third end point is obtained by adding the distance of the second intersection point to the distance measurement error of the light wave at the initial modulation frequency. At this time, the distance measurement error of the light wave of the initial modulation frequency near the second intersection distance b is (R2-b), and the third end point is obtained by adding the distance measurement error of the light wave of the initial modulation frequency to the second intersection distance, i.e. R2.
And finally obtaining an interval formed by the distance ranges of which the preset measurement distance interval corresponding to the initial modulation frequency is greater than or equal to the second endpoint and is less than or equal to the third endpoint. I.e., greater than or equal to L1 and less than or equal to R2. In the embodiment of the present application, a situation that the number of adjacent modulation frequencies is two, the first adjacent modulation frequency is greater than the initial modulation frequency, and the initial modulation frequency is greater than the third adjacent modulation frequency is defined. And obtaining an interval formed by the distance range of which the preset measurement distance interval corresponding to the light wave of the initial modulation frequency is greater than or equal to the second end point and is less than or equal to the third end point. This avoids that if only the distance a and the distance b are used as the dividing points for frequency switching, repeated switching between two modulation frequencies will occur in the vicinity of the distance a and the distance b, and the switching will definitely go into dead cycles without any doubt. And the preset measuring distance interval corresponding to the initial modulation frequency is properly expanded according to the distance measuring error of the light wave of the initial modulation frequency, so that the above-mentioned doubtless repeated switching is avoided, and the measuring precision of the light wave of the initial modulation frequency is ensured.
In one embodiment, as shown in fig. 6, there is provided a distance measuring apparatus 600 including: a first real-time distance obtaining module 620, a frequency adjusting module 640, and a second real-time distance obtaining module 660. Wherein the content of the first and second substances,
a first real-time distance obtaining module 620, configured to measure a real-time distance of the moving target by emitting a light wave with an initial modulation frequency, so as to obtain a first real-time distance, where the initial modulation frequency is correspondingly screened from a preset modulation frequency sequence according to the initial distance of the moving target;
the frequency adjusting module 640 is configured to adjust the initial modulation frequency to a new modulation frequency when the first real-time distance falls outside the measurement distance interval of the optical wave with the initial modulation frequency, where the new modulation frequency is adjacent to the initial modulation frequency in the preset modulation frequency sequence;
the second real-time distance obtaining module 660 is configured to measure the real-time distance of the moving target by emitting a light wave with a new modulation frequency to obtain a second real-time distance, and use the second real-time distance as the real-time distance of the moving target.
In one embodiment, the first real-time distance obtaining module 620 is further configured to measure the real-time distance of the moving target by emitting light waves at an initial modulation frequency through a time-of-flight TOF ranging sensor, wherein the TOF ranging sensor is capable of emitting light waves at any modulation frequency in a preset modulation frequency sequence.
In one embodiment, as shown in fig. 7, there is provided a distance measuring apparatus 600 including: the device further comprises a measuring distance interval setting module 680 for setting the measuring distance interval of the light wave with the initial modulation frequency according to the light wave with the modulation frequency adjacent to the initial modulation frequency in the preset modulation frequency sequence.
In one embodiment, as shown in fig. 8, the measuring distance interval setting module 680 for the light wave of the initial modulation frequency includes:
the optical wave acquisition module 682 with adjacent modulation frequencies is used for acquiring optical waves with adjacent modulation frequencies, and the adjacent modulation frequencies are adjacent to the initial modulation frequency in the preset modulation frequency sequence;
an intersection distance obtaining module 684, configured to obtain an intersection point between a curve corresponding to the optical wave of the adjacent modulation frequency and a curve corresponding to the optical wave of the initial modulation frequency from a coordinate system of distance and precision obtained by measuring the real-time distance of the moving target by the optical wave of the adjacent modulation frequency and the optical wave of the initial modulation frequency, respectively, and record a numerical value of a distance coordinate corresponding to the intersection point as an intersection distance;
a distance measurement error calculation module 686 for calculating a distance measurement error of the light wave of the initial modulation frequency near the intersection point distance;
and a measurement distance interval calculation module 688, configured to calculate a measurement distance interval of the optical wave at the initial modulation frequency according to the distance between the intersection point and the distance measurement error of the optical wave at the initial modulation frequency.
The division of the modules in the distance measuring device is only used for illustration, and in other embodiments, the distance measuring device may be divided into different modules as needed to complete all or part of the functions of the distance measuring device.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the distance measurement method provided by the above embodiments.
In one embodiment, an electronic device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the distance measurement method provided in the above embodiments are implemented.
Embodiments of the present application further provide a computer program product, which when run on a computer, causes the computer to perform the steps of the distance measurement method provided in the foregoing embodiments.
The embodiment of the application also provides the electronic equipment. The electronic device includes therein an Image Processing circuit, which may be implemented using hardware and/or software components, and may include various Processing units defining an ISP (Image Signal Processing) pipeline. FIG. 9 is a schematic diagram of an image processing circuit in one embodiment. As shown in fig. 9, for convenience of explanation, only aspects of the image processing technique related to the embodiments of the present application are shown.
As shown in fig. 9, the image processing circuit includes an ISP processor 940 and a control logic 950. The image data captured by the imaging device 910 is first processed by the ISP processor 940, and the ISP processor 940 analyzes the image data to capture image statistics that may be used to determine and/or control one or more parameters of the imaging device 910. The imaging device 910 may include a camera having one or more lenses 912 and an image sensor 914. Image sensor 914 may include an array of color filters (e.g., Bayer filters), and image sensor 914 may acquire light intensity and wavelength information captured with each imaging pixel of image sensor 914 and provide a set of raw image data that may be processed by ISP processor 940. The sensor 920 (e.g., a gyroscope) may provide parameters of the acquired image processing (e.g., anti-shake parameters) to the ISP processor 940 based on the type of interface of the sensor 920. The sensor 920 interface may utilize an SMIA (Standard Mobile Imaging Architecture) interface, other serial or parallel camera interfaces, or a combination of the above.
In addition, image sensor 914 may also send raw image data to sensor 920, sensor 920 may provide raw image data to ISP processor 940 based on the type of interface of sensor 920, or sensor 920 may store raw image data in image memory 930.
The ISP processor 940 processes the raw image data pixel by pixel in a variety of formats. For example, each image pixel may have a bit depth of 8, 10, 12, or 14 bits, and the ISP processor 940 may perform one or more image processing operations on the raw image data, collecting statistical information about the image data. Wherein the image processing operations may be performed with the same or different bit depth precision.
Upon receiving raw image data from image sensor 914 interface or from sensor 920 interface or from image memory 930, ISP processor 940 may perform one or more image processing operations, such as temporal filtering. The processed image data may be sent to image memory 930 for additional processing before being displayed. ISP processor 940 receives the processed data from image memory 930 and performs image data processing on the processed data in the raw domain and in the RGB and YCbCr color spaces. The image data processed by ISP processor 940 may be output to display 970 for viewing by a user and/or further processed by a Graphics Processing Unit (GPU). Further, the output of ISP processor 940 may also be sent to image memory 930 and display 970 may read image data from image memory 930. In one embodiment, image memory 930 may be configured to implement one or more frame buffers. In addition, the output of the ISP processor 940 may be transmitted to an encoder/decoder 960 for encoding/decoding the image data. The encoded image data may be saved and decompressed before being displayed on a display 970 device. The encoder/decoder 960 may be implemented by a CPU or GPU or coprocessor.
The statistical data determined by the ISP processor 940 may be transmitted to the control logic 950 unit. For example, the statistical data may include image sensor 914 statistics such as auto-exposure, auto-white balance, auto-focus, flicker detection, black level compensation, lens 912 shading correction, and the like. The control logic 950 may include a processor and/or microcontroller that executes one or more routines (e.g., firmware) that may determine control parameters of the imaging device 910 and control parameters of the ISP processor 940 based on the received statistical data. For example, the control parameters of imaging device 910 may include sensor 920 control parameters (e.g., gain, integration time for exposure control, anti-shake parameters, etc.), camera flash control parameters, lens 912 control parameters (e.g., focal length for focusing or zooming), or a combination of these parameters. The ISP control parameters may include gain levels and color correction matrices for automatic white balance and color adjustment (e.g., during RGB processing), as well as lens 912 shading correction parameters.
Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. Suitable non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. A distance measuring method, characterized by comprising:
measuring the real-time distance of a moving target by transmitting light waves with initial modulation frequency to obtain a first real-time distance, wherein the initial modulation frequency is correspondingly screened from a preset modulation frequency sequence according to the initial distance of the moving target; the measuring distance interval of the light wave with the initial modulation frequency is correspondingly set according to the light wave with the modulation frequency adjacent to the initial modulation frequency in the preset modulation frequency sequence;
when the first real-time distance is out of the measuring distance interval of the light wave of the initial modulation frequency, adjusting the initial modulation frequency to be a new modulation frequency, wherein the new modulation frequency is adjacent to the initial modulation frequency in the preset modulation frequency sequence;
measuring the real-time distance of the moving target by emitting the light wave with the new modulation frequency to obtain a second real-time distance, and taking the second real-time distance as the real-time distance of the moving target;
the measurement distance interval of the optical wave with the initial modulation frequency is set correspondingly according to the optical wave with the modulation frequency adjacent to the initial modulation frequency in the preset modulation frequency sequence, and includes:
acquiring light waves of adjacent modulation frequencies, wherein the adjacent modulation frequencies are adjacent to the initial modulation frequency in the preset modulation frequency sequence;
acquiring intersection points of curves corresponding to the optical waves with the adjacent modulation frequencies and curves corresponding to the optical waves with the initial modulation frequencies from a distance and precision coordinate system obtained by respectively measuring real-time distances of moving targets through the optical waves with the adjacent modulation frequencies and the optical waves with the initial modulation frequencies, and recording numerical values of distance coordinates corresponding to the intersection points as intersection point distances;
calculating the distance measurement error of the light wave of the initial modulation frequency near the intersection point distance;
and calculating the measuring distance interval of the light wave of the initial modulation frequency according to the intersection point distance and the distance measuring error of the light wave of the initial modulation frequency.
2. The method of claim 1, wherein measuring the real-time distance of the moving object by transmitting light waves at an initial modulation frequency comprises:
and measuring the real-time distance of the moving target by transmitting the light wave of the initial modulation frequency through a time-of-flight (TOF) ranging sensor, wherein the TOF ranging sensor can transmit the light wave of any modulation frequency in the preset modulation frequency sequence.
3. The method of claim 1, wherein when the adjacent modulation frequency comprises a first adjacent modulation frequency and the first adjacent modulation frequency is greater than the initial modulation frequency, the measured distance interval of the light wave at the initial modulation frequency comprises a first end point, and the first end point is the distance measurement error of the light wave at the initial modulation frequency subtracted from the intersection point distance; and the measuring distance interval corresponding to the initial modulation frequency is an interval formed by a distance range which is greater than or equal to the first endpoint.
4. The method of claim 1, wherein when the adjacent modulation frequency comprises a second adjacent modulation frequency that is less than the initial modulation frequency, the measured distance interval of the initial modulation frequency comprises a second end point that is the intersection distance plus a distance measurement error of the optical wave at the initial modulation frequency; the measuring distance interval of the light wave of the initial modulation frequency is an interval formed by a distance range smaller than or equal to the second end point.
5. The method of claim 3, wherein when the adjacent modulation frequencies further comprise a third adjacent modulation frequency, and the third adjacent modulation frequency is greater than the initial modulation frequency;
calculating a preset measuring distance interval of the light wave of the initial modulation frequency according to the intersection point distance and the distance measuring error of the light wave of the initial modulation frequency, wherein the preset measuring distance interval comprises the following steps:
acquiring an intersection point of a curve corresponding to the optical wave of the first adjacent modulation frequency and a curve corresponding to the optical wave of the initial modulation frequency from a coordinate system of distance and precision obtained by measuring the real-time distance of the moving target through the optical wave of the first adjacent modulation frequency and the optical wave of the initial modulation frequency, and recording a numerical value of a distance coordinate corresponding to the intersection point as a first intersection point distance;
acquiring an intersection point of a curve corresponding to the optical wave of the third adjacent modulation frequency and a curve corresponding to the optical wave of the initial modulation frequency from a coordinate system of distance and precision obtained by measuring the real-time distance of the moving target through the optical wave of the third adjacent modulation frequency and the optical wave of the initial modulation frequency, and recording a numerical value of a distance coordinate corresponding to the intersection point as a second intersection point distance;
the measuring distance interval of the initial modulation frequency comprises a second end point, and the second end point is obtained by subtracting the distance measuring error of the light wave of the initial modulation frequency from the first intersection point distance;
the measuring distance interval of the initial modulation frequency comprises a third end point, and the third end point is obtained by adding the distance of the second intersection point to the distance measuring error of the light wave of the initial modulation frequency;
the preset measurement distance interval corresponding to the initial modulation frequency is an interval formed by a distance range which is greater than or equal to the second end point and less than or equal to the third end point.
6. A distance measuring device, characterized in that the device comprises:
the first real-time distance acquisition module is used for measuring the real-time distance of the moving target by transmitting light waves with initial modulation frequency to obtain a first real-time distance, wherein the initial modulation frequency is correspondingly screened from a preset modulation frequency sequence according to the initial distance of the moving target;
a frequency adjusting module, configured to adjust the initial modulation frequency to a new modulation frequency when the first real-time distance falls outside a measurement distance interval of the optical wave with the initial modulation frequency, where the new modulation frequency is adjacent to the initial modulation frequency in the preset modulation frequency sequence;
the second real-time distance acquisition module is used for measuring the real-time distance of the moving target by transmitting the light wave with the new modulation frequency to obtain a second real-time distance, and the second real-time distance is used as the real-time distance of the moving target;
the measuring distance interval setting module is used for correspondingly setting the measuring distance interval of the light wave with the initial modulation frequency according to the light wave with the modulation frequency adjacent to the initial modulation frequency in the preset modulation frequency sequence;
the measuring distance interval setting module for the light wave with the initial modulation frequency comprises:
the light wave acquisition module of adjacent modulation frequencies is used for acquiring light waves of adjacent modulation frequencies, and the adjacent modulation frequencies are adjacent to the initial modulation frequency in the preset modulation frequency sequence;
an intersection point distance obtaining module, configured to obtain an intersection point between a curve corresponding to the optical wave with the adjacent modulation frequency and a curve corresponding to the optical wave with the initial modulation frequency from a coordinate system of distance and precision obtained by measuring a real-time distance of the moving target by the optical wave with the adjacent modulation frequency and the optical wave with the initial modulation frequency, and record a numerical value of a distance coordinate corresponding to the intersection point as an intersection point distance;
the distance measurement error calculation module is used for calculating the distance measurement error of the light wave of the initial modulation frequency near the intersection point distance;
and the measuring distance interval calculating module is used for calculating the measuring distance interval of the light wave of the initial modulation frequency according to the intersection point distance and the distance measuring error of the light wave of the initial modulation frequency.
7. The apparatus of claim 6,
the first real-time distance acquisition module is further configured to measure a real-time distance of the moving target by transmitting an optical wave with an initial modulation frequency through a time-of-flight TOF ranging sensor, and the TOF ranging sensor can transmit an optical wave with any modulation frequency in the preset modulation frequency sequence.
8. The apparatus of claim 6, wherein when the adjacent modulation frequency comprises a first adjacent modulation frequency, and the first adjacent modulation frequency is greater than the initial modulation frequency, the measured distance interval of the light wave at the initial modulation frequency comprises a first end point, and the first end point is the distance measurement error of the light wave at the initial modulation frequency subtracted from the intersection point distance; and the measuring distance interval corresponding to the initial modulation frequency is an interval formed by a distance range which is greater than or equal to the first endpoint.
9. The apparatus of claim 6, wherein when the adjacent modulation frequency comprises a second adjacent modulation frequency, and the second adjacent modulation frequency is smaller than the initial modulation frequency, the measured distance interval of the initial modulation frequency comprises a second end point, and the second end point is the intersection point distance plus the distance measurement error of the light wave at the initial modulation frequency; the measuring distance interval of the light wave of the initial modulation frequency is an interval formed by a distance range smaller than or equal to the second end point.
10. The apparatus of claim 8, wherein when the adjacent modulation frequencies further comprise a third adjacent modulation frequency, and the third adjacent modulation frequency is greater than the initial modulation frequency;
calculating a preset measuring distance interval of the light wave of the initial modulation frequency according to the intersection point distance and the distance measuring error of the light wave of the initial modulation frequency, wherein the preset measuring distance interval comprises the following steps:
acquiring an intersection point of a curve corresponding to the optical wave of the first adjacent modulation frequency and a curve corresponding to the optical wave of the initial modulation frequency from a coordinate system of distance and precision obtained by measuring the real-time distance of the moving target through the optical wave of the first adjacent modulation frequency and the optical wave of the initial modulation frequency, and recording a numerical value of a distance coordinate corresponding to the intersection point as a first intersection point distance;
acquiring an intersection point of a curve corresponding to the optical wave of the third adjacent modulation frequency and a curve corresponding to the optical wave of the initial modulation frequency from a coordinate system of distance and precision obtained by measuring the real-time distance of the moving target through the optical wave of the third adjacent modulation frequency and the optical wave of the initial modulation frequency, and recording a numerical value of a distance coordinate corresponding to the intersection point as a second intersection point distance;
the measuring distance interval of the initial modulation frequency comprises a second end point, and the second end point is obtained by subtracting the distance measuring error of the light wave of the initial modulation frequency from the first intersection point distance;
the measuring distance interval of the initial modulation frequency comprises a third end point, and the third end point is obtained by adding the distance of the second intersection point to the distance measuring error of the light wave of the initial modulation frequency;
the preset measurement distance interval corresponding to the initial modulation frequency is an interval formed by a distance range which is greater than or equal to the second end point and less than or equal to the third end point.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the distance measuring method according to any one of claims 1 to 5.
12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the distance measurement method according to any of claims 1 to 5 when executing the computer program.
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| CN110125096B (en) * | 2019-06-06 | 2021-08-06 | 哈尔滨工业大学 | Laser composite cleaning system and method |
| CN113296106A (en) * | 2021-05-17 | 2021-08-24 | 江西欧迈斯微电子有限公司 | TOF ranging method and device, electronic equipment and storage medium |
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