CN109298428A - More TOF depth information acquisition synchronous method and system - Google Patents
More TOF depth information acquisition synchronous method and system Download PDFInfo
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- CN109298428A CN109298428A CN201811367088.5A CN201811367088A CN109298428A CN 109298428 A CN109298428 A CN 109298428A CN 201811367088 A CN201811367088 A CN 201811367088A CN 109298428 A CN109298428 A CN 109298428A
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- control module
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- shutter signal
- tof
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The present invention discloses a kind of more TOF depth informations acquisition synchronization system, including several TOF sensors, the first control module and the second control module；TOF sensor obtains the spatial positional information data of each target, and the spatial positional information data of each target are transmitted in first control module；First control module carries out acceleration processing to spatial positional information data, obtains control coordinate information, and control coordinate information is transmitted in the second control module；Second control module exports homologous shutter signal according to each control coordinate information, and homologous shutter signal is fed back in each first control module, and each first control module is according to the homologous shutter signal regeneration at respective shutter signal.By means of the present invention and device, so that several TOF relative phases are fixed, it realizes that the depth information that each first control module generates is synchronous, then corresponding target is controlled according to the shutter signal of generation by the first control module, realize the synchronization process of several TOF.
Description
Technical field
The present invention relates to TOF measurement technical fields, more particularly to a kind of more TOF depth informations to acquire synchronous method and be
System.
Background technique
Flight time (Time of Flight, abbreviation TOF) distance measuring method be Bidirectional distance measurement technology or unidirectional ranging technology,
Its realization process is mainly using the signal flight time round-trip between two asynchronous receiver-transmitters come the distance between measuring node.
In traditional TOF measurement technology, when the relatively good modulation of signal level or in non line of sight sight, it is usually used based on RSSI
(Received Signal Strength Indication, received signal intensity instruction) distance measuring method estimates, estimation
As a result more satisfactory；And under sighting distance line-of-sight circumstances, at this point, can make up for it based on TOF range estimation method based on RSSI distance
The deficiency of evaluation method.However, in TOF measurement method, there are two crucial constraints: first is that sending device and receiving device are necessary
Always it synchronizes；Second is that receiving device provides the length of the transmission time of signal；In order to realize that clock is synchronous, TOF measurement method is adopted
Clock synchronization issue is solved with clock offset.And in the prior art, for 360 degree of spaces or wider space
Depth information positioning is at present still without total solution.
Summary of the invention
The shortcomings that present invention is directed in the prior art provides more TOF depth informations acquisition synchronous method of one kind and is
System.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals:
A kind of more TOF depth informations acquire synchronization systems, including several TOF sensors, identical as TOF sensor quantity
The first control module and the second control module；
The TOF sensor, for obtaining the spatial positional information data of each target, and by the space bit of each target
Information data is set to be transmitted in first control module；
First control module carries out acceleration processing for the spatial positional information data to each TOF sensor, obtains
To control coordinate information, control coordinate information is transmitted in the second control module；
Second control module, for exporting homologous shutter signal according to each control coordinate information, and will be homologous
Shutter signal is fed back in each first control module, and each first control module is believed according to the homologous shutter
Number respective shutter signal of regeneration.
As an embodiment, second control module is arranged to:
Homologous shutter signal is exported according to each control coordinate information, by homologous shutter signal acquisition to effectively
Phase time T0；
The homologous shutter signal that effective phase time is T0 is fed back in each first control module, each first
Control module is mutually related according to effective phase time T0 in conjunction with each self-generating of local clock and effective phase time T0
Shutter signal, the shutter signal form of expression that each first control module generates are T0+nt, and n indicates the first control mould
The number of block, n=1 ... m, t indicate the time interval of each TOF sensor switch motion.
A kind of more TOF depth informations acquisition synchronous method, comprising the following steps:
TOF sensor obtains the spatial positional information data of each target, and by the spatial positional information number of each target
According to being transmitted in first control module；
First control module carries out acceleration processing to the spatial positional information data of each TOF sensor, obtains control and sits
Information is marked, control coordinate information is transmitted in the second control module；
Second control module exports homologous shutter signal according to each control coordinate information, and homologous shutter is believed
Number feed back in each first control module, each first control module according to the homologous shutter signal regeneration at
Respective shutter signal.
As an embodiment, second control module exports homologous according to each control coordinate information
Shutter signal, and homologous shutter signal is fed back in each first control module, each first control module
According to the homologous shutter signal regeneration at respective shutter signal, specifically:
Homologous shutter signal is exported according to each control coordinate information, by homologous shutter signal acquisition to effectively
Phase time T0；
The homologous shutter signal that effective phase time is T0 is fed back in each first control module, each first
Control module is mutually related according to effective phase time T0 in conjunction with each self-generating of local clock and effective phase time T0
Shutter signal, the shutter signal form of expression that each first control module generates are T0+nt, and n indicates the first control mould
The number of block, n=1 ... m, t indicate the time interval of each TOF sensor switch motion.
The present invention is due to using above technical scheme, with significant technical effect:
By means of the present invention and device, it so that several TOF sensor relative phases are fixed, and then is able to achieve each
The depth information that first control module generates is synchronous, then by each first control module according to the shutter signal control of generation
Corresponding target is made, can be achieved with the synchronization process of several TOF sensors in this way.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, 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 invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram of present system；
Fig. 2 is the overall flow schematic diagram of the method for the present invention；
Fig. 3 is the schematic diagram of cartesian coordinate system；
Fig. 4 is TOF sensor apart from Computing Principle schematic diagram；
Fig. 5 is overall structure connection schematic diagram of the invention；
Fig. 6 is more logic charts TOF sensor synchronization time of the present invention.
Specific embodiment
The present invention will be further described in detail below with reference to the embodiments, following embodiment be explanation of the invention and
The invention is not limited to following embodiments.
Embodiment 1:
A kind of more TOF depth informations acquire synchronization systems, as shown in Figure 1,5, including several TOF sensors 100, with
Identical first control module 200 of TOF sensor quantity and the second control module 300；
The TOF sensor 100, for obtaining the spatial positional information data of each target, and by the sky of each target
Between location information data be transmitted in first control module；
First control module 200 carries out at acceleration for the spatial positional information data to each TOF sensor
Reason obtains control coordinate information, and control coordinate information is transmitted in the second control module；
Second control module 300, for exporting homologous shutter signal according to each control coordinate information, and will
Homologous shutter signal is fed back in each first control module, and each first control module is according to described homologous
Shutter signal regeneration is at respective shutter signal.
Second control module 200 is arranged to:
Homologous shutter signal is exported according to each control coordinate information, by homologous shutter signal acquisition to effectively
Phase time T0；
The homologous shutter signal that effective phase time is T0 is fed back in each first control module, each first
Control module is mutually related according to effective phase time T0 in conjunction with each self-generating of local clock and effective phase time T0
Shutter signal, the shutter signal form of expression that each first control module generates are T0+nt, and n indicates the first control mould
The number of block, n=1 ... m, t indicate the time interval of each TOF sensor switch motion, as shown in fig. 6, in figure 6,
It is logic chart synchronization time for illustrating 5 TOF sensors.
Embodiment 2:
A kind of more TOF depth informations acquisition synchronous method, as shown in Figure 2, comprising the following steps:
TOF sensor obtains the spatial positional information data of each target, and by the spatial positional information number of each target
According to being transmitted in first control module；
First control module carries out acceleration processing to the spatial positional information data of each TOF sensor, obtains control and sits
Information is marked, control coordinate information is transmitted in the second control module；
Second control module exports homologous shutter signal according to each control coordinate information, and homologous shutter is believed
Number feed back in each first control module, each first control module according to the homologous shutter signal regeneration at
Respective shutter signal.
As an embodiment, second control module exports homologous according to each control coordinate information
Shutter signal, and homologous shutter signal is fed back in each first control module, each first control module
According to the homologous shutter signal regeneration at respective shutter signal, specifically:
Homologous shutter signal is exported according to each control coordinate information, by homologous shutter signal acquisition to effectively
Phase time T0；
The homologous shutter signal that effective phase time is T0 is fed back in each first control module, each first
Control module is mutually related according to effective phase time T0 in conjunction with each self-generating of local clock and effective phase time T0
Shutter signal, the shutter signal form of expression that each first control module generates are T0+nt, and n indicates the first control mould
The number of block, n=1 ... m, t indicate the time interval of each TOF sensor switch motion.
Measurement distance (i.e. TOF sensor and target are calculated using cartesian coordinate system in an embodiment of the present invention
Between distance), as shown in Figure 3.The present embodiment is with 0 ° ... 360 ° come respective distances 0m to measurement distance (distance detected),
Following formula can be obtained in this way:
Wherein, variableOr=atan2 (y, x).And in order to accurately calculate measurement distance,
It needs that 2 pixels (zero point for determining sampling, another is used to calculate the time relative to zero point) is at least selected
It is sampled.
Assuming that in a sampling period tMODIt is interior, DCS0, DCS1, DCS2 and DCS3 totally 4 sampled signals are had chosen altogether,
Relation curve such as Fig. 4 institute of its time time, amplitude amplitude, phase change phase shift and sampled point sample
Show.And according to the correlation theory of time-of-flight method, it need to only determine TOF sensor transmitting signal emitted AC signal and connect
Phase shift between the return signal received AC signal of receiptsIt can be according to formulaTo calculate corresponding survey
Span is from D, in conjunction with Fig. 4 and relevant geometry and mathematical knowledge, it can be calculated that from TOF sensor emit the signal moment to
Receive the time t between the return signal momentTOFCalculation formula are as follows:
Wherein, tTOFUnit be the second, | DCS0 |, | DCS1 |, | DCS2 | and | DCS3 | be respectively DCS0, DCS1, DCS2 and
The sample amplitudes of DCS3, the unit of sample amplitudes are LSB, fLEDFor the modulating frequency of measuring distance of target, tOFFSETIt is inclined for time of measuring
Shifting amount, this offset can be adjusted or preset before measuring, and being such as set as 0, C is the light velocity, it is assumed that the second control module hair
Effective phase time of homologous shutter signal out is T0, then, the shutter signal that each first control module generates
The form of expression is T0+nt, and n indicates the number of the first control module, n=1 ... m, by each of determining the first control mould
The shutter signal that block generates controls corresponding target, realizes the synchronization process of several TOF sensors.
In addition, it should be noted that, the specific embodiments described in this specification, the shape of parts and components are named
Title etc. can be different.The equivalent or simple change that all structure, feature and principles described according to the invention patent design are done, is wrapped
It includes in the scope of protection of the patent of the present invention.Those skilled in the art can be to described specific implementation
Example is done various modifications or additions or is substituted in a similar manner, and without departing from structure of the invention or surmounts this
Range as defined in the claims, is within the scope of protection of the invention.
Claims (4)
1. a kind of more TOF depth informations acquire synchronization system, which is characterized in that sensed including several TOF sensors, with TOF
Identical first control module of device quantity and the second control module；
The TOF sensor, for obtaining the spatial positional information data of each target, and by the space bit confidence of each target
Breath data are transmitted in first control module；
First control module carries out acceleration processing for the spatial positional information data to each TOF sensor, is controlled
Control coordinate information is transmitted in the second control module by coordinate information processed；
Second control module, for exporting homologous shutter signal according to each control coordinate information, and will be homologous
Shutter signal is fed back in each first control module, and each first control module is believed according to the homologous shutter
Number respective shutter signal of regeneration.
2. more TOF depth informations according to claim 1 acquire synchronization system, which is characterized in that second control
Module is arranged to:
Homologous shutter signal is exported according to each control coordinate information, passes through homologous shutter signal acquisition to effective phase
Time T0；
The homologous shutter signal that effective phase time is T0 is fed back in each first control module, each first control
Module is mutually related shutter according to effective phase time T0 in conjunction with each self-generating of local clock and effective phase time T0
Signal, the shutter signal form of expression that each first control module generates are T0+nt, and n indicates of the first control module
Number, n=1 ... m, t indicate the time interval of each TOF sensor switch motion.
3. a kind of more TOF depth informations acquire synchronous method, which comprises the following steps:
TOF sensor obtains the spatial positional information data of each target, and the spatial positional information data of each target are passed
It transports in first control module；
First control module carries out acceleration processing to the spatial positional information data of each TOF sensor, obtains control coordinate letter
Control coordinate information is transmitted in the second control module by breath；
Second control module exports homologous shutter signal according to each control coordinate information, and homologous shutter signal is anti-
It is fed in each first control module, each first control module is according to the homologous shutter signal regeneration at respective
Shutter signal.
4. more TOF depth informations according to claim 3 acquire synchronous method, which is characterized in that second control
Module exports homologous shutter signal according to each control coordinate information, and homologous shutter signal is fed back to each described
In first control module, each first control module is believed according to the homologous shutter signal regeneration at respective shutter
Number, specifically:
Homologous shutter signal is exported according to each control coordinate information, passes through homologous shutter signal acquisition to effective phase
Time T0；
The homologous shutter signal that effective phase time is T0 is fed back in each first control module, each first control
Module is mutually related shutter according to effective phase time T0 in conjunction with each self-generating of local clock and effective phase time T0
Signal, the shutter signal form of expression that each first control module generates are T0+nt, and n indicates of the first control module
Number, n=1 ... m, t indicate the time interval of each TOF sensor switch motion.
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Cited By (1)
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| CN110109133A (en) * | 2019-05-05 | 2019-08-09 | 武汉市聚芯微电子有限责任公司 | Compensated distance method and distance measuring method based on the flight time |
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