CN109298428B - Multi-TOF depth information acquisition synchronization method and system - Google Patents
Multi-TOF depth information acquisition synchronization method and system Download PDFInfo
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- CN109298428B CN109298428B CN201811367088.5A CN201811367088A CN109298428B CN 109298428 B CN109298428 B CN 109298428B CN 201811367088 A CN201811367088 A CN 201811367088A CN 109298428 B CN109298428 B CN 109298428B
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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 invention discloses a multi-TOF depth information acquisition synchronization system, which comprises a plurality of TOF sensors, a first control module and a second control module; the TOF sensor acquires spatial position information data of each target and transmits the spatial position information data of each target to the first control module; the first control module performs acceleration processing on the spatial position information data to obtain control coordinate information, and transmits the control coordinate information to the second control module; the second control module outputs homologous shutter signals according to the control coordinate information and feeds the homologous shutter signals back to each first control module, and each first control module regenerates the homologous shutter signals according to the homologous shutter signals. By the method and the device, the relative phases of the TOFs are fixed, the depth information generated by each first control module is synchronized, and then the first control module controls the corresponding target according to the generated shutter signal, so that the synchronous processing of the TOFs is realized.
Description
Technical Field
The invention relates to the technical field of TOF ranging, in particular to a method and a system for synchronizing acquisition of multiple TOF depth information.
Background
The Time of Flight (TOF) ranging method is a two-way ranging technique or a one-way ranging technique, and is implemented by measuring the distance between nodes by using the Time of Flight of a signal going back and forth between two asynchronous transceivers. In the conventional TOF ranging technology, when the Signal level is well modulated or is in a non-line-of-sight line, the Signal level is generally estimated by using a ranging method based on RSSI (Received Signal Strength Indication), and the estimated result is ideal; in the sight-line environment, the distance estimation method based on the TOF can make up the deficiency of the distance estimation method based on the RSSI. However, there are two key constraints on the TOF ranging method: firstly, the sending device and the receiving device must be always synchronous; secondly, the transmission time of the signals provided by the receiving equipment is short; in order to achieve clock synchronization, the TOF ranging method employs a clock offset to solve the clock synchronization problem. In the prior art, there is no complete solution for depth information positioning in 360 degree space or more.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a system for collecting and synchronizing multiple TOF depth information.
In order to solve the technical problem, the invention is solved by the following technical scheme:
a multi-TOF depth information acquisition synchronization system comprises a plurality of TOF sensors, a first control module and a second control module, wherein the number of the first control module and the number of the second control module are the same as that of the TOF sensors;
the TOF sensor is used for acquiring spatial position information data of each target and transmitting the spatial position information data of each target to the first control module;
the first control module is used for accelerating the spatial position information data of each TOF sensor to obtain control coordinate information and transmitting the control coordinate information to the second control module;
the second control module is used for outputting homologous shutter signals according to the control coordinate information and feeding the homologous shutter signals back to each first control module, and each first control module regenerates the homologous shutter signals according to the homologous shutter signals.
As an implementable form, the second control module is configured to:
outputting a homologous shutter signal according to each piece of control coordinate information, and acquiring effective phase time T0 through the homologous shutter signal;
feeding back a homologous shutter signal with an effective phase time of T0 to each first control module, wherein each first control module generates a shutter signal correlated with the effective phase time T0 according to the effective phase time T0 and a local clock, the shutter signal generated by each first control module is represented in a form of T0+ nt, n represents the number of the first control modules, n is 1 … … m, and T represents a time interval of switching action of each TOF sensor.
A multi-TOF depth information acquisition synchronization method comprises the following steps:
the TOF sensor acquires spatial position information data of each target and transmits the spatial position information data of each target to the first control module;
the first control module performs acceleration processing on the spatial position information data of each TOF sensor to obtain control coordinate information, and transmits the control coordinate information to the second control module;
the second control module outputs homologous shutter signals according to the control coordinate information and feeds the homologous shutter signals back to each first control module, and each first control module regenerates the homologous shutter signals according to the homologous shutter signals.
As an implementation manner, the second control module outputs a homologous shutter signal according to each piece of control coordinate information, and feeds the homologous shutter signal back to each of the first control modules, and each of the first control modules regenerates a respective shutter signal according to the homologous shutter signal, specifically:
outputting a homologous shutter signal according to each piece of control coordinate information, and acquiring effective phase time T0 through the homologous shutter signal;
feeding back a homologous shutter signal with an effective phase time of T0 to each first control module, wherein each first control module generates a shutter signal correlated with the effective phase time T0 according to the effective phase time T0 and a local clock, the shutter signal generated by each first control module is represented in a form of T0+ nt, n represents the number of the first control modules, n is 1 … … m, and T represents a time interval of switching action of each TOF sensor.
Due to the adoption of the technical scheme, the invention has the remarkable technical effects that:
by the method and the device, relative phases of the TOF sensors are fixed, so that depth information generated by each first control module can be synchronized, and then each first control module controls a corresponding target according to a generated shutter signal, so that synchronous processing of the TOF sensors can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall architecture of the system of the present invention;
FIG. 2 is a schematic overall flow diagram of the process of the present invention;
FIG. 3 is a schematic diagram of a Cartesian coordinate system;
FIG. 4 is a schematic diagram of the distance calculation of a TOF sensor;
FIG. 5 is a schematic view of the overall structural connection of the present invention;
FIG. 6 is a logic diagram of the multi-TOF sensor synchronized timing of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples, which are illustrative of the present invention and are not to be construed as being limited thereto.
Example 1:
a multi-TOF depth information acquisition synchronization system is shown in FIGS. 1 and 5 and comprises a plurality of TOF sensors 100, a first control module 200 and a second control module 300, wherein the number of the TOF sensors is the same as that of the TOF sensors;
the TOF sensor 100 is configured to acquire spatial position information data of each target and transmit the spatial position information data of each target to the first control module;
the first control module 200 is configured to perform acceleration processing on spatial position information data of each TOF sensor to obtain control coordinate information, and transmit the control coordinate information to the second control module;
the second control module 300 is configured to output a homologous shutter signal according to each piece of control coordinate information, and feed back the homologous shutter signal to each of the first control modules, and each of the first control modules regenerates a respective shutter signal according to the homologous shutter signal.
The second control module 200 is configured to:
outputting a homologous shutter signal according to each piece of control coordinate information, and acquiring effective phase time T0 through the homologous shutter signal;
feeding back a homologous shutter signal with an effective phase time of T0 to each first control module, each first control module generating a shutter signal correlated to the effective phase time T0 according to the effective phase time T0 in combination with a local clock, wherein the shutter signal generated by each first control module is represented by T0+ nt, n represents the number of the first control modules, n is 1 … … m, and T represents a time interval of switching action of each TOF sensor, as shown in fig. 6, fig. 6 illustrates a synchronous time logic diagram of 5 TOF sensors.
Example 2:
a method for synchronizing acquisition of multiple TOF depth information, as shown in fig. 2, includes the following steps:
the TOF sensor acquires spatial position information data of each target and transmits the spatial position information data of each target to the first control module;
the first control module performs acceleration processing on the spatial position information data of each TOF sensor to obtain control coordinate information, and transmits the control coordinate information to the second control module;
the second control module outputs homologous shutter signals according to the control coordinate information and feeds the homologous shutter signals back to each first control module, and each first control module regenerates the homologous shutter signals according to the homologous shutter signals.
As an implementation manner, the second control module outputs a homologous shutter signal according to each piece of control coordinate information, and feeds the homologous shutter signal back to each of the first control modules, and each of the first control modules regenerates a respective shutter signal according to the homologous shutter signal, specifically:
outputting a homologous shutter signal according to each piece of control coordinate information, and acquiring effective phase time T0 through the homologous shutter signal;
feeding back a homologous shutter signal with an effective phase time of T0 to each first control module, wherein each first control module generates a shutter signal correlated with the effective phase time T0 according to the effective phase time T0 and a local clock, the shutter signal generated by each first control module is represented in a form of T0+ nt, n represents the number of the first control modules, n is 1 … … m, and T represents a time interval of switching action of each TOF sensor.
A cartesian coordinate system is employed in embodiments of the invention to calculate the measured distance (i.e., the distance between the TOF sensor and the target), as shown in fig. 3. The present embodiment uses 0 ° … 360 ° to correspond to the distance 0m to the measured distance (i.e., the detected distance), so that the following formula can be obtained:
wherein, variable
Or atan2(y, x). In order to accurately calculate the measurement distance, at least 2 pixels (one for determining the zero point of the sampling and the other for calculating the time with respect to the zero point) need to be selected for sampling.
Suppose that in one sampling period tMODIn the interior, 4 sampling signals including DCS0, DCS1, DCS2 and DCS3 are selected, and a relationship curve of time, amplitude, phase change shift and sampling point sample is shown in fig. 4. According to the correlation theory of the time-of-flight method, only the phase shift between the transmitted signal emitted AC signal of the TOF sensor and the received return signal received AC signal needs to be determined
Can be according to the formula
To calculate the corresponding measured distance D, which, in combination with fig. 4 and the associated geometric and mathematical knowledge, can be calculated fromTime t between signal emission time of TOF sensor and return signal receiving timeTOFThe calculation formula is as follows:
wherein, tTOFThe unit of (a) is second, the units of | DCS0|, | DCS1|, | DCS2| and | DCS3| are the sampling amplitudes of DCS0, DCS1, DCS2 and DCS3 respectively, and the units of the sampling amplitudes are L SB, fLEDModulation frequency, t, for ranging targetsOFFSETFor measuring the time offset, the offset may be adjusted or preset before measurement, for example, set to 0, C is the speed of light, and assuming that the effective phase time of the homologous shutter signal sent by the second control module is T0, then the shutter signal generated by each first control module is represented by T0+ nt, n represents the number of first control modules, and n is 1 … … m, and the synchronization process of several TOF sensors is implemented by determining the shutter signal generated by each first control module to control the corresponding target.
In addition, it should be noted that the specific embodiments described in the present specification may differ in the shape of the components, the names of the components, and the like. All equivalent or simple changes of the structure, the characteristics and the principle of the invention which are described in the patent conception of the invention are included in the protection scope of the patent of the invention. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (2)
1. A multi-TOF depth information acquisition synchronization system is characterized by comprising a plurality of TOF sensors, a first control module and a second control module, wherein the number of the first control module and the number of the second control module are the same as that of the TOF sensors;
the TOF sensor is used for acquiring spatial position information data of each target and transmitting the spatial position information data of each target to the first control module;
the first control module is used for accelerating the spatial position information data of each TOF sensor to obtain control coordinate information and transmitting the control coordinate information to the second control module;
the second control module is used for outputting homologous shutter signals according to the control coordinate information and feeding the homologous shutter signals back to each first control module, and each first control module regenerates the homologous shutter signals into respective shutter signals according to the homologous shutter signals;
the second control module outputs a homologous shutter signal according to each piece of control coordinate information, and obtains effective phase time T0 through the homologous shutter signal;
feeding back a homologous shutter signal with an effective phase time of T0 to each first control module, wherein each first control module respectively generates a shutter signal correlated with the effective phase time T0 according to the effective phase time T0 and a local clock, the shutter signal generated by each first control module is represented in a form of T0+ nt, n represents the number of the first control modules, n =1 … … m, and T represents a time interval of switching action of each TOF sensor.
2. A multi-TOF depth information acquisition synchronization method is characterized by comprising the following steps:
the TOF sensor acquires spatial position information data of each target and transmits the spatial position information data of each target to the first control module;
the first control module performs acceleration processing on the spatial position information data of each TOF sensor to obtain control coordinate information, and transmits the control coordinate information to the second control module;
the second control module outputs homologous shutter signals according to the control coordinate information and feeds the homologous shutter signals back to each first control module, and each first control module regenerates the homologous shutter signals according to the homologous shutter signals;
the second control module outputs a homologous shutter signal according to each piece of control coordinate information, and feeds the homologous shutter signal back to each first control module, and each first control module regenerates a respective shutter signal according to the homologous shutter signal, specifically:
outputting a homologous shutter signal according to each piece of control coordinate information, and acquiring effective phase time T0 through the homologous shutter signal;
feeding back a homologous shutter signal with an effective phase time of T0 to each first control module, wherein each first control module respectively generates a shutter signal correlated with the effective phase time T0 according to the effective phase time T0 and a local clock, the shutter signal generated by each first control module is represented in a form of T0+ nt, n represents the number of the first control modules, n =1 … … m, and T represents a time interval of switching action of each TOF sensor.
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