CN110441786A - TOF measurement method and apparatus - Google Patents
TOF measurement method and apparatus Download PDFInfo
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- CN110441786A CN110441786A CN201910784921.4A CN201910784921A CN110441786A CN 110441786 A CN110441786 A CN 110441786A CN 201910784921 A CN201910784921 A CN 201910784921A CN 110441786 A CN110441786 A CN 110441786A
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- distance
- optical signal
- tof measurement
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
Abstract
The application is suitable for ranging technology field, provides a kind of TOF measurement method and apparatus, the TOF measurement method, comprising: control transmitting module emits optical signal to object, and controls and receives module and receive the optical signal being reflected back by the object；Calculate the detected amplitude for the optical signal that the receiving module receives；If the detected amplitude belongs to default amplitude range, the detecting distance that the default amplitude range obtains the object is corresponded to.The application expands the range of TOF measurement.
Description
Technical field
This application involves ranging technology field more particularly to a kind of TOF measurement method and apparatus.
Background technique
The full name of TOF is Time-Of-Flight, i.e. the flight time, this is a kind of by measuring the flight time of light come real
The now technology of accurate range determination.Commercial TOF measurement equipment at present, such as the payment of mobile phone camera, face, using one kind
I-ToF (indirect-TOF) technology carries out the measurement of light flight time by measuring the test data of different taps, into one
Step realizes range measurement.The difference of modulation /demodulation type fashion can be divided into continuous wave (Continuous Wave, CW) modulatedemodulate
Tune mode and impulse modulation (Pulse Modulated, PM) modulation demodulation system.
However, no matter the TOF measurement (PM iTOF) of impulse modulation principle or the TOF measurement (CW of continuous wave modulation principle
ITOF), it can occur apart from aliasing when detecting distance exceeds a certain range, and then cause TOF measurement range limited；Although this
Aliasing can obtain a degree of solution by using the mode of multifrequency or reduction test frequency.But double frequency test can be brought
The rising of test macro complexity, amount of test data and power consumption, reducing frame frequency then will lead to the decline of measuring accuracy.
Summary of the invention
The embodiment of the present application provides a kind of TOF measurement method and apparatus, can solve technology present in the relevant technologies
Problem.
In a first aspect, the embodiment of the present application provides a kind of TOF measurement method, comprising:
It controls transmitting module and emits optical signal to object, and control and receive what module reception was reflected back by the object
The optical signal；
Calculate the detected amplitude for the optical signal that the receiving module receives；
If the detected amplitude belongs to default amplitude range, corresponds to the default amplitude range and obtain the object
Detecting distance.
Solve the problems, such as that TOF measurement range is limited by proposing two schemes for single-frequency ranging, further expansion
The detection range of TOF measurement equipment.
Second aspect, the embodiment of the present application provide a kind of TOF measurement method, comprising:
It controls transmitting module and emits optical signal to object, and control and receive what module reception was reflected back by the object
The optical signal；
Calculate the phase for the optical signal that the optical signal that the transmitting module emits is received with the receiving module
Potential difference, and obtain based on the phase difference detecting distance of the object；
If the detecting distance belongs to pre-determined distance range, using the detecting distance as the ranging knot of the object
Fruit.
The third aspect, the embodiment of the present application provide a kind of TOF measurement equipment, comprising:
Transmitting module, for emitting optical signal to object；
Receiving module, for receiving the optical signal being reflected back by the object；
Control module emits optical signal to the object for controlling the transmitting module, and controls the reception mould
Block receives the optical signal being reflected back by the object；Calculate the detection for the optical signal that the receiving module receives
Amplitude；If the detected amplitude belongs to default amplitude range, the inspection that the default amplitude range obtains the object is corresponded to
Ranging from.
Fourth aspect, the embodiment of the present application provide a kind of TOF measurement equipment, comprising:
Transmitting module, for emitting optical signal to object；
Receiving module, for receiving the optical signal being reflected back by the object；
Control module emits optical signal to object for controlling transmitting module, and controls and receives module and receive by described
The optical signal that object is reflected back；The optical signal for calculating the transmitting module transmitting is received with the receiving module
The optical signal phase difference, and obtain based on the phase difference detecting distance of the object；If the detecting distance
Belong to pre-determined distance range, then using the detecting distance as the distance measurement result of the object.
The application is by cutting the detection range closely mended remote method and expand short distance TOF measurement equipment；The application passes through to remote
Distance provides the detection range that advantageous judgment basis expands TOF measurement equipment with short distance detection data.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram for TOF measurement equipment that one embodiment of the application provides；
Fig. 2 is a kind of TOF measurement schematic illustration that one embodiment of the application provides；
Fig. 3 is a kind of phase difference for optical signal that one embodiment of the application provides and the analysis diagram of object actual distance；
Fig. 4 is a kind of implementation process schematic diagram for TOF measurement method that one embodiment of the application provides；
Fig. 5 is the parsing of a kind of reflection signal normalization amplitude and object actual distance that one embodiment of the application provides
Figure；
Fig. 6 is a kind of implementation process schematic diagram for TOF measurement method that one embodiment of the application provides；
Fig. 7 is a kind of structural schematic diagram for terminal device that one embodiment of the application provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
It should be appreciated that working as in present specification and the appended claims in use, term " includes " instruction is retouched
State the presence of feature, entirety, step, operation, element and/or component, but be not precluded one or more of the other feature, entirety,
Step, operation, the presence or addition of element, component and/or its set.
It is also understood that referring in present specification to term "and/or" used in the appended claims related
Join any combination and all possible combinations of one or more of item listed, and including these combinations.
As present specification and it is used in the attached claims, term " if " can be according to upper and lower
Text be interpreted " when ... when " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase is " if really
It is fixed " or " if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " ring
Should be in determination " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In addition, in the description of present specification and the appended claims, term " first ", " second ", " third "
It is described etc. being only used for distinguishing, is not understood to indicate or imply relative importance.
The reference " one embodiment " described in the specification of the present application or " some embodiments " etc. mean in the application
One or more embodiments in include in conjunction with the embodiment description special characteristic, structure or feature.As a result, in this specification
In difference occur sentence " in one embodiment ", " in some embodiments ", " in some other embodiment ",
" in other embodiments " etc. uninevitable all referring to identical embodiment, mean " one or more but be not
In addition all embodiments " are only otherwise especially emphasized.The terms "include", "comprise", " having " and their change
Shape can mean that " including but not limited to ", only otherwise in addition especially emphasize.
Fig. 1 is a kind of structural schematic diagram for TOF measurement equipment that one embodiment of the application provides.TOF measurement equipment 10 is wrapped
Containing transmitting module 101, receiving module 102 and control module 103；It further include drive circuit module, power module etc., in figure not
All show.TOF measurement equipment 10 can be mobile phone, tablet computer, payment devices (such as face payment devices).
Transmitting module 101 includes laser 104, laser driver 105 and modulator 106.Laser driver 105 and laser
Device 104 connects, for driving laser 104 to shine；Modulator 106 is connect with laser 104, for modulating laser 104
Light emitting area and area.
In some embodiments, laser 104 generally selects the vertical cavity surface emitting laser of near infrared band
(Vertical Cavity Surface Emitting Laser, VCSEL), due in solar spectrum, near infrared band
Ratio is much lower compared to visible light, while the detector detection efficient of silicon substrate material can reach the requirement of detection substantially,
The interference of sunlight can farthest be reduced；Laser driver 105 is connect with laser 104, for driving laser 104
Launch high frequency modulated light beam, includes laser drive circuit inside laser driver 105；Modulator 106 and laser 104 connect
It connects, for the light of sending to be spatially modulated into ideal face lighting method, makes laser lighting region and receiving module 102
The visual field of imaging system is overlapped as far as possible, the utilization rate of maximum illumination light, as far as possible promotion detection accuracy.
Receiving module 102 includes lens 107, optical filter 108 and imaging sensor 109；Reflected light passes through lens 107 and filter
It is imaged onto imaging sensor 109 after mating plate 108, then is handled to obtain time difference (or phase to reflected light by processor
Difference), and then obtain corresponding distance value.
In some embodiments, lens 107 are made of one or more optical lenses, for collecting returning on object
Light echo is simultaneously imaged on imaging sensor 109；Optical filter 108 need to select the narrow band filter to match with optical source wavelength, be used for
Inhibit the background noise of remaining wave band；Imaging sensor 109 is a kind of imaging sensor dedicated for TOF measurement, such as
Complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS), avalanche optoelectronic two
Pole pipe (Avalanche Photon Diode, APD), single-photon avalanche photodiode (Single Photon Avalanche
Diode, SPAD) etc. imaging sensors.
Control module 103 is connect with transmitting module 101 and receiving module 102, controls operation accordingly for implementing, and
Relevant calculation and processing etc. are carried out to the image received.
In some embodiments, the control function of control module 103 includes, required when emitting laser to laser 104
Periodic modulation signal is controlled, is accordingly controlled when imaging sensor 109 handles collected optical signal
Deng also providing the monitoring signals of auxiliary, such as temperature sensing, overcurrent, overvoltage protection, fall off protection；In control module 103 also
Include register and processor, the collected initial data of imaging sensor 109 is saved and handled accordingly, obtains corresponding
Distance value.
Fig. 2 is a kind of TOF measurement schematic illustration that one embodiment of the application provides.The transmitting mould of TOF measurement equipment 10
Block 101 emits laser beam 21 to object 201, and the light beam 22 reflected through object 201 is back to the reception of TOF measurement equipment 10
Module 102, received module 102 and control module 103 obtain light and fly the time after handling, and then obtain 201 distance TOF of object
The distance 203 of distance-measuring equipment 10.
It should be noted that the distance between transmitting module 101 and receiving module 102 202 is several millimeters or so, it is much smaller than
Therefore distance 203 of the object 201 apart from TOF measurement equipment 10 passes through 103 pairs of transmitting light 21 of control module and reflected light 24
Time difference (or the time difference being converted by phase difference) calculated, be denoted as Δ t, further, not according to light propagation speed
The theorem of change can acquire object 201 203 at a distance from TOF measurement equipment 10 by formula c Δ t/2, wherein c is light
Speed.
For convenience of elaboration, following embodiments are illustrated by taking the detection of CW iTOF single-frequency as an example, it is to be understood that following
Embodiment is not limited only to CW iTOF.
Fig. 3 is a kind of phase difference for optical signal that one embodiment of the application provides and the analysis diagram of object actual distance.
In the present embodiment, it is assumed that the modulating frequency of modulated signal is fm, it is corresponding maximum detecting distance, be denoted as dmax, it is 1.5m (rice),
The detection range apart from aliasing does not occur are as follows: 0m to 1.5m.
It should be noted that generally, it is when detecting reflected light signal 22 and emitting the phase difference value of optical signal 21
When, as shown in figure 3, corresponding detecting distance can value be 0.2m or 1.7m.But it due to the limitation of single-frequency detection scheme, can not make
Further judgement, default value are within the scope of 0m to 1.5m.
However, in some detection devices, such as front camera or payment devices, when hypotelorism, such as 0m to 0.2m
In the range of, due to overexposure or viewing field of camera angle (Fieldof View, FOV) limitation etc., possibly it can not accurately acquire object
Complete information, even if collecting depth information, but due to hypotelorism, other relevant applications can not also be executed, and be existed at this time
Data in the section of 0m to 0.2m can be filtered out directly；Such as in the present embodiment, the data in the section of 0m to 0.2m
When being filtered out, detection range will be extended to 0.2m to 1.7m, further for when detecting distance value is 0.2m and 1.7m, directly
It connects and assert that detecting distance is 1.7m, when detecting distance value is 0.1m and 1.6m, directly identification detecting distance is 1.6m.It needs
Illustrate, the present embodiment is only applicable to the up-close inspections equipment such as front camera, payment devices.
It should also be noted that, detecting distance and detection range described in Fig. 3 are only to illustrate some numbers selected by this programme
According to herein with no restrictions.
Fig. 4 is a kind of implementation process schematic diagram for TOF measurement method that one embodiment of the application provides, and this method includes step
Rapid 41 to step 44, is d according to the maximum detecting distance of equipmentmax。
In step 41, according to physical device and the settable distance values x of specifically used scene and will be in (0, x) section
Range data is used to carry out data screening as data are filtered out.
It should be noted that distance values x can be a very small number, led when detecting distance belongs within the scope of 0 to x
Cause can not collect accurate data or collect data but other application can not also execute, therefore will be in (0, x) section
Range data is used as and filters out data.
In step 42, detect and be calculated the range data y of object.
At step 43, judge whether range data y is in section (0, x), and/or (dmax, dmax+x)；If so, returning
Receipt row step 41 carries out data screening, exports in section (dmax, dmax+ x) in corresponding data y；If it is not, thening follow the steps
44, it exports apart from testing result y.
The present embodiment is by single-frequency detecting distance from range intervals 0 to dmax, it is extended to range intervals x to dmax+ x, dmaxWith x
Value be determined according to specific equipment with actual scene, be not particularly limited herein.
For the detection in some far ranges, above scheme will be no longer applicable in, for this purpose, the application also proposes a kind of base
In reflection characteristic TOF apart from detection scheme.For convenience of elaboration, the present embodiment is equally illustrated so that CWiTOF is detected as an example.
It is understood that following embodiments are not limited only to CW iTOF.
According to CW iTOF testing principle, when frequency modulating signal is fmWhen, the maximum detecting distance apart from aliasing does not occur
For dmax=c/ (2 × fm).As actually detected distance d > dmaxWhen, single-frequency testing scheme can not be made at this time and further sentenced
Disconnected, principle has been made an explanation as shown in Figure 3, and details are not described herein again.
The application, apart from limitation problem, utilizes the amplitude, measuring distance and reflection of optical signal for single-frequency detection scheme
The relationship of rate provides a kind of advantageous judgment basis to output data, and then realizes extension of the TOF apart from detection range.
For CW iTOF detection device, in the identical situation of other operating conditions, amplitude and measuring distance square at
Inverse ratio, it is directly proportional to the reflectivity of object, it is directly proportional to the time for exposure.With continued reference to Fig. 2, it is assumed that be t between upon exposure0,
When the reflectivity of object 201 is 1, the amplitude of the reflection signal 22 reflected through object 201 is A0, detecting distance 203 be d0；
So, upon exposure between be t, the detecting distance 203 of the object detected is d, when the reflectivity of object is 1, through target
The reflection signal 22 that object 201 reflects, the relationship between amplitude A and detecting distance d is,
So, when in a certain measuring distance range, time for exposure t, the reflectivity range of object is (ρmin,ρmax)
When, the amplitude range of the reflection signal 22 reflected through object 201 measured within the scope of the measuring distance are as follows:
Wherein, corresponding measuring distance is d+n × dmax, n=0,1 ....The value of n is 0 and positive integer.
Fig. 5 is the analysis diagram of a kind of amplitude of optical signal of one embodiment of the application and the actual distance of object.This reality
It applies in example, modulating frequency fmFor 100MHz, dmax=1.5m, reflectivity range is (0.05,0.85), with d0Reflectivity at=0.1m
Relational graph between the amplitude of the 1 object echo signal amplitude being normalized and reflectivity and parsing distance is such as
Shown in Fig. 5.It should be noted that Fig. 5 is the amplitude and distance obtained in the case where not considering noise according to formula (1) and formula (2)
Relational graph, wherein the actual range of object is d+n × 1.5 (m), n=0,1 ....
In analysis diagram shown in Fig. 5, n=0 is worked as in the expression of curve 51, the reflection signal normalization amplitude-that when ρ=0.85 obtains away from
From analytic curve, n=0 is worked as in the expression of curve 52, and the reflection signal normalization amplitude-that when ρ=0.05 obtains is apart from analytic curve；It is bent
N=1 work as in the expression of line 53, and apart from analytic curve, curve 54 indicates to work as n=the reflection signal normalization amplitude-that when ρ=0.85 obtains
The reflection signal normalization amplitude-obtained when 1, ρ=0.05 is apart from analytic curve.Region 501 indicates curve 51,52,53 and indulges
The region that reference axis surrounds, region 502 indicate that the region that curve 52,53,54 and axis of ordinates surround, region 503 indicate curve
52,53 region surrounded with axis of ordinates.
In the present embodiment, when being detected to a certain object, when the amplitude for reflecting signal falls into region 501,
Its actual distance is d (d < 1.5m), and when the amplitude of object falls into region 502, actual distance d+1.5m works as target
When the amplitude of object falls into region 503, it cannot be distinguished at this time.
It should be noted that with selected test target reflectivity bound difference when, each region can occur one
Fixed variation can be configured reflectivity bound according to usage scenario in actual use, be directed to different scenes to realize
The optimization of lower algorithm.In addition, in the present embodiment, the value of n is 0 and 1, the value of n can also be carried out according to specific requirements
Extension, has reached the extension of TOF measurement range, herein with no restrictions.
Fig. 6 is a kind of implementation process schematic diagram for TOF measurement method that one embodiment of the application provides, and this method includes step
Rapid 61 to step 64, is d according to the maximum detecting distance of equipmentmax。
In a step 61, demarcate to TOF measurement equipment: selection measuring distance is d0, the object that reflectivity is 1,
It is t in the time for exposure0Under the conditions of, obtain the amplitude A of optical signal0And it is normalized.
In step 62, according to the maximum detecting distance d of TOF measurement equipmentmax, and echo signal in the range
Reflectivity range (ρmin,ρmax), by formula (1) and formula (2) establish the amplitude of optical signal at a distance from object between function close
It is and draws analysis diagram.
In step 63, test acquisition test amplitude is carried out to target and is normalized.
In step 64, by the normalization data for testing amplitude and the data comparison point in the analysis diagram that obtains in step 62
It analyses and is handled, and then obtain the actual distance of object.
The embodiment of the present application is by cutting the detection range closely mended remote method and expand some short distance TOF measurement equipment；In addition,
The expansion scheme based on reflection characteristic that the application proposes is right by utilizing the relationship between amplitude, reflectivity and detecting distance
Advantageous judgment basis is provided with short distance data at a distance, and then expands TOF measurement range.
Fig. 7 is a kind of structural schematic diagram for terminal device that one embodiment of the application provides.As shown in fig. 7, the embodiment
Terminal device 7 include: processor 70, memory 71 and be stored in the memory 71 and can be on the processor 70
The computer program 72 of operation, such as the program of TOF measurement.The processor 70 is realized when executing the computer program 72
State the step in TOF measurement embodiment of the method, such as step 41 shown in Fig. 4 is to 44, step 61 shown in fig. 6 to 64.
Illustratively, the computer program 72 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 71, and are executed by the processor 70, to complete the application.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 72 in the terminal device 7 is described.
The terminal device 7 can be TOF measurement equipment, or the terminal including TOF measurement equipment etc., such as mobile phone,
Tablet computer, mobile unit, laptop, Ultra-Mobile PC (ultra-mobile personal
Computer, UMPC), net book, personal digital assistant (personal digital assistant, PDA), payment terminal
Deng.The terminal device 7 may include, but be not limited only to, processor 70, memory 71.It will be understood by those skilled in the art that figure
7 be only the example of terminal device 7, does not constitute the restriction to terminal device 7, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus, transmitting module (for example including laser driver, laser and modulator etc.), receiving module (such as wrap
Include lens, optical filter and imaging sensor etc.) etc..
Alleged processor 70 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 71 can be the internal storage unit of the terminal device 7, such as the hard disk or interior of terminal device 7
It deposits.The memory 71 is also possible to the External memory equipment of the terminal device 7, such as be equipped on the terminal device 7
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 71 can also both include the storage inside list of the terminal device 7
Member also includes External memory equipment.The memory 71 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 71 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the application realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Comprising within the scope of protection of this application.
Claims (10)
1. a kind of TOF measurement method characterized by comprising
It controls transmitting module and emits optical signal to object, and control and receive described in module receives and be reflected back as the object
Optical signal；
Calculate the detected amplitude for the optical signal that the receiving module receives；
If the detected amplitude belongs to default amplitude range, the detection that the default amplitude range obtains the object is corresponded to
Distance.
2. TOF measurement method as described in claim 1, which is characterized in that if the detected amplitude belongs to default amplitude range,
The detecting distance of the object is then obtained based on the default amplitude range, comprising:
If the detected amplitude belongs to default amplitude range
Then corresponding to the default amplitude range and obtaining the detecting distance of the object is d+n × dmax, wherein the value of n is 0 and just
Integer；ρminFor the minimum reflectance of the object；ρmaxFor the maximum reflectivity of the object；dmaxFor maximum detection away from
From；When A is that the reflectivity of the object is 1 and the distance of the object is d, the light that the receiving module receives
The amplitude of signal.
3. a kind of TOF measurement method characterized by comprising
It controls transmitting module and emits optical signal to object, and control and receive described in module receives and be reflected back as the object
Optical signal；
The phase difference for the optical signal that the optical signal and the receiving module for calculating the transmitting module transmitting receive,
And the detecting distance of the object is obtained based on the phase difference；
If the detecting distance belongs to pre-determined distance range, using the detecting distance as the distance measurement result of the object.
4. TOF measurement method as claimed in claim 3, which is characterized in that if the detecting distance belongs to pre-determined distance range,
Then using the detecting distance as the distance measurement result of the object, comprising:
If the detecting distance belongs to pre-determined distance range (x, dmax), then using the detecting distance as the survey of the object
Away from as a result, exporting the distance measurement result；Wherein, dmaxFor maximum detecting distance, x is preset value.
5. TOF measurement method as described in claim 3 or 4, which is characterized in that further include:
If the detecting distance belongs to the first pre-determined distance section (0, x) or the second pre-determined distance section (dmax, dmax+ x), then will
Belong to distance measurement result of the detecting distance in second pre-determined distance section as the object in the detecting distance, exports
The distance measurement result.
6. a kind of TOF measurement equipment characterized by comprising
Transmitting module, for emitting optical signal to object；
Receiving module, for receiving the optical signal being reflected back by the object；
Control module emits optical signal to the object for controlling the transmitting module, and controls the receiving module and connect
Receive the optical signal being reflected back by the object；Calculate the detection width for the optical signal that the receiving module receives
Value；If the detected amplitude belongs to default amplitude range, the detection that the default amplitude range obtains the object is corresponded to
Distance.
7. TOF measurement equipment as claimed in claim 6, which is characterized in that described control unit include memory, processor with
And store the computer program that can be run in the memory and on the processor, which is characterized in that the processor
The step of TOF measurement method as claimed in claim 1 or 2 is realized when executing the computer program.
8. a kind of TOF measurement equipment characterized by comprising
Transmitting module, for emitting optical signal to object；
Receiving module, for receiving the optical signal being reflected back by the object；
Control module emits optical signal to object for controlling transmitting module, and controls and receives module and receive by the target
The optical signal that object is reflected back；The institute that the optical signal and the receiving module for calculating the transmitting module transmitting receive
The phase difference of optical signal is stated, and obtains the detecting distance of the object based on the phase difference；If the detecting distance belongs to
Pre-determined distance range, then using the detecting distance as the distance measurement result of the object.
9. TOF measurement equipment as claimed in claim 8, which is characterized in that described control unit include memory, processor with
And store the computer program that can be run in the memory and on the processor, which is characterized in that the processor
It is realized when executing the computer program as described in any one of claim 3 to 5 the step of TOF measurement method.
10. such as the described in any item TOF measurement equipment of claim 6 to 9, which is characterized in that the transmitting module includes laser
Device, laser driver and modulator, the laser driver is for driving the laser to shine；The modulator is for modulating
The laser；
The receiving module includes transmission element, optical filter and imaging sensor, and the optical signal that the object is reflected back is logical
It is imaged onto described image sensor after crossing the transmission element and the optical filter, the transmission element includes simple lens or lens group.
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| CN111146690A (en) * | 2020-01-06 | 2020-05-12 | 常州纵慧芯光半导体科技有限公司 | Laser module and preparation method thereof |
| 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 |
| CN113552582A (en) * | 2021-07-28 | 2021-10-26 | 杭州海康威视数字技术股份有限公司 | Gate detection method and system |
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| 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 |
| CN113552582A (en) * | 2021-07-28 | 2021-10-26 | 杭州海康威视数字技术股份有限公司 | Gate detection method and system |
| CN113552582B (en) * | 2021-07-28 | 2024-03-01 | 杭州海康威视数字技术股份有限公司 | Gate detection method and system |
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