CN110488311A - Depth distance measurement method, device, storage medium and electronic equipment - Google Patents
Depth distance measurement method, device, storage medium and electronic equipment Download PDFInfo
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- CN110488311A CN110488311A CN201910716046.6A CN201910716046A CN110488311A CN 110488311 A CN110488311 A CN 110488311A CN 201910716046 A CN201910716046 A CN 201910716046A CN 110488311 A CN110488311 A CN 110488311A
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- optical signal
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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
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The application proposes a kind of depth distance measurement method, device, storage medium and electronic equipment, this method includes according to reception optical signal, and transmitting optical signal corresponding with optical signal is received carries out ranging, obtain the first depth distance, wherein, receiving optical signal is, transmitting optical signal encounters the optical signal of target object return；Determine the signal parameter for receiving optical signal；The first depth distance is compensated according to signal parameter, to obtain target depth distance.The signal parameter of optical signal is received due to acquiring by the application, the signal parameter for receiving optical signal can reflect target object to the degree of absorption of optical signal, it is achieved in combining target object to compensate the depth distance that ranging obtains the degree of absorption of optical signal, can effectively promote the precision of depth distance measurement.
Description
Technical field
This application involves technical field of electronic equipment more particularly to a kind of depth distance measurement methods, device, storage medium
And electronic equipment.
Background technique
ToF (Time of Flight, flight time telemetry) technology issues light pulse, light pulse using laser emitter
Object back reflection is encountered, the light pulse of reflection is received by camera lens, obtains the flight time, and calculate between object and camera lens
Distance.
In the prior art, it being measured by introducing more modulating frequency optical signals, the depth obtained to measurement merges,
To improve ToF range accuracy.
But the reflectivity on different testee surfaces is different, influence depth measurement as a result, under same depth, ToF camera
It is lower than the depth accuracy of high reflectance object measurement to the depth accuracy of antiradar reflectivity object measurement.
Summary of the invention
The application is intended to solve at least some of the technical problems in related technologies.
For this purpose, the purpose of the application is to propose that a kind of depth distance measurement method, device, storage medium and electronics are set
It is standby, the signal parameter of optical signal is received due to acquiring, the signal parameter for receiving optical signal can reflect target object to light
The degree of absorption of signal is achieved in combining target object and carries out to the degree of absorption of optical signal to the depth distance that ranging obtains
Compensation can effectively promote the precision of depth distance measurement.
In order to achieve the above objectives, the depth distance measurement method that the application first aspect embodiment proposes, comprising: according to connecing
Optical signal is received, and transmitting optical signal corresponding with the reception optical signal carries out ranging, obtains the first depth distance, wherein
The reception optical signal is that the transmitting optical signal encounters the optical signal of target object return；Determine the signal for receiving optical signal
Parameter；First depth distance is compensated according to the signal parameter, to obtain target depth distance.
The depth distance measurement method that the application first aspect embodiment proposes, by according to reception optical signal, Yi Jiyu
It receives the corresponding transmitting optical signal of optical signal and carries out ranging, obtain the first depth distance, wherein receiving optical signal is to emit light
Signal encounters the optical signal of target object return and determines the signal parameter for receiving optical signal and according to signal parameter to first
Depth distance compensates, and to obtain target depth distance, the signal parameter of optical signal is received due to acquiring, receives optical signal
Signal parameter can reflect target object to the degree of absorption of optical signal, be achieved in combining target object to optical signal
Degree of absorption compensates the depth distance that ranging obtains, and can effectively promote the precision of depth distance measurement.
In order to achieve the above objectives, the depth distance measuring device that the application second aspect embodiment proposes, comprising: ranging mould
Block, for it is deep to obtain first according to optical signal, and transmitting optical signal corresponding with reception optical signal progress ranging is received
Spend distance, wherein the reception optical signal is that the transmitting optical signal encounters the optical signal of target object return；Determining module,
For determining the signal parameter for receiving optical signal；Compensating module is used for according to the signal parameter to first depth distance
It compensates, to obtain target depth distance.
The depth distance measuring device that the application second aspect embodiment proposes, by according to reception optical signal, Yi Jiyu
It receives the corresponding transmitting optical signal of optical signal and carries out ranging, obtain the first depth distance, wherein receiving optical signal is to emit light
Signal encounters the optical signal of target object return and determines the signal parameter for receiving optical signal and according to signal parameter to first
Depth distance compensates, and to obtain target depth distance, the signal parameter of optical signal is received due to acquiring, receives optical signal
Signal parameter can reflect target object to the degree of absorption of optical signal, be achieved in combining target object to optical signal
Degree of absorption compensates the depth distance that ranging obtains, and can effectively promote the precision of depth distance measurement.
In order to achieve the above objectives, the computer readable storage medium that the application third aspect embodiment proposes, is deposited when described
Instruction in storage media is performed by the processor of terminal, enables the terminal to execute a kind of depth distance measurement method, institute
The method of stating includes: the depth distance measurement method that the application first aspect embodiment proposes.
The application third aspect embodiment propose computer readable storage medium, by according to receive optical signal, and
Transmitting optical signal corresponding with optical signal is received carries out ranging, obtains the first depth distance, wherein receiving optical signal is to emit
Optical signal encounters the optical signal of target object return and determines the signal parameter for receiving optical signal and according to signal parameter to the
One depth distance compensates, and to obtain target depth distance, the signal parameter of optical signal is received due to acquiring, and receives light letter
Number signal parameter can reflect target object to the degree of absorption of optical signal, be achieved in combining target object to optical signal
Degree of absorption the depth distance that ranging obtains is compensated, can effectively be promoted depth distance measurement precision.
In order to achieve the above objectives, the application fourth aspect embodiment proposes a kind of electronic equipment, the electronic equipment, including shell
Body, processor, memory, circuit board, power circuit, optical transmitting set and optical receiver, wherein the circuit board is placed in described
The space interior that shell surrounds, the processor and the memory are arranged on the circuit board；The optical transmitting set is used for
Emit optical signal, the receiver is used to receive the reception optical signal after transmitting optical signal projection body surface reflection；The electricity
Source circuit, for each circuit or the device power supply for the electronic equipment；The memory is for storing executable program generation
Code；The processor is run and the executable program generation by reading the executable program code stored in the memory
The corresponding program of code, for executing: according to receiving optical signal, and transmitting optical signal corresponding with the reception optical signal into
Row ranging obtains the first depth distance, wherein the reception optical signal is that the transmitting optical signal encounters target object return
Optical signal；Determine the signal parameter for receiving optical signal；First depth distance is compensated according to the signal parameter,
To obtain target depth distance.
The application fourth aspect embodiment propose a kind of electronic equipment, by according to receive optical signal, and with receive light
The corresponding transmitting optical signal of signal carries out ranging, obtains the first depth distance, wherein receiving optical signal is, transmitting optical signal is met
To target object return optical signal and determine receive optical signal signal parameter and according to signal parameter to the first depth away from
From compensating, to obtain target depth distance, the signal parameter of optical signal is received due to acquiring, receives the signal of optical signal
Parameter can reflect target object to the degree of absorption of optical signal, be achieved in combining target object to the absorption journey of optical signal
Degree compensates the depth distance that ranging obtains, and can effectively promote the precision of depth distance measurement.
The additional aspect of the application and advantage will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The application is above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram for the depth distance measurement method that one embodiment of the application proposes；
Fig. 2 is the flow diagram for the depth distance measurement method that another embodiment of the application proposes；
Fig. 3 is the structural schematic diagram for the depth distance measuring device that one embodiment of the application proposes；
Fig. 4 is the structural schematic diagram for the electronic equipment that one embodiment of the application proposes.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.On the contrary, this
The embodiment of application includes all changes fallen within the scope of the spiritual and intension of attached claims, modification and is equal
Object.
Fig. 1 is the flow diagram for the depth distance measurement method that one embodiment of the application proposes.
The present embodiment is configured as illustrating in depth distance measuring device with the depth distance measurement method.
Depth distance measurement method can be configured in depth distance measuring device in the present embodiment, depth distance measurement
Device can be set in the server, or also can be set in a mobile device, the embodiment of the present application to this with no restriction.
The present embodiment is by taking depth distance measurement method is configured in a mobile device as an example.
Wherein, mobile device such as smart phone, tablet computer, personal digital assistant, e-book etc. has various operations
The hardware device of system.Social application program can such as application programs such as wechat, Tencent QQ or microblogging.
The depth accuracy measured to solve ToF camera in the related technology to antiradar reflectivity object is lower than high reflectance object
The technical issues of depth accuracy of bulk measurement, provides a kind of depth distance measurement method in the embodiment of the present application, by according to connecing
Optical signal is received, and transmitting optical signal corresponding with optical signal is received carries out ranging, obtains the first depth distance, wherein receive
Optical signal is, transmitting optical signal encounter the optical signal of target object return and determine the signal parameter for receiving optical signal and according to
Signal parameter compensates the first depth distance, and to obtain target depth distance, the signal of optical signal is received due to acquiring
Parameter, the signal parameter for receiving optical signal can reflect target object to the degree of absorption of optical signal, be achieved in conjunction with mesh
Mark object compensates the degree of absorption of optical signal to the depth distance that ranging obtains, and can effectively promote depth distance measurement
Precision.
Referring to Fig. 1, this method comprises:
S101: according to optical signal, and transmitting optical signal progress ranging corresponding with reception optical signal is received, first is obtained
Depth distance, wherein receiving optical signal is, transmitting optical signal encounters the optical signal of target object return.
Wherein, it currently needs to carry out it object of ranging, target object can be referred to as, target object can be, for example,
Any one object in scene locating for mobile device, with no restriction to this.
When needing to carry out ranging using the camera built in mobile device, the component that ranging is carried out on camera can star,
Transmitting optical signal is projected to target object, and receives the optical signal that transmitting optical signal encounters target object return, transmitting light letter
The optical signal for number encountering target object return, which can be referred to as, receives optical signal, then, using location algorithm in the related technology,
According to reception optical signal, and transmitting optical signal corresponding with optical signal is received carries out ranging.
During specific execute, receives optical signal and transmitting optical signal can be the letter of the sine wave by high frequency modulated
Number, when carrying out ranging, high frequency modulated is carried out to transmitting optical signal, then, by modulated transmitting optical signal via in camera
Component be projected on target object, target object receives the transmitting optical signal, can reflect to form to the transmitting optical signal
Transmitting optical signal encounters the optical signal (receiving optical signal) of target object return, at this point, being arranged in mobile device photomoduel
Receiver, via bandpass filter can receive the reception optical signal.
When carrying out ranging, camera and target can be obtained using flight time location algorithm in the related technology, ranging
The distance between object, the distance can be referred to as the first depth distance.
Flight time location algorithm is exemplified below, after being projected to target object by calculating transmitting optical signal, via target
Object reflects to obtain the time difference between reflected light signal (i.e. reception optical signal), the depth of available target object away from
From (that is, first depth distance).
And according to receiving optical signal in the embodiment of the present application, and with receive optical signal corresponding transmitting optical signal progress
When ranging, multiple primary datas of out of phase can be obtained according to optical signal is received, and it is corresponding to obtain each primary data respectively
Phase diagram determine and receive optical signal and emit the initial phase difference between optical signal, and obtain hair and according to each phase diagram
The modulating frequency of optical signal is penetrated, and the first depth distance is obtained according to modulating frequency and initial phase difference.
In specific implementation procedure, the phase of primary data is 0 °, 90 °, 180 ° and 270 °, using the phase of primary data
To scheme to determine depth distance, reflection that can be cheer and bright receives optical signal and emits the initial phase difference between optical signal, and
The modulating frequency for emitting optical signal, determines depth distance by using the comparison between phase diagram, fast and accurate can calculate
First depth distance out.
S102: the signal parameter for receiving optical signal is determined.
Precision relative to the first depth distance that some common algorithms can be used to obtain ranging in the related technology
It is promoted, is carried out in the embodiment of the present application according to reception optical signal, and transmitting optical signal corresponding with reception optical signal
Ranging is the signal parameter that analysis receives optical signal, due to the target object pair of unlike material after obtaining the first depth distance
The degree of absorption for emitting optical signal is different, i.e., also not identical to the albedo of different transmitting optical signals, receives light letter as a result,
Number signal parameter can reflect target object to the degree of absorption of optical signal, be exactly based on analyze receive optical signal letter
Number parameter carries out subsequent compensation using the signal parameter, and thereby, it is possible to effectively promote ranging precision.
Wherein, signal parameter can be used for describing receiving the signal spectrum feature of optical signal, and signal parameter is, for example, to receive
The amplitude of optical signal receives the frequency decay etc. of optical signal, with no restriction to this.
In the embodiment of the present application, can configure signal parameter is signal strength, can be judged according to signal strength information
The size of object reflectance improves the accuracy of ranging according to the distance of object reflectance size amendment measurement.
In some embodiments, it can be analyzed using signal analysis model in the related technology optical signal is received, be obtained
To the signal parameter for receiving optical signal, alternatively, can also be using other any possible signal processing algorithms, to reception optical signal
It is handled to obtain corresponding signal parameter, with no restriction to this.
And in the embodiment of the present application, when determining the signal parameter for receiving optical signal, it can be and obtained according to reception optical signal
Multiple primary datas of out of phase are taken, and according to multiple primary datas, determines the signal parameter for receiving optical signal, realizes more
Simplicity, and signal parameter can be obtained without the help of external signal analysis model, it will not additionally increase excessive operation
Resource consumption ensures the efficiency of ranging, so that ranging is more applicable in.
S103: the first depth distance is compensated according to signal parameter, to obtain target depth distance.
Wherein, the first depth distance is compensated using signal parameter, compensated depth distance can be referred to as mesh
Mark depth distance.
It is understood that the material due to target object may not be identical, and target object may absorb part
Emit optical signal, the first depth distance that ranging obtains may not enough precisely, therefore, exactly using reception in the embodiment of the present application
The signal parameter of optical signal compensates the first depth distance, to obtain target depth distance more precisely, is promoted
Ranging effect.
In the present embodiment, by being surveyed according to reception optical signal, and transmitting optical signal corresponding with reception optical signal
Away from obtaining the first depth distance, wherein receiving optical signal is, transmitting optical signal encounters the optical signal of target object return and true
Surely receive optical signal signal parameter and the first depth distance is compensated according to signal parameter, with obtain target depth away from
From due to acquiring the signal parameter of reception optical signal, the signal parameter for receiving optical signal can reflect target object to light
The degree of absorption of signal is achieved in combining target object and carries out to the degree of absorption of optical signal to the depth distance that ranging obtains
Compensation can effectively promote the precision of depth distance measurement.
Fig. 2 is the flow diagram for the depth distance measurement method that another embodiment of the application proposes.
Referring to fig. 2, this method comprises:
S201: according to optical signal, and transmitting optical signal progress ranging corresponding with reception optical signal is received, first is obtained
Depth distance, wherein receiving optical signal is, transmitting optical signal encounters the optical signal of target object return.
Wherein, it currently needs to carry out it object of ranging, target object can be referred to as, target object can be, for example,
Any one object in scene locating for mobile device, with no restriction to this.
When needing to carry out ranging using the camera built in mobile device, the component that ranging is carried out on camera can star,
Transmitting optical signal is projected to target object, and receives and believes via the light that target object transmitting optical signal encounters target object return
Number, the optical signal which encounters target object return, which can be referred to as, receives optical signal, then, using the relevant technologies
In location algorithm, according to receiving optical signal, and with receive optical signal corresponding transmitting optical signal progress ranging.
During specific execute, receives optical signal and transmitting optical signal can be the letter of the sine wave by high frequency modulated
Number, when carrying out ranging, high frequency modulated is carried out to transmitting optical signal, then, by modulated transmitting optical signal via in camera
Component be projected on target object, target object receives the transmitting optical signal, can reflect to form to the transmitting optical signal
Transmitting optical signal encounters the optical signal (receiving optical signal) of target object return, at this point, being arranged in mobile device photomoduel
Receiver, via bandpass filter can receive the reception optical signal.
S202: according to the multiple primary datas for receiving optical signal acquisition out of phase.
During specific execute, it can be sampled, be obtained to optical signal is received according to the sampled point of different angle
Four primary datas, wherein the mutual phase of primary data is quadrature phase, can be mutually orthogonal according to four phases
Primary data obtains the strength information of reflected light signal, and then calculates surface emissivity, judges whether object is low
Reflectivity object adjusts ranging distance according to surface emissivity information, improves antiradar reflectivity object reflected light signal to survey
Influence away from range accuracy.
Wherein, primary data can be referred to as raw signal, raw signal be CMOS (complementary metal oxide semiconductor,
Complementary Metal Oxide Semiconductor) or CCD (Charged Couple original part, Charge-coupled
Device) the corresponding original signal of digital signal that image inductor converts the reception optical signal captured.
As an example, primary data can be sampled respectively with 0 °, 90 °, 180 °, 270 ° of 4 sampled points, obtains phase
Sampled value dm_0deg, dm_90deg, dm_180deg and the dm_270deg answered.It certainly in further embodiments, can also be with
It is to be sampled with the sampled point of other phases to primary data, with no restriction to this.
S203: according to multiple primary datas, the signal parameter for receiving optical signal is determined.
As an example, with aforementioned four sampled value dm_0deg, dm_90deg, dm_180deg and dm_270deg
Example is carried out, 180 ° of sampled value is subtracted by 0 ° of sampled value, obtains I=dm_0deg-dm_180deg, 90 ° of sampled value subtract sampling
270 ° of value, obtain Q=dm_90deg-dm_270deg.
I and Q in above-mentioned example can be referred to as initial phase difference, then, according to the initial phase difference, letter be calculated
Number parameter.
As an example, signal parameter intensity=abs (I)+abs (Q), i.e. intensity=| dm_0deg-
Dm_180deg |+| dm_90deg-dm_270deg |, initial phase difference I, dm_ are obtained by dm_0deg-dm_180deg
90deg-dm_270deg obtains initial phase difference Q, can effectively eliminate due to solid caused by measurement device and/or environment light
Determine deviation, further increases the measurement accuracy of depth distance.
During specific execute, after determining initial phase difference I and Q, it can be determined according to initial phase difference I and Q
First depth distance raw_radial_depth.
As an example, raw_radial_depth=rawphase*mmPerPhase；
Wherein, the first depth distance is raw_radial_depth, rawphase=arctan (Q/I), mmPerPhase
Transmitting optical signal of the expression through ovennodulation is under modulated signal, the corresponding depth distance in millimeters of 1 radian phase difference,
Wherein, mmPerPhase is corresponding with the transmitting modulating frequency of optical signal.
S204: determine that offset, offset are the corresponding inverse of value of signal parameter according to signal parameter.
Wherein it is possible to determine offset according to signal parameter intensity.
As an example, offset can be the inverse of signal parameter intensity, and offset is specifically, for example, 1/
intensity。
S205: the first depth distance and work reciprocal is poor, the first depth distance and difference reciprocal are obtained, and difference is made
For target depth distance.
As an example, target depth distance Calibrated_radial_depth=raw_radial_depth-1/
Intensity, i.e. target depth distance are the first depth distance and difference reciprocal.
It is understood that the target object due to antiradar reflectivity causes to decay to transmitting optical signal, than high reflectance
Target object decaying caused by transmitting optical signal is big, therefore, in receiving light intensity map intensity, antiradar reflectivity object
Gray value is small, and the depth value measured to antiradar reflectivity object is bigger than normal than real depth value, and offset is the intensity for receiving optical signal
The inverse of value intensity, target depth distance Galibrated_radial_depth=raw_radial_depth-1/
Intensity so that the effect of compensation is relatively reasonable, and can obtain preferable compensation effect.
In the present embodiment, by being surveyed according to reception optical signal, and transmitting optical signal corresponding with reception optical signal
Away from obtaining the first depth distance, wherein receiving optical signal is, transmitting optical signal encounters the optical signal of target object return and true
Surely receive optical signal signal parameter and the first depth distance is compensated according to signal parameter, with obtain target depth away from
From due to acquiring the signal parameter of reception optical signal, the signal parameter for receiving optical signal can reflect target object to light
The degree of absorption of signal is achieved in combining target object and carries out to the degree of absorption of optical signal to the depth distance that ranging obtains
Compensation can effectively promote the precision of depth distance measurement.By according to the sampled point of different angle to receive optical signal into
Row sampling, obtains four primary datas, wherein the mutual phase of primary data is quadrature phase, can be according to four phases
The mutually orthogonal primary data in position obtains the strength information of reflected light signal, and then calculates surface emissivity, judges
Whether object is antiradar reflectivity object, adjusts ranging distance according to surface emissivity information, it is anti-to improve antiradar reflectivity object
Penetrate influence of the optical signal to ranging range accuracy.It effectively eliminates due to fixed inclined caused by measurement device and/or environment light
Difference further increases the measurement accuracy of depth distance.
Fig. 3 is the structural schematic diagram for the depth distance measuring device that one embodiment of the application proposes.
Referring to Fig. 3, depth distance measuring device 300, comprising:
Range finder module 301, for being surveyed according to reception optical signal, and transmitting optical signal corresponding with reception optical signal
Away from obtaining the first depth distance, wherein receiving optical signal is, transmitting optical signal encounters the optical signal of target object return；
Determining module 302, for determining the signal parameter for receiving optical signal；
Compensating module 303, for being compensated according to signal parameter to the first depth distance, with obtain target depth away from
From.
Optionally, in some embodiments, determining module 302 is specifically used for:
According to the multiple primary datas for receiving optical signal acquisition out of phase, and according to multiple primary datas, determines and receive
The signal parameter of optical signal.
Optionally, in some embodiments, determining module 302 is specifically used for:
It is sampled according to the sampled point of different angle to optical signal is received, obtains four primary datas, wherein initial number
It is quadrature phase according to mutual phase.
Optionally, in some embodiments, range finder module 301 is also used to:
The corresponding phase diagram of each primary data is obtained respectively, and according to each phase diagram, is determined and received optical signal and transmitting light
Initial phase difference between signal, and the modulating frequency of transmitting optical signal is obtained, and according to modulating frequency and initial phase difference
Obtain the first depth distance.
Optionally, in some embodiments, compensating module 303 is specifically used for:
Determine offset according to signal parameter, offset is the corresponding inverse of value of signal parameter, and by the first depth away from
It is poor from making with inverse, the first depth distance and difference reciprocal are obtained, and take the difference as target depth distance.
Optionally, in some embodiments, signal parameter is signal strength.
It should be noted that the explanation in earlier figures 1- Fig. 2 embodiment to depth distance measurement method embodiment
Suitable for the depth distance measuring device 300 of the embodiment, realization principle is similar, details are not described herein again
In the present embodiment, by being surveyed according to reception optical signal, and transmitting optical signal corresponding with reception optical signal
Away from obtaining the first depth distance, wherein receiving optical signal is, transmitting optical signal encounters the optical signal of target object return and true
Surely receive optical signal signal parameter and the first depth distance is compensated according to signal parameter, with obtain target depth away from
From due to acquiring the signal parameter of reception optical signal, the signal parameter for receiving optical signal can reflect target object to light
The degree of absorption of signal is achieved in combining target object and carries out to the degree of absorption of optical signal to the depth distance that ranging obtains
Compensation can effectively promote the precision of depth distance measurement.
Fig. 4 is the structural schematic diagram for the electronic equipment that one embodiment of the application proposes.
Referring to fig. 4, the electronic equipment 40 of the present embodiment includes: shell 401, processor 402, memory 403, circuit board
404, power circuit 405, optical transmitting set 406 and optical receiver 407, circuit board 404 are placed in the space that shell 401 surrounds
Portion, processor 402, memory 403 are arranged on circuit board 404；Optical transmitting set 406 is for emitting optical signal, optical receiver 407
For receiving the reception optical signal after transmitting optical signal projection body surface reflects；Power circuit 405, for being electronic equipment 40
Each circuit or device power supply；Memory 403 is for storing executable program code；Wherein, processor 402 is by reading storage
The executable program code stored in device 403 runs program corresponding with executable program code, for executing:
According to optical signal, and transmitting optical signal progress ranging corresponding with reception optical signal is received, the first depth is obtained
Distance, wherein receiving optical signal is, transmitting optical signal encounters the optical signal of target object return；
Determine the signal parameter for receiving optical signal；
The first depth distance is compensated according to signal parameter, to obtain target depth distance.
It should be noted that the explanation in earlier figures 1- Fig. 2 embodiment to depth distance measurement method embodiment
Suitable for the electronic equipment 40 of the embodiment, realization principle is similar, and details are not described herein again.
In the present embodiment, by being surveyed according to reception optical signal, and transmitting optical signal corresponding with reception optical signal
Away from obtaining the first depth distance, wherein receiving optical signal is, transmitting optical signal encounters the optical signal of target object return and true
Surely receive optical signal signal parameter and the first depth distance is compensated according to signal parameter, with obtain target depth away from
From due to acquiring the signal parameter of reception optical signal, the signal parameter for receiving optical signal can reflect target object to light
The degree of absorption of signal is achieved in combining target object and carries out to the degree of absorption of optical signal to the depth distance that ranging obtains
Compensation can effectively promote the precision of depth distance measurement.
In order to realize above-described embodiment, the embodiment of the present application proposes a kind of computer readable storage medium, stores thereon
There is computer program, the depth distance measurement method of preceding method embodiment is realized when which is executed by processor.
It should be noted that term " first ", " second " etc. are used for description purposes only in the description of the present application, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present application, unless otherwise indicated, the meaning of " multiple "
It is two or more.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (14)
1. a kind of depth distance measurement method characterized by comprising
According to optical signal, and transmitting optical signal corresponding with reception optical signal progress ranging is received, the first depth is obtained
Distance, wherein the reception optical signal is that the transmitting optical signal encounters the optical signal of target object return；
Determine the signal parameter for receiving optical signal；
First depth distance is compensated according to the signal parameter, to obtain target depth distance.
2. depth distance measurement method as described in claim 1, which is characterized in that the determining signal ginseng for receiving optical signal
Number, comprising:
Multiple primary datas of out of phase are obtained according to the reception optical signal；
According to the multiple primary data, the signal parameter for receiving optical signal is determined.
3. depth distance measurement method as claimed in claim 2, which is characterized in that described different according to optical signal acquisition is received
Multiple primary datas of phase, comprising:
The reception optical signal is sampled according to the sampled point of different angle, obtains four primary datas, wherein is described first
The mutual phase of beginning data is quadrature phase.
4. depth distance measurement method as claimed in claim 2 or claim 3, which is characterized in that it is described according to reception optical signal, and
Transmitting optical signal corresponding with the reception optical signal carries out ranging, obtains the first depth distance, comprising:
The corresponding phase diagram of each primary data is obtained respectively；
According to each phase diagram, determines the reception optical signal and emit the initial phase difference between optical signal；
The modulating frequency of the transmitting optical signal is obtained, and obtains described the according to the modulating frequency and the initial phase difference
One depth distance.
5. depth distance measurement method as claimed in claim 3, which is characterized in that it is described according to the signal parameter to described
First depth distance compensates, to obtain target depth distance, comprising:
Determine that offset, the offset are the corresponding inverse of value of signal parameter according to the signal parameter；
First depth distance and the work reciprocal is poor, the difference of first depth distance and the inverse is obtained, and
Take the difference as the target depth distance.
6. depth distance measurement method as described in any one in claim 1-5, which is characterized in that the signal parameter is signal
Intensity.
7. a kind of depth distance measuring device characterized by comprising
Range finder module, for carrying out ranging according to reception optical signal, and transmitting optical signal corresponding with the reception optical signal,
Obtain the first depth distance, wherein the reception optical signal is that the transmitting optical signal encounters the light letter of target object return
Number；
Determining module, for determining the signal parameter for receiving optical signal；
Compensating module, for being compensated according to the signal parameter to first depth distance, with obtain target depth away from
From.
8. depth distance measuring device as claimed in claim 7, which is characterized in that the determining module is specifically used for:
Multiple primary datas of out of phase are obtained according to the reception optical signal, and according to the multiple primary data, are determined
Receive the signal parameter of optical signal.
9. depth distance measuring device as claimed in claim 7, which is characterized in that the determining module is specifically used for:
The reception optical signal is sampled according to the sampled point of different angle, obtains four primary datas, wherein is described first
The mutual phase of beginning data is quadrature phase.
10. depth distance measuring device as claimed in claim 8 or 9, which is characterized in that the range finder module is also used to:
The corresponding phase diagram of each primary data is obtained respectively, and according to each phase diagram, determines the reception optical signal
Initial phase difference between transmitting optical signal, and the modulating frequency of the transmitting optical signal is obtained, and according to the modulation
Frequency and the initial phase difference obtain first depth distance.
11. depth distance measuring device as claimed in claim 9, which is characterized in that the compensating module is specifically used for:
Offset is determined according to the signal parameter, and the offset is the corresponding inverse of value of signal parameter, and by the difference
Value is used as the target depth distance.
12. such as the described in any item depth distance measuring devices of claim 7-11, which is characterized in that the signal parameter is letter
Number intensity.
13. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Such as depth distance measurement method of any of claims 1-6 is realized when execution.
14. a kind of electronic equipment, including shell, processor, memory, circuit board, power circuit, optical transmitting set and light-receiving
Device, wherein the circuit board is placed in the space interior that the shell surrounds, and the processor and the memory are arranged in institute
It states on circuit board；The optical transmitting set projects object table for receiving transmitting optical signal for emitting optical signal, the receiver
Reception optical signal after the reflection of face；The power circuit, for each circuit or the device power supply for the electronic equipment；It is described
Memory is for storing executable program code；The processor is by reading the executable program generation stored in the memory
Code runs program corresponding with the executable program code, for executing:
According to optical signal, and transmitting optical signal corresponding with reception optical signal progress ranging is received, the first depth is obtained
Distance, wherein the reception optical signal is that the transmitting optical signal encounters the optical signal of target object return；
Determine the signal parameter for receiving optical signal；
First depth distance is compensated according to the signal parameter, to obtain target depth distance.
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| CN113064144A (en) * | 2021-03-17 | 2021-07-02 | Oppo广东移动通信有限公司 | Depth compensation method and device for iTOF camera, terminal and readable storage medium |
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