CN110764099A - Time-of-flight sensor and computer-readable storage medium - Google Patents

Abstract

The application is suitable for the technical field of flight time, and provides a flight time sensor and a computer readable storage medium, and the flight time sensor comprises a receiver and at least two laser transmitters, wherein the receiver and the laser transmitters are arranged on the same side of a substrate of the flight time sensor, and an included angle between an emergent surface of each laser transmitter and an incident surface of each receiver is larger than 0 degree, so that the intensity of a signal beam is enhanced, the field angle is increased, and the measuring distance and the anti-interference performance of the flight time sensor are effectively improved.

Description

A time-of-flight sensor and computer-readable storage medium

technical field

The present application belongs to the technical field of Time of Flight (TOF), and in particular, relates to a time of flight sensor and a computer-readable storage medium.

Background technique

With the rapid development of the electronic terminal industry, TOF sensors have gradually become an essential device for electronic terminals. The main function of the TOF sensor is to assist the camera autofocus of the electronic terminal, improve the speed and reliability of the camera autofocus system, especially suitable for dark environments or low contrast conditions. At the same time, the TOF sensor can also assist sports photography focus and video focus tracking.

At present, the maximum indoor measurement distance of the TOF sensor is about 3m, and the infrared component of the outdoor strong light will cause great interference to the signal beam of the TOF sensor. Therefore, the outdoor measurement distance is lower than the indoor measurement distance.

Application content

In view of this, the embodiments of the present application provide a time-of-flight sensor and a computer-readable storage medium, which effectively improve the measurement distance and anti-interference performance of the time-of-flight sensor.

A first aspect of the embodiments of the present application provides a time-of-flight sensor, including a substrate, a receiver, and at least two laser transmitters;

The receiver and the laser transmitter are arranged on the same side of the substrate, and the included angle between the outgoing surface of the laser transmitter and the incident surface of the receiver is greater than 0°.

In one embodiment, the value range of the minimum distance between the laser transmitter and the receiver is [3mm, 4mm].

In one embodiment, the value range of the included angle between the exit surface of the laser transmitter and the incident surface of the receiver is (0°, 5°].

In one embodiment, the laser transmitters are arranged on a circle originating from the geometric center of the receiver.

In one embodiment, the receiver includes a photosensitive element and a focusing lens, and the laser transmitter includes a laser emitting device and a beam shaper;

The focusing lens is arranged on the side where the incident surface of the photosensitive element is located;

The beam shaper is arranged on the side where the emitting surface of the laser emitting device is located.

In one embodiment, the time-of-flight sensor further includes a processor;

the processor is electrically connected to the receiver and the laser transmitter;

The processor is used to:

Controlling all the laser transmitters to emit infrared beams to the object at the same time, and obtaining the launch time when the laser transmitters emit the infrared beams to the object;

Controlling the receiver to receive the infrared beam reflected by the object, and acquiring the receiving time for the receiver to receive the infrared beam reflected by the object;

From the transmit time and the receive time, the distance between the time of flight sensor and the object is obtained.

In one embodiment, the calculation formula of the distance between the time-of-flight sensor and the object is as follows:

D=[(t2-t1)×c×cosθ]/2;

Among them, D is the distance between the time-of-flight sensor and the object, t1 is the transmitting time, t2 is the receiving time, c is the speed of light, and θ is the output surface of the laser transmitter and the receiving The angle between the incident surfaces of the device.

In one embodiment, the processor is specifically configured to:

According to the emission time and the receiving time of each target photosensitive pixel, the target distance corresponding to each target photosensitive pixel is obtained; wherein, the target photosensitive pixel is the receiver that receives the infrared beam reflected by the object. photosensitive pixel;

Statistical analysis is performed on all target distances corresponding to all the target photosensitive pixels by a statistical method to obtain the distribution of all target distances;

According to the distribution, the overlapping area in the receiver is obtained; wherein, the overlapping area is the area of the photosensitive pixel that has received the infrared beam reflected by the object at least twice among all the target photosensitive pixels;

The distance between the time-of-flight sensor and the object is obtained according to a target distance greater than or equal to a preset distance threshold among the target distances corresponding to the photosensitive pixels in the overlapping area.

A second aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

Controlling all the laser transmitters to emit infrared beams to the object at the same time, and obtaining the launch time when the laser transmitters emit the infrared beams to the object;

Controlling the receiver to receive the infrared beam reflected by the object, and acquiring the receiving time for the receiver to receive the infrared beam reflected by the object;

From the transmit time and the receive time, the distance between the time of flight sensor and the object is obtained.

The embodiment of the present application provides a time-of-flight sensor including a receiver and at least two laser transmitters, the receiver and the laser transmitter are arranged on the same side of the substrate of the time-of-flight sensor, and the exit surface of the laser transmitter is The included angle with the incident surface of the receiver is greater than 0°, which increases the intensity of the signal beam while increasing the field of view, thereby effectively improving the measurement distance and anti-interference performance of the time-of-flight sensor.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of a time-of-flight sensor provided by an embodiment of the present application;

2 is a schematic structural diagram of a time-of-flight sensor provided by another embodiment of the present application;

3 is a schematic structural diagram of a time-of-flight sensor provided by another embodiment of the present application;

FIG. 4 is a schematic structural diagram of a time-of-flight sensor provided by still another embodiment of the present application

FIG. 5 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are of the present application. Some examples, but not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative work shall fall within the scope of protection of this application.

The term "comprising" and any variations thereof in the description and claims of this application and the above-mentioned drawings are intended to cover the non-exclusive inclusion. For example, a process, method or system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes Other steps or units inherent in these processes, methods, products or devices. Furthermore, the terms "first", "second", "third", etc. are used to distinguish between different objects, rather than to describe a particular order.

As shown in FIG. 1 , an embodiment of the present application provides a time-of-flight sensor 100, including a base 101, a receiver 102 and at least two laser transmitters 103;

The receiver 102 and the laser transmitter 103 are disposed on the same side of the substrate 101 , and the included angle between the outgoing surface of the laser transmitter 103 and the incident surface of the receiver 102 is greater than 0°.

In application, the base plate is a bracket structure for carrying and fixing the receiver and the laser transmitter, which can be specifically set in a plate shape, and the base plate can be the base plate of a PCB (Printed Circuit Board, printed circuit board), that is, a copper clad laminate.

In applications, the receiver can be implemented by a photosensitive element, which can be a CCD (Charge-coupled Device, charge-coupled device), COMS (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductor) or photodiode (for example, SPAD ( Single Photon Avalanche Diode, Single Photon Avalanche Diode)).

In one embodiment, the receiver includes a photosensitive element and a focusing lens;

The focusing lens is arranged on the side where the incident surface of the photosensitive element is located.

In applications, the focusing lens can be implemented by any lens having the function of focusing optical signals, for example, a fixed-focus lens, a zoom lens, and the like.

In the application, the light beam emitted by the laser transmitter is an infrared light beam in the infrared band with a wavelength of 1 mm to 760 mm. Laser emitters can be implemented by laser emitting devices, such as semiconductor infrared laser diodes. The number of laser transmitters included in the time-of-flight sensor can be set according to actual needs, as long as the time-of-flight sensor is used to measure the distance between an object and a laser emitting device, at least two laser transmitters simultaneously emit infrared rays to the object. Just the beam. The greater the number of laser transmitters that emit infrared beams at the same time, the greater the light-emitting area, and the stronger the signal beam intensity of the time-of-flight sensor. The signal beam includes the beam emitted by the laser transmitter towards the object and the beam reflected back by the object.

In the application, the setting position of the laser transmitter can be set according to actual needs, as long as the beam emitted by the laser transmitter can be received by the receiver after being reflected by the object. The at least two laser transmitters can be arranged around the receiver in any arrangement, for example, in a circle with the receiver's geometric center as its origin, and rotationally symmetric about the receiver's geometric center. Different laser transmitters can be arranged on different circles or the same circle with the geometric center of the receiver as the origin; The laser transmitter is rotationally symmetric with respect to the geometric center of the receiver at a position at a second distance from the receiver, and the first distance≠the second distance.

In one embodiment, the laser transmitter includes a laser emitting device and a beam shaper;

The beam shaper is arranged on the side where the emitting surface of the laser emitting device is located.

In applications, laser transmitter beam shapers can include laser focusing modules, flat top beam shapers, M-Shape beam shapers, ring beam shapers, laser diffusers, dodging sheets, laser beam splitters, laser beam Gratings, beam expanders, laser scalers, laser tuners, etc.

In the application, the size and shape of the substrate, receiver and laser transmitter can be set according to actual needs. In order to enhance the intensity of the signal beam, the incident surface of the receiver should be enlarged as much as possible under the condition that the area of the substrate remains unchanged. and the area of the emitting surface of the laser emitter.

In applications, the time-of-flight sensor can also include a light-transmitting cover plate, and the light-transmitting cover plate can be realized by any light-transmitting material, such as glass, sapphire, acrylic, and the like.

FIG. 1 exemplarily shows that the time-of-flight sensor 100 includes two circular laser emitters 103 and a light-transmitting cover plate 104, the two laser emitters 103 being rotationally symmetric about the geometric center of the receiver 102.

FIG. 2 exemplarily shows that the time-of-flight sensor 100 includes a rectangular substrate 101 , a circular receiver 102 and eight circular laser transmitters 103 . circumference.

In application, the larger the angle between the exit surface of the laser transmitter and the incident surface of the receiver, the larger the field of view of the time-of-flight sensor. However, if the included angle is too large, the reflection angle of the infrared beam reflected by the object will be too large to be received by the receiver. Therefore, the included angle should be set within a reasonable range according to actual needs.

In one embodiment, the value range of the included angle between the exit surface of the laser transmitter and the incident surface of the receiver is (0°, 5°].

In the application, if the distance between the emitting surface of the laser transmitter and the incident surface of the receiver is too large, a blind area will be formed in the interval between the laser transmitter and the receiver, and if the distance is too small, the receiver will not be able to receive more reflections from objects. Therefore, the distance should be set within a reasonable range according to actual needs.

In one embodiment, the value range of the minimum distance between the laser transmitter and the receiver is [3mm, 4mm].

FIG. 3 exemplarily shows the outgoing light of the laser transmitter 103 , the incident light of the receiver 102 , the angle θ between the outgoing surface of the laser transmitter and the incident surface of the receiver, and the laser emission 103 on the basis of FIG. 2 . The minimum distance d between the receiver and the receiver 102.

This embodiment provides a time-of-flight sensor including a receiver and at least two laser transmitters, the receiver and the laser transmitter are arranged on the same side of the substrate of the time-of-flight sensor, and the exit surface of the laser transmitter is The included angle between the incident surfaces of the receiver is greater than 0°, which increases the intensity of the signal beam while increasing the field of view, thereby effectively improving the measurement distance and anti-interference performance of the time-of-flight sensor.

As shown in FIG. 4 , in one embodiment of the present application, the time-of-flight sensor 100 further includes a processor 105 , and the processor 105 is electrically connected with the receiver 102 and the laser transmitter 103 .

FIG. 4 exemplarily shows that the time-of-flight sensor 100 includes two laser emitters 103 .

In an application, the processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) , Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The processor may also be the data processing part of the receiver, eg, an image sensor or an image sensor chip.

In this embodiment, the processor 105 is used for:

Control all the laser transmitters 103 to emit infrared beams to the object at the same time, and obtain the emission time t1 when the laser transmitters 103 emit infrared beams to the object;

Control the receiver 102 to receive the infrared beam reflected by the object, and obtain the receiving time t2 when the receiver 102 receives the infrared beam reflected by the object;

From the transmission time t1 and the reception time t2, the distance D between the time-of-flight sensor 100 and the object is obtained.

In specific applications, the calculation formula of distance D is as follows:

D=[(t2-t1)×c×cosθ]/2;

where c is the speed of light.

In this embodiment, the processor 105 is specifically used for:

According to the transmission time and the receiving time of each target photosensitive pixel, obtain the target distance corresponding to each target photosensitive pixel; Wherein, the target photosensitive pixel is the photosensitive pixel that receives the infrared beam reflected by the object in the receiver 102;

Statistical analysis is performed on all target distances corresponding to all target photosensitive pixels by statistical methods, and the distribution of all target distances is obtained;

According to the distribution situation, the overlapping area in the receiver 102 is obtained; wherein, the overlapping area is the area where the photosensitive pixel that receives the infrared beam reflected by the object at least twice is located;

Obtain the target distance that is greater than or equal to the preset distance threshold among the target distances corresponding to the photosensitive pixels in the overlapping area;

Obtains the distance between the time-of-flight sensor and the object based on the target distance greater than or equal to the preset distance threshold.

In the application, the receiver includes a photosensitive array composed of a plurality of photosensitive pixels, each photosensitive pixel has a photoelectric conversion function, and each photosensitive pixel can be obtained by detecting the time when the photosensitive pixel converts the infrared beam reflected by the object into an electrical signal reception time.

In the application, the calculation method of the target distance corresponding to each target photosensitive pixel is the same as the calculation method of the distance D. If the receiving time of a target photosensitive pixel is set as t3, then the target distance D1=[(t3 -t1)×c×cosθ]/2.

In the application, the statistical method refers to the statistical analysis of the target distances corresponding to all target photosensitive pixels by the histogram method or the scatter plot drawing method, so as to obtain the distribution of the size of the target distances corresponding to all target photosensitive pixels.

In the application, the target distance greater than or equal to the preset distance threshold can be obtained directly according to the distribution of all target distances, and the distance between the time-of-flight sensor and the object can be obtained. The distance between the time-of-flight sensor and the object can be all larger than or the mean of the target distances equal to the preset distance threshold.

In the application, since the time-of-flight sensor includes at least two laser emitters, the object reflects at least two infrared beams, due to the influence of ambient light, the limitation of the size of the field of view of the time-of-flight sensor and the difference in the angle at which the object reflects the infrared beam , not every photosensitive pixel can receive the infrared beam reflected by the object, and the number of times different photosensitive pixels receive the infrared beam is also different. In this embodiment, the photosensitive pixel that receives the infrared beam reflected by the object is defined as the target photosensitive pixel, and the area where the photosensitive pixel that receives the infrared beam reflected from the object at least twice is defined as the overlapping area.

In one embodiment, the overlapping area is an area where a photosensitive pixel of all target photosensitive pixels has received infrared beams reflected by the object for a preset number of times; wherein the preset number of times is greater than or equal to the at least two laser emitters quantity.

In application, the more times the photosensitive pixel receives infrared beams, the more accurate the corresponding target distance is, and the maximum number of times the photosensitive pixel receives infrared beams is greater than or equal to the number of laser emitters.

In the application, the average value of the target distances greater than or equal to the preset distance threshold among the target distances corresponding to the photosensitive pixels in the overlapping area can be used as the distance between the time-of-flight sensor and the object, or the target corresponding to the photosensitive pixels in the overlapping area can be used as the distance. The maximum value among the target distances greater than or equal to the preset distance threshold is used as the distance between the time-of-flight sensor and the object.

In this embodiment, the distance between the time-of-flight sensor and the object is obtained by a statistical method, and the precise position of the object can be obtained, thereby improving the focusing accuracy of the time-of-flight sensor.

As shown in FIG. 5 , in an embodiment of the present application, the time-of-flight sensor 100 is applied to a terminal device 200 , and the terminal device 200 further includes a memory 201 and a computer program 2011 stored in the memory 201 and running on the processor 105 , such as ranging procedures.

Exemplarily, the computer program 2011 can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 201 and executed by the processor 105 to complete the present application. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 2011 in the time-of-flight sensor 100. For example, the computer program 2011 can be divided into the following modules:

a first control module, configured to control all the laser transmitters to emit infrared beams to the object at the same time, and obtain the emission time of the laser transmitters to emit the infrared beams to the object;

The second control module is used to control the receiver to receive the infrared beam reflected by the object, and obtain the receiving time when the receiver receives the infrared beam reflected by the object;

A calculation module, configured to obtain the distance between the time-of-flight sensor and the object according to the transmission time and the reception time.

In one embodiment, the computing module includes:

The first calculation unit is configured to obtain the target distance corresponding to each target photosensitive pixel according to the emission time and the reception time of each target photosensitive pixel; The photosensitive pixel of the infrared beam reflected by the object;

A statistical unit for performing statistical analysis on all target distances corresponding to all the target photosensitive pixels by a statistical method, to obtain the distribution of all the target distances;

an obtaining unit, configured to obtain the overlapping area in the receiver according to the distribution situation; wherein, the overlapping area is the photosensitive pixel that has received the infrared beam reflected by the object at least twice among all the target photosensitive pixels your region;

The second calculation unit is used to obtain the distance between the time-of-flight sensor and the object according to the target distance greater than or equal to the preset distance threshold in the target distances corresponding to the photosensitive pixels of the overlapping area

In applications, the time-of-flight sensor is applied to terminal devices, which can be mobile phones, notebook computers, tablet computers, smart bracelets, personal digital assistants, desktop computers, cameras, and other devices that have both shooting and computing functions. Terminal devices may include, but are not limited to, time-of-flight sensors. Those skilled in the art can understand that the illustration is only an example of a terminal device, and does not constitute a limitation on the terminal device. A terminal device may include more or less components, or combine some components, or different components, such as a terminal Devices may also include input and output devices, network access devices, buses, and the like.

In applications, the processor may also be a processor of a terminal device that exists independently of the time-of-flight sensor, and is not part of the time-of-flight sensor; or, the terminal device includes a first processor, the time-of-flight sensor includes a second processor, and the first processor A processor is electrically connected to the laser transmitter, the first processor is used to implement the functions of the first control module, the second processor is electrically connected to the receiver, and the second processor is used to implement the functions of the second control module and the computing module. The first processor or the second processor may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices , discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The second processor may also be an image sensor or an image sensor chip.

In applications, the memory may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory can also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash memory card (FlashCard) and the like equipped on the terminal device. Further, the memory may also include both an internal storage unit of the terminal device and an external storage device. Memory is used to store computer programs and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been or will be output.

It should be understood that the size of the sequence number of each step in the above-mentioned embodiment does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above system, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described herein again.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, and can also be implemented in the form of software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims (10)

1. A time-of-flight sensor, characterized in that, comprising a substrate, a receiver and at least two laser transmitters; The receiver and the laser transmitter are arranged on the same side of the substrate, and the included angle between the outgoing surface of the laser transmitter and the incident surface of the receiver is greater than 0°. 2 . The time-of-flight sensor according to claim 1 , wherein the minimum distance between the laser transmitter and the receiver has a value range of [3mm, 4mm]. 3 . 3. The time-of-flight sensor according to claim 1, wherein the value range of the included angle between the exit surface of the laser transmitter and the incident surface of the receiver is (0°, 5°] . 4 . The time-of-flight sensor of claim 1 , wherein the laser transmitter is arranged on a circumference with the geometric center of the receiver as the origin. 5 . 5. The time-of-flight sensor of claim 1, wherein the receiver comprises a photosensitive element and a focusing lens, and the laser transmitter comprises a laser emitting device and a beam shaper; The focusing lens is arranged on the side where the incident surface of the photosensitive element is located; The beam shaper is arranged on the side where the emitting surface of the laser emitting device is located. 6. The time-of-flight sensor according to claims 1 to 5, further comprising a processor; the processor is electrically connected to the receiver and the laser transmitter; The processor is used to: Controlling all the laser transmitters to emit infrared beams to the object at the same time, and obtaining the emission time when the laser transmitters emit the infrared beams to the object; Controlling the receiver to receive the infrared beam reflected by the object, and acquiring the receiving time for the receiver to receive the infrared beam reflected by the object; The distance between the time-of-flight sensor and the object is obtained from the transmission time and the reception time. 7. The time-of-flight sensor according to claim 6, wherein the calculation formula of the distance between the time-of-flight sensor and the object is as follows: D=[(t2-t1)×c×cosθ]/2; Among them, D is the distance between the time-of-flight sensor and the object, t1 is the transmitting time, t2 is the receiving time, c is the speed of light, and θ is the output surface of the laser transmitter and the receiving The angle between the incident surfaces of the device. 8. The time-of-flight sensor of claim 6, wherein the processor is specifically configured to: According to the emission time and the receiving time of each target photosensitive pixel, the target distance corresponding to each target photosensitive pixel is obtained; wherein, the target photosensitive pixel is the receiver that receives the infrared beam reflected by the object. photosensitive pixel; Statistical analysis is performed on all target distances corresponding to all the target photosensitive pixels by a statistical method to obtain the distribution of all target distances; According to the distribution, the overlapping area in the receiver is obtained; wherein, the overlapping area is the area of the photosensitive pixel that has received the infrared beam reflected by the object at least twice among all the target photosensitive pixels; The distance between the time-of-flight sensor and the object is obtained according to a target distance greater than or equal to a preset distance threshold among the target distances corresponding to the photosensitive pixels in the overlapping area. 9. A computer-readable storage medium storing a computer program, wherein the computer program implements the following steps when executed by a processor: Controlling all the laser transmitters to emit infrared beams to the object at the same time, and obtaining the emission time when the laser transmitters emit the infrared beams to the object; Controlling the receiver to receive the infrared beam reflected by the object, and acquiring the receiving time for the receiver to receive the infrared beam reflected by the object; The distance between the time-of-flight sensor and the object is obtained from the transmission time and the reception time. 10. The computer-readable storage medium of claim 9, wherein obtaining the distance between the time-of-flight sensor and the object according to the transmission time and the reception time comprises: According to the emission time and the receiving time of each target photosensitive pixel, the target distance corresponding to each target photosensitive pixel is obtained; wherein, the target photosensitive pixel is the receiver that receives the infrared beam reflected by the object. photosensitive pixel; Statistical analysis is performed on all target distances corresponding to all the target photosensitive pixels by a statistical method to obtain the distribution of all target distances; According to the distribution, the overlapping area in the receiver is obtained; wherein, the overlapping area is the area of the photosensitive pixel that has received the infrared beam reflected by the object at least twice among all the target photosensitive pixels; The distance between the time-of-flight sensor and the object is obtained according to a target distance greater than or equal to a preset distance threshold among the target distances corresponding to the photosensitive pixels in the overlapping area.

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