CN110764099A

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

Info

Publication number: CN110764099A
Application number: CN201910439233.4A
Authority: CN
Inventors: 刘秋菊
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2019-05-24
Filing date: 2019-05-24
Publication date: 2020-02-07

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

Time-of-flight sensor and computer-readable storage medium

Technical Field

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

Background

With the rapid development of the electronic terminal industry, the TOF sensor gradually becomes an essential device of the electronic terminal. The TOF sensor has the main functions of assisting camera automatic focusing of the electronic terminal, improving the speed and reliability of an automatic camera focusing system, and being particularly suitable for dark environments or low-contrast conditions.

At present, the maximum indoor measurement distance of the TOF sensor is about 3m from a product, and the infrared part of outdoor strong light can generate large interference on a signal light beam of the TOF sensor, so that the outdoor measurement distance is lower than the indoor measurement distance.

Content of application

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

A first aspect of an embodiment 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 an included angle between an emergent surface of the laser transmitter and an incident surface of the receiver is larger than 0 degree.

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

In one embodiment, the angle between the exit surface of the laser transmitter and the entrance surface of the receiver is (0 °, 5 °).

In one embodiment, the laser emitters are arranged on a circle with the geometric center of the receiver as the origin.

In one embodiment, 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 one side where the incident surface of the photosensitive element is located;

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

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

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

the processor is configured to:

controlling all the laser transmitters to simultaneously transmit infrared beams to an object, and acquiring the transmitting time of the laser transmitters to transmit the infrared beams to the object;

controlling the receiver to receive the infrared light beam reflected by the object and acquiring the receiving time of the receiver for receiving the infrared light beam reflected by the object;

and obtaining the distance between the time-of-flight sensor and the object according to the transmitting time and the receiving time.

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

D＝[(t2-t1)×c×cosθ]/2；

wherein D is a distance between the time-of-flight sensor and the object, t1 is the emission time, t2 is the reception time, c is the speed of light, and θ is an included angle between an exit surface of the laser emitter and an incident surface of the receiver.

In one embodiment, the processor is specifically configured to:

obtaining a target distance corresponding to each target photosensitive pixel according to the emission time and the receiving time of each target photosensitive pixel; the target photosensitive pixel is a photosensitive pixel which receives an infrared light beam reflected by the object in the receiver;

performing statistical analysis on all target distances corresponding to all the target photosensitive pixels by a statistical method to obtain the distribution condition of all the target distances;

obtaining an overlapping area in the receiver according to the distribution condition; the overlapping area is the area where the photosensitive pixel which receives the infrared beams reflected by the object at least twice in all the target photosensitive pixels is located;

and obtaining the distance between the flight time sensor and the object according to the target distance which is greater than or equal to a preset distance threshold value in the target distances corresponding to the photosensitive pixels in the overlapping area.

A second aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of:

The embodiment of the application provides a time-of-flight sensor including a receiver and two at least laser emitter, sets up receiver and laser emitter in the same one side of time-of-flight sensor's base plate to make the contained angle between laser emitter's emitting surface and the incident plane of receiver be greater than 0, increased angle of view when having strengthened signal beam's intensity, thereby effectively improved time-of-flight sensor's measuring distance and interference killing feature.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without inventive work.

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

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

FIG. 3 is a schematic diagram of a time-of-flight sensor configuration provided by yet another embodiment of the present application;

FIG. 4 is a schematic diagram of a time-of-flight sensor according to yet another embodiment of the present application

Fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "comprises" and "comprising," and any variations thereof, in the description and claims of this application and the drawings described above, are intended to cover non-exclusive inclusions. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third," etc. are used to distinguish between different objects and are not used to describe a particular order.

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

the receiver 102 and the laser emitter 103 are disposed on the same side of the substrate 101, and an angle between an exit surface of the laser emitter 103 and an incident surface of the receiver 102 is greater than 0 °.

In application, the substrate is a supporting structure for supporting and fixing the receiver and the laser transmitter, and may be specifically configured to be a plate shape, and the substrate may be a substrate of a PCB (Printed Circuit Board), i.e. a copper clad plate.

In application, the receiver may be implemented by a photosensitive element, which may be a CCD (Charge-coupled Device), a cmos (Complementary Metal Oxide Semiconductor) or a photodiode (e.g., SPAD (Single Photon Avalanche Diode)).

In one embodiment, the receiver comprises a light sensing element and a focus lens;

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

In application, the focusing lens may be implemented by any lens having an optical signal focusing function, for example, a fixed focus lens, a zoom lens, and the like.

In application, the light beam emitted by the laser emitter is an infrared light beam with the wavelength of an infrared band of 1 mm-760 mm. The laser emitter may be implemented by a laser emitting device, for example, a semiconductor infrared laser diode. The number of laser transmitters included in the time-of-flight sensor can be set according to actual needs, as long as at least two laser transmitters transmit infrared beams to the object at the same time when the time-of-flight sensor is used for measuring the distance between the object and the laser transmitter. The more the number of laser transmitters simultaneously emitting infrared beams, the larger the light emitting area, and the stronger the intensity of the signal beam of the time-of-flight sensor. The signal light beam comprises a light beam emitted by the laser emitter to the object and a light beam reflected by the object.

In application, the setting position of the laser transmitter can be set according to actual needs, as long as the light beam emitted by the laser transmitter is ensured to be reflected by an object and then can be received by the receiver. The at least two laser emitters may be arranged around the receiver in any arrangement, for example, arranged on a circumference with the geometric center of the receiver as the origin, rotationally symmetrical about the geometric center of the receiver. Different laser transmitters can be arranged on different circumferences or the same circumference with the geometric center of the receiver as the origin; alternatively, a portion of the laser emitters may be rotationally symmetric about the geometric center of the receiver at a first distance from the receiver, and another portion of the laser emitters may be rotationally symmetric about the geometric center of the receiver at a second distance from the receiver, where the first distance ≠ second distance.

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

In application, the laser transmitter beam shaper may include a laser focusing module, a flat-top beam shaper, an M-Shape beam shaper, a ring beam shaper, a laser diffuser, a beam homogenizer, a laser beam splitter, a laser grating, a beam expander, a laser scaler, a laser tuner, and the like.

In application, the size and shape of the substrate, the receiver and the laser emitter can be set according to actual needs, and in order to enhance the intensity of the signal beam, the areas of the incident surface of the receiver and the emitting surface of the laser emitter should be increased as much as possible under the condition that the area of the substrate is not changed.

In application, the time-of-flight sensor may further comprise a light-transmissive cover plate, which may be implemented by any light-transmissive material, such as glass, sapphire, acrylic, and the like.

Fig. 1 shows an exemplary time-of-flight sensor 100 comprising two circular laser emitters 103 and a light-transmitting cover plate 104, the two laser emitters 103 being rotationally symmetrical with respect to the geometric center of the receiver 102.

Fig. 2 schematically shows a time-of-flight sensor 100 comprising a rectangular substrate 101, one circular receiver 102 and eight circular laser emitters 103, the eight laser emitters 103 being arranged on a circumference with the geometric center of the receiver 102 as the origin.

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

In application, too large a distance between the emitting surface of the laser transmitter and the incident surface of the receiver may form a blind zone in the spacing portion between the laser transmitter and the receiver, and too small a distance may cause the receiver to be unable to receive more infrared beams reflected by the object, and therefore, the distance should be set within a reasonable range according to actual needs.

Fig. 3 shows, as an example, on the basis of fig. 2, an outgoing light ray of the laser emitter 103, an incoming light ray of the receiver 102, an angle θ between an outgoing surface of the laser emitter and an incoming surface of the receiver, and a minimum distance d between the laser emitter 103 and the receiver 102.

The embodiment provides the time-of-flight sensor comprising the receiver and at least two laser transmitters, the receiver and the laser transmitters are arranged on the same side of the substrate of the time-of-flight sensor, the included angle between the emergent surface of the laser transmitter and the incident surface of the receiver is larger than 0 degree, the intensity of a signal light beam is enhanced, the angle of field is increased, and therefore the measuring distance and the anti-interference performance of the time-of-flight sensor are effectively improved.

As shown in fig. 4, in one embodiment of the present application, the time-of-flight sensor 100 further comprises a processor 105, the processor 105 being electrically connected to the receiver 102 and the laser transmitter 103.

Fig. 4 schematically shows that the time-of-flight sensor 100 comprises two laser emitters 103.

In Application, the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The processor may also be a data processing part of the receiver, e.g. an image sensor or an image sensing chip.

In this embodiment, the processor 105 is configured to:

controlling all the laser transmitters 103 to transmit infrared beams to the object at the same time, and acquiring the transmitting time t1 when the laser transmitters 103 transmit the infrared beams to the object;

controlling the receiver 102 to receive the infrared light beam reflected by the object, and acquiring the receiving time t2 when the receiver 102 receives the infrared light 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 a specific application, the distance D is calculated as follows:

D＝[(t2-t1)×c×cosθ]/2；

where c is the speed of light.

In this embodiment, the processor 105 is specifically configured to:

obtaining a target distance corresponding to each target photosensitive pixel according to the emission time and the receiving time of each target photosensitive pixel; the target photosensitive pixel is a photosensitive pixel in the receiver 102 that receives the infrared beam reflected by the object;

performing statistical analysis on all target distances corresponding to all target photosensitive pixels by a statistical method to obtain the distribution condition of all target distances;

obtaining an overlap region in the receiver 102 according to the distribution; the overlapping area is an area where photosensitive pixels which receive infrared beams reflected by the object at least twice are located;

acquiring a target distance which is greater than or equal to a preset distance threshold value in the target distances corresponding to the photosensitive pixels in the overlapping area;

and obtaining the distance between the time-of-flight sensor and the object according to the target distance which is greater than or equal to the preset distance threshold.

In application, the receiver comprises a photosensitive array consisting of a plurality of photosensitive pixels, each photosensitive pixel has a photoelectric conversion function, and the receiving time of each photosensitive pixel can be obtained by detecting the time when the photosensitive pixel converts an infrared light beam reflected by an object into an electric signal.

In application, the target distance corresponding to each target photosensitive pixel is calculated in the same manner as the distance D, and if the receiving time of one target photosensitive pixel is set to t3, the target distance D1 corresponding to the target photosensitive pixel is [ (t3-t1) × c × cos θ ]/2.

In application, the statistical method is to perform statistical analysis on the target distances corresponding to all the target photosensitive pixels by using a histogram method or a scatter diagram drawing method, so as to obtain the distribution condition of the target distances corresponding to all the target photosensitive pixels.

In application, the target distances greater than or equal to the preset distance threshold may be directly obtained according to the distribution of all the target distances, and the distance between the time-of-flight sensor and the object may be obtained, where the distance between the time-of-flight sensor and the object may be an average of all the target distances greater than or equal to the preset distance threshold.

In application, because the time-of-flight sensor includes at least two laser transmitters, the object reflects at least two infrared beams, and 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 of 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 times at which different photosensitive pixels receive the infrared beam are also different. In this embodiment, the photosensitive pixel that receives the infrared beam reflected by the object is defined as a target photosensitive pixel, and the region where the photosensitive pixel that receives the infrared beam reflected by the object at least twice is located is defined as an overlapping region.

In one embodiment, the overlapping region is a region where, among all target photosensitive pixels, a photosensitive pixel that receives infrared beams reflected by the object a preset number of times is located; wherein the preset number of times is greater than or equal to the number of the at least two laser emitters.

In application, the more times of infrared beams received by the photosensitive pixels, the more accurate the corresponding target distance is, and the maximum value of the times of infrared beams received by the photosensitive pixels is greater than or equal to the number of laser transmitters.

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

In the embodiment, the distance between the time-of-flight sensor and the object is obtained through a statistical method, so that the accurate position of the object can be obtained, and the focusing accuracy of the time-of-flight sensor is improved.

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

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

the first control module is used for controlling all the laser transmitters to simultaneously transmit infrared beams to an object and acquiring the transmitting time of the laser transmitters to transmit the infrared beams to the object;

the second control module is used for controlling the receiver to receive the infrared light beam reflected by the object and acquiring the receiving time of the receiver for receiving the infrared light beam reflected by the object;

and the calculation module is used for obtaining the distance between the flight time sensor and the object according to the transmitting time and the receiving time.

In one embodiment, the calculation module comprises:

the first calculation unit is used for obtaining a target distance corresponding to each target photosensitive pixel according to the emission time and the receiving time of each target photosensitive pixel; the target photosensitive pixel is a photosensitive pixel which receives an infrared beam reflected by the object in the receiver;

the statistical unit is used for carrying out statistical analysis on all target distances corresponding to all the target photosensitive pixels through a statistical method to obtain the distribution condition of all the target distances;

an obtaining unit, configured to obtain an overlapping area in the receiver according to the distribution; the overlapping area is the area where the photosensitive pixel which receives the infrared beams reflected by the object at least twice in all the target photosensitive pixels is located;

a second calculating unit, configured to obtain a distance between the time-of-flight sensor and the object according to a target distance greater than or equal to a preset distance threshold among target distances corresponding to photosensitive pixels in the overlapping area

In application, the time-of-flight sensor is applied to a terminal device, and the terminal device can be a mobile phone, a notebook computer, a tablet computer, an intelligent bracelet, a personal digital assistant, a desktop computer, a camera and other devices with shooting and shooting functions and computing functions. The terminal device may include, but is not limited to, a time-of-flight sensor. It will be appreciated by those skilled in the art that the illustration is merely an example of a terminal device and is not intended to limit the terminal device, which may include more or fewer components, or some of the components may be combined, or different components, e.g., the terminal device may also include input output devices, network access devices, buses, etc.

In application, the processor may also be a processor of the terminal device independent of the presence of the time-of-flight sensor, not part of the time-of-flight sensor; or the terminal device comprises a first processor, the time-of-flight sensor comprises a second processor, the first processor is electrically connected with the laser transmitter, the first processor is used for realizing the function of the first control module, the second processor is electrically connected with the receiver, and the second processor is used for realizing the functions of the second control module and the calculation 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, discrete hardware components, or the like. 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 sensing chip.

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

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned functional units and modules are illustrated as being divided, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to complete all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in the form of a hardware or a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described or recited in detail in a certain embodiment, reference may be made to the descriptions of other embodiments.

Those of ordinary skill in the art would appreciate that the elements and algorithm steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when the actual implementation is performed, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

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 such understanding, all or part of the processes in the methods of the embodiments described above may be implemented by instructing related hardware through a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the embodiments of the methods described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium, etc.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the present disclosure, and are intended to be included within the scope thereof.

Claims

1. A flight time sensor is characterized by comprising a substrate, a receiver and at least two laser transmitters;

2. A time-of-flight sensor according to claim 1, wherein the minimum distance between the laser transmitter and the receiver has a value in the range [3mm, 4mm ].

3. A time-of-flight sensor according to claim 1, wherein the angle between the exit face of the laser emitter and the entrance face of the receiver is in the range (0 °, 5 °).

4. A time of flight sensor according to claim 1, wherein the laser emitters are arranged on a circle with the geometric centre of the receiver as the origin.

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;

6. A time-of-flight sensor according to claims 1 to 5, further comprising a processor;

the processor is configured to:

7. The time-of-flight sensor of claim 6, wherein the distance between the time-of-flight sensor and the object is calculated by the formula:

D＝[(t2-t1)×c×cosθ]/2；

wherein D is a distance between the time-of-flight sensor and the object, t1 is the emission time, t2 is the reception time, c is the speed of light, and θ is an angle between an exit surface of the laser emitter and an incident surface of the receiver.

8. The time-of-flight sensor of claim 6, wherein the processor is specifically configured to:

obtaining a target distance corresponding to each target photosensitive pixel according to the emission time and the receiving time of each target photosensitive pixel; the target photosensitive pixel is a photosensitive pixel which receives the infrared light beam reflected by the object in the receiver;

9. A computer-readable storage medium storing a computer program, the computer program when executed by a processor implementing the steps of:

10. The computer-readable storage medium of claim 9, wherein obtaining the distance between the time-of-flight sensor and the object from the time of transmission and the time of reception comprises: