CN110988840B - Method and device for acquiring flight time and electronic equipment - Google Patents

Method and device for acquiring flight time and electronic equipment Download PDF

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CN110988840B
CN110988840B CN201911061132.4A CN201911061132A CN110988840B CN 110988840 B CN110988840 B CN 110988840B CN 201911061132 A CN201911061132 A CN 201911061132A CN 110988840 B CN110988840 B CN 110988840B
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reflected light
period
energy
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obtaining
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CN110988840A (en
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舒玉龙
郑光璞
吴涛
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Qingdao Xiaoniao Kankan Technology Co Ltd
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Qingdao Xiaoniao Kankan Technology Co Ltd
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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
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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

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  • Computer Networks & Wireless Communication (AREA)
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Abstract

The invention relates to a method and a device for acquiring flight time and electronic equipment. The method comprises the following steps: obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period; obtaining the energy of the first reflected light received in the second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period; the time of flight is obtained from the energy of the first reflected light received during the first period, the energy of the first reflected light received during the second period, and the length of the first period.

Description

Method and device for acquiring flight time and electronic equipment
Technical Field
The present invention relates to the field of depth information measurement technologies, and in particular, to a method and an apparatus for acquiring time-of-flight, an electronic device, and a computer-readable storage medium.
Background
TOF (time of flight) is a depth information measurement technique, whose principle can be briefly summarized as: the method comprises the steps that firstly, laser is emitted through an infrared laser, when the laser meets an obstacle and is reflected back, the laser is received by a lens and is converted into an electric signal on a sensor, the flying time of the light in the space is obtained according to the emitting time and the receiving time of the light, and the distance to be measured is obtained.
Ideally, the light received by each pixel of the sensor is directly reflected by the object to be measured, but in practice, the light received by the pixel of the sensor is also reflected by other paths, and this interference is called multipath reflection interference. Especially, when an object needing to be measured is far and an object generating multipath reflection is near, the interference caused by the fact that the energy of the near object reflected into the lens is stronger is more obvious, so that the obtained result of the flight time is influenced, and the distance measurement result is further influenced.
Therefore, a new scheme for acquiring the time of flight is necessary.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a new technical solution for acquiring the time of flight.
According to a first aspect of the present invention, there is provided a time-of-flight acquisition method for emitting probe light toward a target object and receiving corresponding ensemble of reflected light including first reflected light from the target object and second reflected light from an interfering object within a set period, the set period including at least one set of first and second sequentially adjacent cycles, the probe light being continuously emitted during the first cycle, and the ensemble of reflected light being continuously received during the first and second cycles, the method including:
obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period;
obtaining the energy of the first reflected light received in a second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period;
and obtaining the flight time according to the energy of the first reflected light received in the first period, the energy of the first reflected light received in the second period and the length of the first period.
Optionally, the obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period includes:
obtaining the power p of the second reflected light received separately in the first period12；
Acquiring power p for simultaneously receiving the first reflected light and the second reflected light in a first period10And corresponding time t10；
Obtaining the energy E of the first reflected light received in the first period11Wherein E is11＝(p10-p12)×t10；
The obtaining the energy of the first reflected light received in the second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period includes:
acquiring the simultaneous reception of the first reflected light and the second reflected light in a second periodPower p of20And corresponding time t20；
Obtaining the power p of the first reflected light received separately in the second period21And corresponding time t21；
Obtaining energy E of the first reflected light received in a second period21Wherein E is21＝(p20-p12)×t20+p21×t21。
Optionally, the obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period includes:
acquiring a plurality of single energy e of separately receiving the second reflected light in the first period12；
Acquiring a plurality of single energy e of simultaneously receiving the first reflected light and the second reflected light in a first period10And corresponding number of copies n10；
Obtaining the energy E of the first reflected light received in the first period11Wherein E is11＝(e10-e12)×n10；
The obtaining the energy of the first reflected light received in the second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period includes:
acquiring a plurality of single energy e of the first reflected light and the second reflected light received simultaneously in a second period20And corresponding number of copies n20；
Acquiring a plurality of single energy e of separately receiving the first reflected light in a second period21And corresponding number of copies n21；
Obtaining energy E of the first reflected light received in a second period21Wherein E is21＝(e20-e12)×n20+e21×n21。
Optionally, the obtaining the time of flight according to the energy of the first reflected light received in the first period, the energy of the first reflected light received in the second period, and the length of the first period includes:
according to the energy E of the first reflected light received in the first period11Energy E of the first reflected light received in the second period21And the length T of the first period, obtaining the time of flight TdWherein
Figure BDA0002257985760000031
Optionally, the obtaining of the power p of the second reflected light received separately in the first period12The method comprises the following steps:
obtaining the power p of the second reflected light received in the first period according to the minimum received power in the first period12。
Optionally, the obtaining of the power p of the first reflected light received separately in the second period21And corresponding time t21The method comprises the following steps:
obtaining the power p of separately receiving the first reflected light in the second period according to the minimum receiving power and the corresponding receiving time in the second period21And corresponding time t21。
According to a second aspect of the present invention, there is provided a time-of-flight acquisition apparatus that emits probe light toward a target object and receives corresponding ensemble of reflected light including first reflected light from the target object and second reflected light from an interfering object for a set period, the set period including at least one set of first and second sequentially adjacent cycles, the probe light being continuously emitted during the first cycle, and the ensemble of reflected light being continuously received during the first and second cycles, the apparatus comprising:
the first calculation module is used for obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period;
a second calculating module, configured to obtain the energy of the first reflected light received in a second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period;
and the third calculating module is used for obtaining the flight time according to the energy of the first reflected light received in the first period, the energy of the first reflected light received in the second period and the length of the first period.
According to a third aspect of the invention, there is provided an electronic device comprising a memory and a processor;
the memory is used for storing executable commands;
the processor is adapted to perform the method according to the first aspect of the invention under control of the executable command.
According to a fourth aspect of the present invention there is provided a computer readable storage medium for storing executable commands which, when executed by a processor, implement the method according to the first aspect of the present invention.
According to the method for acquiring the flight time, the influence caused by the reflected light of the interference object is considered and eliminated, the resolving error of the flight time is favorably reduced, and therefore a more accurate ranging result is obtained.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of an electronic device that may be used to implement an embodiment of the invention.
Fig. 2 is a schematic diagram of signal transfer according to an embodiment of the present invention.
FIG. 3 is a flow chart of a time-of-flight acquisition method according to an embodiment of the invention.
Fig. 4 is a first schematic diagram of an example according to an embodiment of the invention.
Fig. 5 is a second schematic diagram of an example of an embodiment in accordance with the invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
< hardware configuration >
FIG. 1 is a schematic diagram of an electronic device that may be used to implement an embodiment of the invention.
Referring to fig. 1, the electronic device 1000 may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. The processor 1100 may be a central processing unit CPU, a microprocessor MCU, or the like. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, a USB interface, a headphone interface, and the like. Communication device 1400 is capable of wired or wireless communication, for example. The display device 1500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 1600 may include, for example, a touch screen, a keyboard, and the like. A user can input/output voice information through the speaker 1700 and the microphone 1800.
In this embodiment, the input device 1600 includes a TOF camera including a lens, an optical sensor, a laser light, and the like.
Although multiple devices are shown in FIG. 1 for electronic device 1000, the invention may relate to only some of the devices, for example, electronic device 1000 may relate to only memory 1200, processor 1100, and a TOF camera.
In an embodiment of the invention, the memory 1200 of the electronic device 1000 is used for storing instructions for controlling the processor 1100 to execute the device testing method provided by the embodiment of the invention. In the above description, the skilled person will be able to design instructions in accordance with the disclosed solution. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.
The electronic device 1000 shown in fig. 1 is merely illustrative and is in no way intended to limit the present invention, its application, or uses.
Fig. 2 is a schematic diagram of signal transmission in the present embodiment.
Referring to fig. 2, the lens captures an optical signal and transmits the optical signal to the sensor, the sensor converts the optical signal into a sampling signal and sends the sampling signal to the processor, and the processor performs calculation of the flight time according to the sampling signal. Meanwhile, the processor also generates a switching signal, and the switching state of the laser lamp can be controlled through the switching signal so as to control the laser lamp to emit the detection light.
< method examples >
The present embodiment provides a device testing method, and an implementation of the method is, for example, the electronic apparatus 1000 in fig. 1.
As shown in fig. 3, the method for acquiring the time of flight in the present embodiment includes the following steps S2100 to S2300.
In step S2100, the energy of the first reflected light received in the first cycle is obtained from the energy of the entire reflected light received in the first cycle and the energy of the second reflected light received in the first cycle.
In this embodiment, the probe light is emitted to the target object and the corresponding total reflected light is received within a set period, the total reflected light includes a first reflected light from the target object and a second reflected light from the interfering object, the set period includes at least one set of a first period and a second period which are adjacent in sequence, the probe light is continuously emitted in the first period, and the total reflected light is continuously received in the first period and the second period.
In this embodiment, the energy of the second reflected light received in the first cycle is removed from the energy of the entire reflected light received in the first cycle, that is, the energy of the first reflected light received in the first cycle is obtained.
In one embodiment, step S2100 further comprises the steps of: obtaining the power p of the second reflected light received separately in the first period12(ii) a Acquiring power p for simultaneously receiving first reflected light and second reflected light in first period10And corresponding time t10(ii) a Obtaining energy E of first reflected light received in first period11Wherein E is11＝(p10-p12)×t10。
In one embodiment, the power p of the second reflected light received separately in the first period is obtained12The method comprises the following steps: obtaining the power p of the second reflected light received in the first period according to the minimum received power in the first period12。
In one embodiment, the sensor receives the energy of the reflected light sequentially at set time intervals, each time receiving a respective single energy fraction. Accordingly, obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period includes: obtaining a plurality of single energy e of separately receiving second reflected light in the first period12(ii) a Acquiring a plurality of single energy e for simultaneously receiving the first reflected light and the second reflected light in the first period10And corresponding number of copies n10(ii) a Obtaining energy E of first reflected light received in first period11Wherein E is11＝(e10-e12)×n10；
In step S2200, the energy of the first reflected light received in the second period is obtained from the energy of the entire reflected light received in the second period and the energy of the second reflected light received in the second period.
In this embodiment, the energy of the second reflected light received in the second period is removed from the energy of the entire reflected light received in the second period, that is, the energy of the first reflected light received in the second period is obtained.
In one embodiment, step S2200 further comprises the steps of: obtaining power p for simultaneously receiving the first reflected light and the second reflected light in the second period20And corresponding time t20(ii) a Obtaining the power p of the first reflected light received separately in the second period21And corresponding time t21(ii) a Obtaining energy E of the first reflected light received in the second period21Wherein E is21＝(p20-p12)×t20+p21×t21。
In one embodiment, the power p of the first reflected light received separately during the second period is obtained21And corresponding time t21The method comprises the following steps: obtaining the power p of separately receiving the first reflected light in the second period according to the minimum receiving power and the corresponding receiving time in the second period21And corresponding time t21。
In one embodiment, the sensor receives the energy of the reflected light sequentially at set time intervals, each time receiving a respective single energy fraction. Accordingly, obtaining the energy of the first reflected light received in the second period based on the energy of the whole of the reflected light received in the second period and the energy of the second reflected light received in the second period includes: acquiring a plurality of single energy e of the first reflected light and the second reflected light received simultaneously in the second period20And corresponding number of copies n20(ii) a Acquiring a plurality of single energy e of the first reflected light received in the second period21And corresponding portionsNumber n21(ii) a Obtaining energy E of the first reflected light received in the second period21Wherein E is21＝(e20-e12)×n20+e21×n21。
In step S2300, a time of flight is obtained from the energy of the first reflected light received during the first period, the energy of the first reflected light received during the second period, and the length of the first period.
In one embodiment, step S2200 further comprises the steps of: according to the energy E of the first reflected light received in the first period11Energy E of the first reflected light received in the second period21And the length T of the first period, obtaining the time of flight TdWherein
Figure BDA0002257985760000081
According to the method for acquiring the flight time, the influence caused by the reflected light of the interference object is considered and eliminated, the resolving error of the flight time is favorably reduced, and therefore a more accurate ranging result is obtained.
In one embodiment, the time of flight is calculated by means of single energy and energy fraction, the accuracy requirement of time measurement is reduced, and the method is convenient to implement.
In one embodiment, the set time period includes a plurality of sets of first and second cycles that are adjacent in sequence, and the corresponding flight time is calculated according to each set of the first and second adjacent cycles, thereby obtaining a plurality of flight times. The final time of flight is obtained from the plurality of times of flight, for example, an average value of the plurality of times of flight is taken as the final time of flight.
A specific example of implementing the above-described time-of-flight acquisition method is provided below.
FIG. 4 is a schematic illustration of acquiring time of flight without interfering objects. Referring to FIG. 4, the horizontal axis in FIG. 4 is time tdThe vertical axis is in turn a periodic sequence, the laser state and the power at which the sensor receives the reflected light. The measurement process shown in fig. 4 includes first periods T which are sequentially adjacent to each other1And a second period T2. In a first period T1In this case, the laser state is always "1", i.e., the probe light is continuously emitted. In a second period T2In this case, the laser state is always "0", i.e., no probe light is generated. The sensor is in the first period T1And a second period T2The reflected light is continuously received. Due to the time required for the light to propagate, the initial moment of the sensor receiving the reflected light has a certain delay with respect to the initial moment of the laser emitting the probe light, i.e. time t in fig. 4dThe delay time is the flight time of the detecting light to and from the target object.
In FIG. 4, the sensor is in a first period T1Power of internally received reflected light is e11Corresponding received energy is E11(indicated by the rectangular area) the sensor is at the second period T2Power of internally received reflected light is e21Corresponding received energy is E21(represented by the rectangular area). According to the proportional relation, the flight time can be obtained
Figure BDA0002257985760000091
FIG. 5 is a schematic diagram of acquiring time of flight in the presence of an interfering object. Referring to FIG. 5, during a first period, due to the presence of an interfering object that is closer to the TOF camera, the sensor first receives a second reflected light from the interfering object, corresponding to a received power of p12The receiving time is t12. Then, the sensor simultaneously receives the second reflected light from the interference object and the first reflected light from the target object, and the corresponding received power is p10The receiving time is t10. In the second period, the sensor simultaneously receives the second reflected light from the interference object and the first reflected light from the target object, and the corresponding received power is p20The receiving time is t20. Then, since the second reflected light from the interfering object disappears, the sensor receives only the first reflected light from the target object, and the corresponding received power is p21The receiving time is t21. It is easy to understand that the received power p12Is the most in the first periodSmall received power, received power p21Is the minimum received power in the first period.
In fig. 5, the received energy corresponding to the second reflected light from the interfering object is removed, and the received energy corresponding to the first reflected light from the target object, that is, the area of the shaded portion in fig. 5 is obtained. Accordingly, the energy E of the first reflected light received in the first period can be obtained11Wherein E is11＝(p10-p12)×t10. The energy E of the first reflected light received during the second period can also be obtained21Wherein E is21＝(p20-p12)×t20+p21×t21。
Energy E solved in the presence of interfering objects11And energy E21Substitution into
Figure BDA0002257985760000092
More accurate flight time t can be obtainedd。
In another example, the sensor receives the energy of the reflected light sequentially at set time intervals, each time receiving a respective single energy. For this case, the received power p in the above example is replaced by the corresponding single energy e, and the received time t in the above example is replaced by the corresponding energy fraction n, which can be calculated in a similar manner.
< apparatus embodiment >
The embodiment provides a device for acquiring flight time, which comprises a first calculating module, a second calculating module and a third calculating module.
And the first calculation module is used for obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period.
And the second calculating module is used for obtaining the energy of the first reflected light received in the second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period.
And the third calculating module is used for obtaining the flight time according to the energy of the first reflected light received in the first period, the energy of the first reflected light received in the second period and the length of the first period.
In one embodiment, the first calculation module, when obtaining the energy of the first reflected light received in the first period based on the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period, is configured to: obtaining the power p of the second reflected light received separately in the first period12(ii) a Acquiring power p for simultaneously receiving first reflected light and second reflected light in first period10And corresponding time t10(ii) a Obtaining energy E of first reflected light received in first period11Wherein E is11＝(p10-p12)×t10. The second calculating module is used for, when obtaining the energy of the first reflected light received in the second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period: obtaining power p for simultaneously receiving the first reflected light and the second reflected light in the second period20And corresponding time t20(ii) a Obtaining the power p of the first reflected light received separately in the second period21And corresponding time t21(ii) a Obtaining energy E of the first reflected light received in the second period21Wherein E is21＝(p20-p12)×t20+p21×t21。
In one embodiment, the first calculation module, when obtaining the energy of the first reflected light received in the first period based on the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period, is configured to: obtaining a plurality of single energy e of separately receiving second reflected light in the first period12(ii) a Acquiring a plurality of single energy e for simultaneously receiving the first reflected light and the second reflected light in the first period10And corresponding number of copies n10(ii) a Obtaining energy E of first reflected light received in first period11Wherein E is11＝(e10-e12)×n10. The second computing module receives full data according to the second periodThe energy of the body reflected light and the energy of the second reflected light received in the second period are used for: acquiring a plurality of single energy e of the first reflected light and the second reflected light received simultaneously in the second period20And corresponding number of copies n20(ii) a Acquiring a plurality of single energy e of the first reflected light received in the second period21And corresponding number of copies n21(ii) a Obtaining energy E of the first reflected light received in the second period21Wherein E is21＝(e20-e12)×n20+e21×n21。
In one embodiment, the third module obtains a time of flight based on the energy of the first reflected light received during the first period, the energy of the first reflected light received during the second period, and the length of the first period, for: according to the energy E of the first reflected light received in the first period11Energy E of the first reflected light received in the second period21And the length T of the first period, obtaining the time of flight TdWherein
Figure BDA0002257985760000111
In one embodiment, the first calculation module separately receives the power p of the second reflected light in the first period12And, for: obtaining the power p of the second reflected light received in the first period according to the minimum received power in the first period12。
In one embodiment, the second calculation module separately receives the power p of the first reflected light during the second period21And corresponding time t21And, for: obtaining the power p of separately receiving the first reflected light in the second period according to the minimum receiving power and the corresponding receiving time in the second period21And corresponding time t21。
< electronic device embodiment >
The present embodiments provide an electronic device that includes a memory and a processor.
The memory is used for storing executable commands.
The processor is adapted to perform the method described in the method embodiments of the invention under control of the execution commands stored by the memory.
< computer-readable storage Medium embodiment >
The present embodiments provide a computer-readable storage medium for storing executable commands that, when executed by a processor, implement the methods described in the method embodiments of the present invention.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims (8)

1. A time-of-flight acquisition method for emitting probe light toward a target object and receiving a corresponding ensemble of reflected light including first reflected light from the target object and second reflected light from an interfering object within a set period, the set period including at least one set of first and second sequentially adjacent periods, the probe light being continuously emitted during the first period, and the ensemble of reflected light being continuously received during the first and second periods, the method comprising:
obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period;
obtaining the energy of the first reflected light received in a second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period;
obtaining the time of flight from the energy of the first reflected light received during the first period, the energy of the first reflected light received during the second period, and the length of the first period,
wherein the obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period comprises:
obtaining the power p of the second reflected light received separately in the first period12；
Acquiring power p for simultaneously receiving the first reflected light and the second reflected light in a first period10And corresponding time t10；
Obtaining the energy E of the first reflected light received in the first period11Wherein E is11＝(p10-p12)×t10；
The obtaining the energy of the first reflected light received in the second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period includes:
acquiring power p for simultaneously receiving the first reflected light and the second reflected light in a second period20And corresponding time t20；
Obtaining the power p of the first reflected light received separately in the second period21And corresponding time t21；
Obtaining energy E of the first reflected light received in a second period21Wherein E is21＝(p20-p12)×t20+p21×t21。
2. The method of claim 1, wherein said obtaining the time of flight from the energy of the first reflected light received during the first period, the energy of the first reflected light received during the second period, and the length of the first period comprises:
according to the energy E of the first reflected light received in the first period11The second period is inscribedEnergy E of the first reflected light21And the length T of the first period, obtaining the time of flight TdWherein
Figure FDA0003482077920000021
3. The method of claim 1, wherein said obtaining the power p of said second reflected light received separately during a first period12The method comprises the following steps:
obtaining the power p of the second reflected light received in the first period according to the minimum received power in the first period12。
4. The method of claim 1, wherein said obtaining the power p of said first reflected light received separately during the second period21And corresponding time t21The method comprises the following steps:
obtaining the power p of separately receiving the first reflected light in the second period according to the minimum receiving power and the corresponding receiving time in the second period21And corresponding time t21。
5. A time-of-flight acquisition apparatus that emits probe light toward a target object and receives a corresponding ensemble of reflected light including first reflected light from the target object and second reflected light from an interfering object for a set period of time, the set period of time including at least one set of first and second sequentially adjacent periods, the probe light being continuously emitted during the first period, and the ensemble of reflected light being continuously received during the first and second periods, the apparatus comprising:
the first calculation module is used for obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period;
a second calculating module, configured to obtain the energy of the first reflected light received in a second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period;
a third calculating module for obtaining the time of flight according to the energy of the first reflected light received in the first period, the energy of the first reflected light received in the second period, and the length of the first period,
wherein the first calculating module is configured to, when the energy of the first reflected light received in the first period is obtained according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period,:
obtaining the power p of the second reflected light received separately in the first period12；
Acquiring power p for simultaneously receiving the first reflected light and the second reflected light in a first period10And corresponding time t10；
Obtaining the energy E of the first reflected light received in the first period11Wherein E is11＝(p10-p12)×t10；
The second calculating module is configured to, when the energy of the first reflected light received in the second period is obtained according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period,:
acquiring power p for simultaneously receiving the first reflected light and the second reflected light in a second period20And corresponding time t20；
Obtaining the power p of the first reflected light received separately in the second period21And corresponding time t21；
Obtaining energy E of the first reflected light received in a second period21Wherein E is21＝(p20-p12)×t20+p21×t21。
6. An electronic device comprising a memory and a processor;
the memory is used for storing executable commands;
the processor is configured to perform the method of any of claims 1-4 under control of the executable command.
7. A computer readable storage medium storing executable commands which, when executed by a processor, implement the method of any one of claims 1-4.
8. A time-of-flight acquisition method for emitting probe light toward a target object and receiving a corresponding ensemble of reflected light including first reflected light from the target object and second reflected light from an interfering object within a set period, the set period including at least one set of first and second sequentially adjacent periods, the probe light being continuously emitted during the first period, and the ensemble of reflected light being continuously received during the first and second periods, the method comprising:
obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period;
obtaining the energy of the first reflected light received in a second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period;
obtaining the time of flight from the energy of the first reflected light received during the first period, the energy of the first reflected light received during the second period, and the length of the first period,
wherein the obtaining the energy of the first reflected light received in the first period according to the energy of the whole reflected light received in the first period and the energy of the second reflected light received in the first period comprises:
obtaining individual receivers in a first cycleA plurality of individual energies e of the second reflected light12；
Acquiring a plurality of single energy e of simultaneously receiving the first reflected light and the second reflected light in a first period10And corresponding number of copies n10；
Obtaining the energy E of the first reflected light received in the first period11Wherein E is11＝(e10-e12)×n10；
The obtaining the energy of the first reflected light received in the second period according to the energy of the whole reflected light received in the second period and the energy of the second reflected light received in the second period includes:
acquiring a plurality of single energy e of the first reflected light and the second reflected light received simultaneously in a second period20And corresponding number of copies n20；
Acquiring a plurality of single energy e of separately receiving the first reflected light in a second period21And corresponding number of copies n21；
Obtaining energy E of the first reflected light received in a second period21Wherein E is21＝(e20-e12)×n20+e21×n21。
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