CN111308486A - Laser ranging device and method and electronic equipment - Google Patents
Laser ranging device and method and electronic equipment Download PDFInfo
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- CN111308486A CN111308486A CN202010239779.8A CN202010239779A CN111308486A CN 111308486 A CN111308486 A CN 111308486A CN 202010239779 A CN202010239779 A CN 202010239779A CN 111308486 A CN111308486 A CN 111308486A
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- 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
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Abstract
The embodiment of the invention provides a laser ranging device, a laser ranging method and electronic equipment, wherein the laser ranging device comprises a control module, a state detection module, a transmitting module, a timing module and a receiving module, wherein the state detection module prohibits sending a starting pulse signal to the timing module under the condition of determining that the timing module is not in a timing stop state, the timing module performs timing according to the starting pulse signal and the timing stop pulse signal to obtain a timing value, and the control module determines a predicted distance value between a target object and the laser ranging device according to the timing value. Through the setting of the state detection module, after the state detection module receives the initial pulse signal every time, whether the timing module is restarted or not is determined according to the state of the timing module, so that the situation that when a target object is far away, the timing module is restarted according to the initial pulse signal before photons return can be avoided, a distance value with a large error is obtained, and the measurement accuracy is improved.
Description
Technical Field
The present invention relates to the field of electronic devices, and in particular, to a laser ranging apparatus and method, and an electronic device.
Background
Laser ranging is widely applied to electronic equipment and is used for measuring the distance between a target object and the electronic equipment, assisting the electronic equipment to realize various functions and meeting different requirements of users.
The laser ranging principle is that photons are emitted to a target object through an emitting module, the photons are received by a receiving module after being reflected by the target object, the difference value between the time point corresponding to the received photons and the time point corresponding to the emitted photons is used as the flight time of the photons, and one half of the product of the light speed and the flight time is used as the distance between the target object and the electronic equipment. In order to obtain a relatively accurate distance between a target object and electronic equipment, in a distance measurement process, a timing module needs to be cleared every other preset period, photons are sent to the target object once, then a receiving module receives the photons reflected back by the target object, the flight time of the photons between each time of emission and photon receiving is determined, so that a plurality of predicted distance values between the target object and the electronic equipment are obtained, and the target distance value between the target object and the electronic equipment is estimated according to the plurality of predicted distance values.
Generally, a photon emitted at a certain time is received by the receiving module within a predetermined period. However, in the laser ranging process, when the target object is far away, the photons may fly for a long time, and the photons emitted at a certain time may be received by the receiving module within a time greater than a preset period. For example, the first emitted photon is not received by the receiving module in the first predetermined period, but is received by the receiving module in other periods (e.g., the second period). In this case, the obtained flight time of the photon is the difference between the time point of the first photon reception and the time point corresponding to the second photon emission, and the actual flight time of the photon is the time difference between the first photon reception and the first photon emission, so that the obtained flight time of the photon is shorter than the actual flight time of the photon. Therefore, when the target object is far away, the error between the measured predicted distance value and the actual distance is large, and the accuracy of measurement is affected.
Disclosure of Invention
The embodiment of the invention provides a laser ranging device, a laser ranging method and electronic equipment, which can solve the problem that the measured distance is inaccurate when a target object is far in the conventional laser ranging process.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a laser ranging apparatus, including:
the control module is used for sending a transmitting signal to the transmitting module once every preset period and sending a starting pulse signal to the state detection module once;
the state detection module is used for detecting a state signal of the timing module, determining that the timing module is in a timing stop state or a timing non-stop state according to the state signal, sending the start pulse signal to the timing module under the condition that the timing module is in the timing stop state when receiving the start pulse signal every time, and forbidding sending the start pulse signal to the timing module under the condition that the timing module is in the timing non-stop state;
the emission module is used for emitting photons to a target object according to the emission signal;
the receiving module is used for receiving the photons reflected by the target object and sending a stop pulse signal to the timing module after receiving the photons;
the timing module is used for starting timing according to the initial pulse signal sent by the state detection module, stopping timing according to the stop pulse signal to obtain a timing value, and sending the timing value to the control module, wherein the timing period of the timing module is greater than the preset period;
and the control module is also used for determining a predicted distance value between the target object and the laser ranging device according to the timing value.
In a second aspect, an embodiment of the present invention provides an electronic device, including the above laser ranging device.
In a third aspect, an embodiment of the present invention provides a laser ranging method, which is applied to the electronic device, and the method includes:
transmitting a transmitting signal to the transmitting module once every preset period, and transmitting a starting pulse signal to the state detecting module once;
detecting a state signal of a timing module, determining that the timing module is in a timing stop state or a timing non-stop state according to the state signal, sending the start pulse signal to the timing module under the condition that the timing module is in the timing stop state when the state detection module receives the start pulse signal every time, forbidding sending the start pulse signal to the timing module under the condition that the timing module is in the timing non-stop state, starting timing under the condition that the timing module receives the start pulse signal, and emitting photons to a target object under the condition that the emission module receives the emission signal;
receiving the photons reflected by the target object, and sending a stop pulse signal to the timing module after receiving the photons;
under the condition that the timing module receives the stop pulse signal, stopping timing to obtain a timing value;
and receiving a timing value sent by the timing module, and determining a predicted distance value between the target object and the laser ranging device according to the timing value.
In the embodiment of the invention, the control module is used for sending a sending signal to the sending module once every preset period and sending a starting pulse signal to the state detection module, the state detection module is used for detecting a state signal of the timing module, determining that the timing module is in a timing stop state or a timing non-stop state according to the state signal, and is also used for sending the starting pulse signal to the timing module under the condition that the timing module is in the timing stop state when receiving the starting pulse signal every time, and forbidding sending the starting pulse signal to the timing module under the condition that the timing module is in the timing non-stop state, the sending module is used for sending photons to a target object according to the sending signal, the receiving module is used for receiving the photons reflected by the target object and sending the stopping pulse signal to the timing module after receiving the photons, the timing module is used for starting timing according to the starting pulse signal, and stopping timing according to the stop pulse signal to obtain a timing value, and sending the timing value to the control module, wherein the control module is also used for determining a predicted distance value between the target object and the laser ranging device according to the timing value. Through the setting of the state detection module, after the state detection module receives the initial pulse signal every time, whether the initial pulse signal is sent to the timing module is determined according to the state signal of the timing module, namely, the initial pulse signal is forbidden to be sent to the timing module under the condition that the timing module is determined to be in the non-stop timing state according to the state signal, the timing module is prevented from being restarted under the condition that the timing module is in the non-stop timing state, when a target object is far away, the timing module is prevented from being restarted under the condition that photons emitted at a certain time are received by the receiving module within the time which is more than a preset period, and a distance value with a large error is obtained, so that the measurement accuracy is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a schematic structural diagram of a laser distance measuring device in the prior art;
FIG. 2 is a timing diagram of a ranging process of a laser ranging device;
fig. 3 is a schematic structural diagram illustrating a laser distance measuring device provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram illustrating another laser ranging apparatus provided in an embodiment of the present invention;
FIG. 5 is a flow chart illustrating steps of a laser ranging method provided in an embodiment of the present invention;
fig. 6 is a schematic diagram of a hardware structure of an electronic device implementing various embodiments of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
For a clearer description of the present invention, a distance measuring process of a laser distance measuring device in the prior art will be briefly described.
Referring to fig. 1, a schematic structural diagram of a laser distance measuring device in the prior art is shown, and as shown in fig. 1, the laser distance measuring device in the prior art may include a control module 101, a transmitting module 102, a receiving module 103, and a timing module 104. In the prior art, the control module 101 sends a transmission signal to the transmission module 102 every preset period, and sends a start pulse signal to the timing module 104. The emitting module 102 emits a photon to the target object after receiving the emitting signal, and the timing module 104 starts timing after receiving the starting pulse signal. The receiving module 103 transmits a stop pulse signal to the timing module 104 after receiving the photons reflected by the target object. The timing module 104 stops timing after receiving the stop pulse signal to obtain a timing value, and the control module 101 obtains a predicted distance value according to the timing value. The emitting module 102 repeatedly emits photons for a plurality of times according to the emitting signal, the timing module 104 starts timing for a plurality of times according to the initial pulse signal to obtain a plurality of timing values, and the control module 101 obtains a plurality of predicted distance values according to the plurality of timing values, obtains a target distance value according to the plurality of predicted distance values, and uses the target distance value as a distance value between the target object and the laser ranging device. The specific structures and connection relationships of the control module, the transmitting module, the receiving module and the timing module can refer to the prior art, and this embodiment is not described in detail herein.
Referring to fig. 2, which shows a timing chart of a ranging process of a laser ranging device, as shown in fig. 2, since the control module 101 sends a transmission signal 201 to the transmission module 102 and a start pulse signal 202 to the timing module 104 according to a preset period, the transmission module 102 and the timing module 104 operate synchronously, that is, the timing module 104 starts once every time the transmission module 102 transmits a photon. For example, referring to fig. 2, if the preset period is 1 ns, the control module 101 transmits a transmission signal 201 to the transmission module 102 once at the 0 ns (initial start) and transmits a start pulse signal 202 to the timing module 104 once, then at the 0 ns, the transmission module 102 transmits photons for the first time and the timing module 104 starts timing for the first time. In a normal state (i.e. the target object is close and within a preset range), the photon may return after encountering the target object within 1 ns, for example, return at 0.8 ns, and be received by the receiving module 103, the receiving module 103 transmits a stop pulse signal 203 to the timing module 104, so that the timing module 104 stops timing, and the obtained first timing value (i.e. 0.8 ns) is the flight time of the photon between the electronic device and the target object. The control module 101 obtains a predicted distance value based on the first timing value. Similarly, at the 1 nanosecond, the photon is emitted for the second time, and the timing is started for the second time to obtain a second timing value. And repeating the emission of photons for multiple times by analogy to obtain multiple timing values so as to obtain multiple predicted distance values, calculating the positive-space distribution of the multiple predicted distance values, and selecting the predicted distance value with the highest frequency as the target distance value. The method for calculating the target distance value by the control module according to the plurality of predicted distance values may refer to the prior art, which is not limited in this embodiment.
In an abnormal state (i.e. the target object is far away and outside the preset range), with reference to fig. 2, the photon does not return within 1 ns, but returns after 1 ns, for example, returns at 1.3 ns, and is received by the receiving module 103, so that the timing module 104 stops timing, and the first timing value is obtained. At this time, since the control module 101 has sent the start pulse signal to the timing module 104 again (i.e., for the second time) at the 1 st nanosecond, so that the timing module 104 is restarted at the 1 st nanosecond, and starts timing from zero, at the 1.3 th nanosecond, the timing value obtained by the timing module 104 is 0.3 nsec (i.e., the time difference between 1 nsec and 1.3 nsec), and the actual flight time of the photon is 1.3 nsec (i.e., the time difference between 0 nsec and 1.3 nsec), and the error between the obtained timing value and the actual flight time of the photon is large, so that the error between the obtained predicted distance value and the actual distance value is large. In the prior art, the emission signal and the start pulse signal are synchronous, so that the timing module synchronously starts timing every time the emission module emits photons. Therefore, when the target object is far away and photons emitted by the emitting module cannot return in the preset period, the timing module can count time to obtain a timing value with a large error, and further obtain a predicted distance value with a large error. Repeated emission of photons can result in a plurality of predicted distance values with large errors, and the measured distance value of the target object is inaccurate.
In order to solve the above technical problem, an embodiment of the present invention provides a laser ranging device. Referring to fig. 3, a schematic structural diagram of a laser distance measuring device provided in an embodiment of the present invention is shown, and as shown in fig. 3, the laser distance measuring device includes: a control module 301, a status detection module 302, a transmission module 303, a reception module 304, and a timing module 305.
The control module 301 is configured to send a transmission signal to the transmission module 303 every preset period, and send a start pulse signal to the state detection module 302.
In this embodiment, the control module 301 is configured to control an emission period of the photons, and the control module 301 may send an emission signal to the emission module 303 every other preset period, so that the emission module 103 emits the photons according to the preset period. For example, the preset period may be 1 nanosecond, and the control module 301 may send the emission signal to the emission module 303 every 1 nanosecond, so that the emission module 303 emits a photon every 1 nanosecond. At the same time, the control block 301 sends a start pulse signal to the state detection block 302 every 1 nanosecond.
The specific structure of the control module may be set according to the requirement, which is not limited in this embodiment.
The state detection module 302 is configured to detect a state signal of the timing module 305, determine that the timing module 305 is in a timing stop state or a timing non-stop state according to the state signal, and send a start pulse signal to the timing module 305 when the timing module 305 is in the timing stop state each time the start pulse signal is received, and prohibit sending the start pulse signal to the timing module 305 when the timing module 305 is in the timing non-stop state.
In this embodiment, the state detection module 302 is configured to detect a state signal of the timing module 305, determine that the timing module 305 is in a timing stop state or a timing non-stop state according to the state signal of the timing module 305, and determine whether to send a start pulse signal to the timing module 305 according to the state signal of the timing module 305 every time a start pulse signal is received, so as to control the timing module 305 to start timing. For example, the status bit of the timing module 305 may be used as the status signal of the timing module 305, and the timing module 305 may output the status bit 0 when the timing state is not stopped and output the status bit 1 when the timing state is stopped. The status detecting module 302 may detect the status bit of the timing module 305 in real time, and if the status bit of the timing module 305 is 1, determine that the timing module 305 is in the stop-counting state, and if the status bit of the timing module 305 is 0, determine that the timing module 305 is in the non-stop-counting state. When the status bit of the timing module 305 is determined to be 1 each time the start pulse signal is received, indicating that the timing module 305 is in the stop-counting state, the start pulse signal is transmitted to the timing module 305, so that the timing module 305 starts to count time. On the contrary, when receiving the start pulse signal each time, if determining that the status bit of the timing module 305 is 0, which indicates that the timing module 305 is in the non-stop timing state, and is performing timing (that is, in this case, for example, after the transmitting module 303 transmits a photon for the first time, the receiving module 304 does not receive a photon reflected by the target object within the first preset period, the receiving module 304 does not transmit the stop pulse signal to the timing module 305, and the timing module 305 is still in the timing state), the status detecting module 302 does not transmit the start pulse signal to the timing module 305, so as to avoid that the timing module 305 is restarted when the timing module 305 is in the non-stop timing state, which causes the problem of inaccurate timing value when the timing value is not to be cleared.
The specific structure of the state detection module may be set as required, and for example, the state detection module may be a circuit with a selection function, which is composed of electronic devices such as an and gate and a not gate, so as to determine whether to send a start pulse signal to the timing module according to the state signal. The specific form of the status signal can be set according to the requirement, and the specific structure of the status detection module can be adjusted according to the specific form of the status signal, which is not limited in this embodiment.
The emitting module 303 is configured to emit photons to the target object according to the emission signal.
In this embodiment, the emitting module 303 is configured to receive the emitting signal sent by the control module 301, and emit photons to the target object according to the emitting signal. In conjunction with the foregoing example, the emitting module 303 may be activated every 1 nanosecond according to the emitting signal sent by the control module 301 to emit a photon to the target object. The specific structure of the transmitting module can refer to the prior art, and the embodiment does not limit this.
The receiving module 304 is configured to receive the photons reflected by the target object, and send a stop pulse signal to the timing module 305 after receiving the photons.
In this embodiment, the receiving module 304 is configured to receive photons reflected by the target object, and send a stop pulse signal to the timing module 305 after receiving the photons, so that the timing module 305 stops timing to obtain a timing value. The specific structure of the receiving module can refer to the prior art, and this embodiment does not limit this.
The timing module 305 is configured to start timing according to the start pulse signal sent by the state detection module, stop timing according to the stop pulse signal to obtain a timing value, and send the timing value to the control module 301.
The timing period of the timing module 305 is greater than a preset period. For example, in combination with the foregoing example, if the predetermined period is 1 ns, the timing period of the timing module 305 may be 1.5 ns. The specific timing period of the timing module can be set according to requirements, which is not limited in this embodiment.
In this embodiment, the timing module 305 is configured to time a flight process of the photon emitted by the emitting module 303 between the electronic device and the target object, so as to determine a flight time of the photon, and obtain a timing value. The specific structure of the timing module and the process of obtaining the timing value according to the start pulse signal and the stop pulse signal may refer to the prior art, which is not limited in this embodiment.
It should be noted that in this embodiment, the timing module 305 does not necessarily start timing synchronously each time the emission module 303 emits a photon. With reference to the foregoing example, the emitting module 303 receives an emitting signal every 1 nanosecond and emits a photon to the target object, when the state detecting module 302 receives a start pulse signal every 1 nanosecond, if the timing module 305 is in a timing stop state, the start pulse signal is sent to the timing module 305, so that the timing module 305 starts timing, and if the timing module 305 is not in the timing stop state, the start pulse signal is prohibited from being sent to the timing module 305, so that the timing module 305 is prevented from restarting timing. Although the start pulse signal is synchronized with the emission signal, each time the emission module 303 emits a photon, the state detection module 302 will send the start pulse signal to the timing module 305 after receiving the start pulse signal only when the timing module 305 is in the stop timing state, so that the timing module 305 starts timing. On the contrary, each time the emitting module 303 emits a photon, in the case that the timing module 305 is in the non-stop timing state, the state detecting module 302 does not send the start pulse signal to the timing module 305, and the timing module 305 does not restart.
The control module 301 is further configured to determine a predicted distance value between the target object and the laser ranging device according to the timing value.
Referring to fig. 2, in this embodiment, if the preset period is 1 nsec, the control module 301 transmits the emission signal 201 to the emission module 303 every 1 nsec, and transmits the start pulse signal 202 to the state detection module 302 once, so that the emission module 303 emits a photon to the target object every 1 nsec. In a normal state, each time a photon is emitted by the emitting module 303, the photon returns within a preset period, and is received by the receiving module 304, so that the timing module 305 stops timing, and a timing value is obtained. As shown in fig. 2, at nanosecond 0, the control module 301 sends a transmission signal 201 to the transmission module 303, so that the transmission module 303 emits photons for the first time, and simultaneously sends a start pulse signal 202 to the state detection module 302 for the first time, and the state detection module 302 starts timing of the timing module 305 according to the start pulse signal and the state signal sent for the first time (the timing module 305 is in a stop timing state at the time of initial start). If photons return within 1 ns, for example, at 0.8 th ns and are received by the receiving module 304, the receiving module 304 transmits the stop pulse signal 203 to the timing module 305 to stop the timing module 305 to obtain a timing value (0.8 ns), and the control module 301 obtains a predicted distance value according to the timing value. At 1 ns, the emitting module 303 emits photons for the second time, and the state detecting module 302 emits the start pulse signal to the timing module 305 for the second time (the timing module 305 receives the stop pulse signal at 0.8 ns, and is in the stop timing state), so that the timing module 305 is restarted to start timing for the second time, and a second timing value is obtained. And the rest is repeated to obtain a plurality of timing values. In an abnormal state, if the photon emitted for the first time returns in 1.3 nanoseconds, the photon is received by the receiving module 304, because the photon does not return in 1 nanosecond, the receiving module 304 does not send a stop pulse signal to the timing module 305 (the timing period of the timing module 305 is 1.5 nanoseconds, and the timing module is in a non-stop timing state in 1 nanosecond), the timing module 305 continues to time until the photon returns in 1.3 nanoseconds, and the timing module 305 stops timing after receiving the stop pulse signal sent by the receiving module 304, so that a timing value (1.3 nanoseconds) is obtained.
It should be noted that if the first emitted photon returns between the 1.5 ns and the 2 ns (i.e., returns after the timing period of the timing module 305 arrives and before the next start pulse signal arrives), for example, returns at 1.8 ns, since the timing module 305 automatically stops timing when the timing period of 1.5 ns arrives, the timing value 1.5 ns is obtained, and when the 1.8 ns photon returns, the timing module 305 is already in the stopped timing state and does not count to obtain the timing value 1.8 ns. However, when a photon returns between 1.5 ns and 2 ns, the obtained timing value of 1.5 ns is closer to the actual flight time of the photon (1.8 ns) than the timing value of 0.8 ns (the timing value obtained after the timing module 305 restarts the timing from 1 ns), and the obtained predicted distance value is closer to the actual distance value.
Therefore, when the laser ranging device provided in this embodiment is used to perform ranging, if a photon returns before the timing period reaches (i.e. before 1.5 nanoseconds), the timing module starts timing according to the status signal and the start pulse signal, and stops timing when the photon returns and receives the stop pulse signal, so that the timing value obtained by the timing module is the actual flight time of the photon. Meanwhile, if the photon does not return before the timing period (i.e. before 1.5 ns) and the timing module 305 does not receive the stop pulse signal, the timing module 305 automatically stops when the timing period reaches (i.e. 1.5 ns), so as to obtain a timing value closer to the actual flight time of the photon, and restarts to enter the next timing when the next start pulse signal reaches.
In this embodiment, the control module is configured to send an emission signal to the emission module every preset period and send a start pulse signal to the state detection module, the state detection module is configured to detect a state signal of the timing module, and determine that the timing module is in a timing stop state or a timing non-stop state according to the state signal, and further configured to send the start pulse signal to the timing module when the timing module is in the timing stop state each time the start pulse signal is received, and prohibit sending the start pulse signal to the timing module when the timing module is in the timing non-stop state, the emission module is configured to emit photons to a target object according to the emission signal, the reception module is configured to receive photons reflected by the target object and send the stop pulse signal to the timing module after receiving the photons, the timing module is configured to start timing according to the start pulse signal, and stopping timing according to the stop pulse signal to obtain a timing value, and sending the timing value to the control module, wherein the control module is also used for determining a predicted distance value between the target object and the laser ranging device according to the timing value. Through the setting of the state detection module, after the state detection module receives the initial pulse signal every time, whether the initial pulse signal is sent to the timing module is determined according to the state signal of the timing module, namely, the initial pulse signal is forbidden to be sent to the timing module under the condition that the timing module is determined to be in the non-stop timing state according to the state signal, the timing module is prevented from being restarted under the condition that the timing module is in the non-stop timing state, when a target object is far away, the timing module is prevented from being restarted under the condition that photons emitted at a certain time are received by the receiving module within the time which is more than a preset period, and a distance value with a large error is obtained, so that the measurement accuracy is improved.
Referring to fig. 4, a schematic structural diagram of another laser distance measuring device provided in the embodiment of the present invention is shown, and as shown in fig. 4, the laser distance measuring device may include: a control module, a status detection module 302, a transmission module 303, a reception module 304, and a timing module 305.
The control module is further configured to determine a target distance value between the target object and the laser ranging device based on the plurality of predicted distance values. For example, the control module calculates the predicted distance value according to the timing value, and the target distance value obtained according to the predicted distance values is an average value of the predicted distance values.
The control module may include a control unit 3011, a storage unit 3012, and a driving unit 3013, among others.
The control unit 3011 is configured to control the driving unit 3013 to send an emission signal to the emission module 303 and send a start pulse signal to the state detection module 302 at preset intervals.
The control Unit 3011 may be a Micro Controller Unit (MCU), and the driving Unit 3013 may be a driving circuit having a laser driving function, where the driving circuit may synchronously generate a start pulse signal during the process of emitting photons. The specific structure of the driving circuit, the connection relationship between the micro control unit and the driving circuit, can refer to the prior art, and the present embodiment is not limited thereto.
In this embodiment, the control unit 3011 is configured to control the driving unit 3013 to send the emission signal and the start pulse signal according to a preset period. Specifically, the control unit 3011 may send a driving signal to the driving unit 3013 every preset period, so that the driving unit 3013 operates, and sends a transmitting signal to the transmitting module 303 once and sends a start pulse signal to the state detecting module 302 once. For example, in combination with the first embodiment, the control unit 3011 may send a driving signal to the driving unit 3013 every 1 nanosecond, make the driving unit 3013 send an emission signal once, and send a start pulse signal once. Alternatively, the control unit 3011 may send a driving signal to the driving unit 3013 once in each ranging process, and after receiving the driving signal, the driving unit 3013 sends the emission signal and the start pulse signal for a preset number of times in a preset period. For example, in each ranging process, the control unit 3011 may send a driving signal to the driving unit 3013 once, and after receiving the driving signal, the driving unit 3013 sends a transmission signal to the transmission module 303 once every 1 nsec, sends a start pulse signal to the state detection module 302 once, and finishes sending after continuing sending for 100 times, so as to obtain a plurality of timing values. The process of the control unit 3011 controlling the driving unit 3013 to send the emission signal and the start pulse signal may be set according to requirements, and this embodiment does not limit this.
The storage unit 3012 is configured to receive and store a plurality of timing values sent by the timing module 305, and send the plurality of timing values to the control unit 3011.
The storage unit 3012 is configured to store a plurality of timing values obtained by timing by the timing module 305. Specifically, as shown in fig. 4, in combination with the first embodiment, after obtaining each timing value through timing, the timing module 305 may send the obtained timing value to the storage unit 3012 for storage. The specific structure of the memory cell may be set according to the requirement, which is not limited in this embodiment.
The control unit 3011 is further configured to obtain a predicted distance value corresponding to each timing value according to each timing value, and determine a target distance value between the target object and the laser ranging device according to the plurality of predicted distance values.
As shown in fig. 4, the control unit 3011 may sequentially read a plurality of timing values from the storage unit 3012 and calculate a predicted distance value corresponding to each timing value, and the process of reading the timing values from the storage unit 3012 and calculating the predicted distance value by the control unit 3011 may be set according to needs, which is not limited in this embodiment.
It should be noted that, in an actual use process, the control module may further include other auxiliary circuits, for example, a power circuit, and a specific structure of the control module may be set according to a requirement, which is not limited in this embodiment.
In this embodiment, the timing module 305 may include a Time To Digital Converter (TDC).
The start pulse signal input end of the time-to-digital conversion circuit may be connected to the start pulse signal output end of the state detection module 302, the stop pulse signal input end may be connected to the stop pulse signal output end of the receiving module 304, the time-to-digital conversion circuit may output a state signal to the state detection module 302, and meanwhile, the output end of the time-to-digital conversion circuit may be connected to the input end of the storage unit, and the timing value is sent to the storage unit. The connection relationship between the time-to-digital conversion circuit and the state detection module, the receiving module and the storage unit can refer to the prior art, and this embodiment does not limit this.
Optionally, the timing period of the timing module may be an integer multiple of the preset period.
In this embodiment, when the timing period of the timing module 305 is an integer multiple of the preset period, the timing module may keep timing when the photon does not return, and time the photon that returns between the timing period of the timing module and the next start pulse signal. For example, the timing period of the timing module may be 2 times of the preset period (i.e. 2 ns), and in combination with the example that the timing period of the timing module is 1.5 ns, when the timing period of the timing module is 1.5 ns, photons returned between 1.5 ns and 2 ns cannot be timed, and when the timing period of the timing module is 2 ns, photons returned between 1.5 ns and 2 ns may be timed, and when photons do not return within 2 ns, the timing module may be restarted in time to enter the next timing at 2 ns. Therefore, when the timing period of the timing module is an integral multiple of the preset period, the timing module can be enabled to continuously time before the photons return, and the timing period of the timing module and the initial pulse signal arrive synchronously under the condition that the photons do not return, and the timing module is timely started to enter the next timing when the timing period arrives.
In this embodiment, after the state detection module receives the start pulse signal each time, it is determined whether to send the start pulse signal to the timing module according to the state signal of the timing module, that is, under the condition that it is determined that the timing module is in the non-stop timing state according to the state signal, the start pulse signal is prohibited from being sent to the timing module, and the timing module is prevented from being restarted under the condition that the timing module is in the non-stop timing state.
The embodiment also provides an electronic device comprising the laser ranging device in the foregoing embodiment.
Referring to fig. 5, a flowchart illustrating steps of a laser ranging method provided in an embodiment of the present invention is shown, where the method is applied to an electronic device described in the foregoing embodiment, and may include:
step 501, sending a sending signal to a sending module every other preset period, and sending a starting pulse signal to a state detection module.
And step 504, stopping timing under the condition that the timing module receives the stop pulse signal, and obtaining a timing value.
And 505, receiving a timing value sent by the timing module, and determining a predicted distance value between the target object and the laser ranging device according to the timing value.
In the embodiment, a transmitting signal is sent to the transmitting module once every preset period, and a starting pulse signal is sent to the state detecting module once; detecting a state signal of the timing module, determining that the timing module is in a timing stop state or a timing non-stop state according to the state signal, sending a start pulse signal to the timing module under the condition that the timing module is in the timing stop state when receiving the start pulse signal every time, and forbidding sending the start pulse signal to the timing module under the condition that the timing module is in the timing non-stop state. And emitting photons to the target object according to the emission signal. And receiving photons reflected by the target object, sending a stop pulse signal to the timing module after receiving the photons, and receiving a timing value sent by the timing module. And determining a predicted distance value between the target object and the laser ranging device according to the timing value. Through the setting of the state detection module, after the state detection module receives the initial pulse signal every time, whether the initial pulse signal is sent to the timing module is determined according to the state signal of the timing module, namely, the initial pulse signal is forbidden to be sent to the timing module under the condition that the timing module is determined to be in the non-stop timing state according to the state signal, the timing module is prevented from being restarted under the condition that the timing module is in the non-stop timing state, when a target object is far away, the timing module is prevented from being restarted under the condition that photons emitted at a certain time are received by the receiving module within the time which is more than a preset period, and a distance value with a large error is obtained, so that the measurement accuracy is improved.
Optionally, the timing period of the timing module is an integer multiple of the preset period.
Optionally, the timing module includes a time-to-digital conversion circuit.
Optionally, the method may further include: and determining a target distance value between the target object and the laser ranging device according to the plurality of predicted distance values.
Figure 6 is a schematic diagram of a hardware configuration of an electronic device implementing various embodiments of the invention,
the electronic device 600 includes, but is not limited to: a radio frequency unit 601, a network module 602, an audio output unit 603, an input unit 604, a sensor 605, a display unit 606, a user input unit 607, an interface unit 608, a memory 609, a processor 610, and a power supply 611. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 6 does not constitute a limitation of the electronic device, and that the electronic device may include more or fewer components than shown, or some components may be combined, or a different arrangement of components. In the embodiment of the present invention, the electronic device includes, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a wearable device, a pedometer, and the like.
The processor 610 is configured to send a transmission signal to the transmission module once every preset period, and send a start pulse signal to the state detection module once.
The processor 610 is configured to detect a state signal of the timing module, determine that the timing module is in a timing stop state or a timing non-stop state according to the state signal, send a start pulse signal to the timing module when the state detection module receives the start pulse signal each time and the timing module is in the timing stop state, prohibit sending the start pulse signal to the timing module when the timing module is in the timing non-stop state, start timing when the timing module receives the start pulse signal, and emit photons to the target object when the emission module receives the emission signal.
And the processor 610 is configured to receive the photons reflected by the target object, send a stop pulse signal to the timing module after receiving the photons, and receive a timing value sent by the timing module.
And the processor 610 is configured to stop the timing and obtain a timing value when the timing module receives the stop pulse signal.
And the processor 610 is used for receiving the timing value sent by the timing module and determining the predicted distance value between the target object and the laser ranging device according to the timing value.
In this embodiment, a transmitting signal is sent to the transmitting module once every preset period, a starting pulse signal is sent to the state detecting module once, when it is determined that the timing module does not stop timing according to the state signal, the sending of the starting pulse signal to the timing module is prohibited, photons reflected by the target object are received by the receiving module, after the photons are received, a stopping pulse signal is sent to the timing module, a timing value sent by the timing module is received, and a predicted distance value between the target object and the laser ranging device is determined according to the timing value. Through the setting of the state detection module, after the state detection module receives the initial pulse signal every time, whether the initial pulse signal is sent to the timing module is determined according to the state signal of the timing module, namely, under the condition that the timing module does not stop timing according to the state signal, the initial pulse signal is forbidden to be sent to the timing module, the condition that the state signal of the timing module indicates that the timing module is in timing (does not stop timing) is avoided, the timing module is restarted, when a target object is far away, under the condition that photons emitted at a certain time are received by the receiving module within a time period which is more than a preset period, the timing module is restarted after receiving the initial pulse signal again, and a distance value with a large error is obtained, so that the accuracy of measurement is improved.
It should be understood that, in the embodiment of the present invention, the radio frequency unit 601 may be used for receiving and sending signals during a message sending and receiving process or a call process, and specifically, receives downlink data from a base station and then processes the received downlink data to the processor 610; in addition, the uplink data is transmitted to the base station. In general, radio frequency unit 601 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like. Further, the radio frequency unit 601 may also communicate with a network and other devices through a wireless communication system.
The electronic device provides wireless broadband internet access to the user via the network module 602, such as assisting the user in sending and receiving e-mails, browsing web pages, and accessing streaming media.
The audio output unit 603 may convert audio data received by the radio frequency unit 601 or the network module 602 or stored in the memory 609 into an audio signal and output as sound. Also, the audio output unit 603 may also provide audio output related to a specific function performed by the electronic apparatus 600 (e.g., a call signal reception sound, a message reception sound, etc.). The audio output unit 603 includes a speaker, a buzzer, a receiver, and the like.
The input unit 604 is used to receive audio or video signals. The input Unit 604 may include a Graphics Processing Unit (GPU) 6041 and a microphone 6042, and the Graphics processor 6041 processes image data of a still picture or video obtained by an image capturing apparatus (such as a camera) in a video capture mode or an image capture mode. The processed image frames may be displayed on the display unit 606. The image frames processed by the graphic processor 6041 may be stored in the memory 609 (or other storage medium) or transmitted via the radio frequency unit 601 or the network module 602. The microphone 6042 can receive sound, and can process such sound into audio data. The processed audio data may be converted into a format output transmittable to a communication base station via the radio frequency unit 601 in case of the phone call mode.
The electronic device 600 also includes at least one sensor 605, such as a light sensor, motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor that can adjust the luminance of the display panel 6061 according to the brightness of ambient light, and a proximity sensor that can turn off the display panel 6061 and/or the backlight when the electronic apparatus 600 reaches the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in various directions (generally three axes), detect the magnitude and direction of gravity when stationary, and can be used to determine the posture of the electronic device (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), determine the related functions of vibration (such as pedometer, tapping), and the like; the sensors 605 may also include fingerprint sensors, pressure sensors, iris sensors, molecular sensors, gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., which are not described in detail herein.
The display unit 606 is used to display information input by the user or information provided to the user. The Display unit 606 may include a Display panel 6061, and the Display panel 6061 may be configured by a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.
The user input unit 607 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic device. Specifically, the user input unit 607 includes a touch panel 6071 and other input devices 6072. Touch panel 6071, also referred to as a touch screen, may collect touch operations by a user on or near it (e.g., operations by a user on or near touch panel 6071 using a finger, stylus, or any suitable object or accessory). The touch panel 6071 may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 610, receives a command from the processor 610, and executes the command. In addition, the touch panel 6071 can be implemented by various types such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. The user input unit 607 may include other input devices 6072 in addition to the touch panel 6071. Specifically, the other input devices 6072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a track ball, a mouse, and a joystick, which are not described herein again.
Further, the touch panel 6071 can be overlaid on the display panel 6061, and when the touch panel 6071 detects a touch operation on or near the touch panel 6071, the touch operation is transmitted to the processor 610 to determine the type of the touch event, and then the processor 610 provides a corresponding visual output on the display panel 6061 according to the type of the touch event. Although the touch panel 6071 and the display panel 6061 are shown in fig. 6 as two separate components to implement the input and output functions of the electronic device, in some embodiments, the touch panel 6071 and the display panel 6061 may be integrated to implement the input and output functions of the electronic device, and this is not limited here.
The interface unit 608 is an interface for connecting an external device to the electronic apparatus 600. For example, the external device may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device having a determination module, an audio input/output (I/O) port, a video I/O port, an earphone port, and the like. The interface unit 608 may be used to receive input (e.g., data information, power, etc.) from external devices and transmit the received input to one or more elements within the electronic device 600 or may be used to transmit data between the electronic device 600 and external devices.
The memory 609 may be used to store software programs as well as various data. The memory 609 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 609 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 610 is a control center of the electronic device, connects various parts of the whole electronic device by using various interfaces and lines, performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 609, and calling data stored in the memory 609, thereby performing overall monitoring of the electronic device. Processor 610 may include one or more processing units; alternatively, the processor 610 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 610.
The electronic device 600 may further include a power supply 611 (e.g., a battery) for supplying power to various components, and optionally, the power supply 611 may be logically connected to the processor 611 through a power management system, so that functions of managing charging, discharging, and power consumption are implemented through the power management system.
In addition, the electronic device 600 includes some functional modules that are not shown, and are not described in detail herein.
Optionally, an embodiment of the present invention further provides an electronic device, which includes a processor 610, a memory 609, and a computer program that is stored in the memory 609 and can be run on the processor 610, and when the computer program is executed by the processor 610, the processes of the embodiment of the laser ranging method are implemented, and the same technical effect can be achieved, and details are not described here to avoid repetition.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the embodiment of the laser ranging method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk. It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or terminal equipment comprising the element.
The technical solutions provided by the present invention are described in detail above, and the principle and the implementation of the present invention are explained in this document by applying specific examples, and the descriptions of the above examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A laser ranging device, comprising:
the control module is used for sending a transmitting signal to the transmitting module once every preset period and sending a starting pulse signal to the state detection module once;
the state detection module is used for detecting a state signal of the timing module, determining that the timing module is in a timing stop state or a timing non-stop state according to the state signal, sending the start pulse signal to the timing module under the condition that the timing module is in the timing stop state when receiving the start pulse signal every time, and forbidding sending the start pulse signal to the timing module under the condition that the timing module is in the timing non-stop state;
the emission module is used for emitting photons to a target object according to the emission signal;
the receiving module is used for receiving the photons reflected by the target object and sending a stop pulse signal to the timing module after receiving the photons;
the timing module is used for starting timing according to the initial pulse signal sent by the state detection module, stopping timing according to the stop pulse signal to obtain a timing value, and sending the timing value to the control module, wherein the timing period of the timing module is greater than the preset period;
and the control module is also used for determining a predicted distance value between the target object and the laser ranging device according to the timing value.
2. The apparatus of claim 1, wherein the timing module has a timing period that is an integer multiple of the predetermined period.
3. The apparatus of claim 1, wherein the control module is further configured to determine a target distance value between the target object and the laser ranging device based on a plurality of the predicted distance values.
4. The apparatus of claim 1, wherein the timing module comprises a time-to-digital conversion circuit.
5. The apparatus of claim 3, wherein the control module comprises: a control unit, a storage unit and a drive unit;
the control unit is used for controlling the driving unit to send the transmitting signal to the transmitting module once every other preset period and send the starting pulse signal to the state detection module once;
the storage unit is used for receiving and storing a plurality of timing values sent by the timing module and sending the plurality of timing values to the control unit;
the control unit is further configured to obtain the predicted distance value corresponding to each timing value according to each timing value, and determine a target distance value between the target object and the laser ranging device according to the plurality of predicted distance values.
6. An electronic device comprising a laser ranging device as claimed in any of claims 1-5.
7. A laser ranging method applied to the electronic device of claim 6, the method comprising:
transmitting a transmitting signal to the transmitting module once every preset period, and transmitting a starting pulse signal to the state detecting module once;
detecting a state signal of a timing module, determining that the timing module is in a timing stop state or a timing non-stop state according to the state signal, sending the start pulse signal to the timing module under the condition that the timing module is in the timing stop state when the state detection module receives the start pulse signal every time, forbidding sending the start pulse signal to the timing module under the condition that the timing module is in the timing non-stop state, starting timing under the condition that the timing module receives the start pulse signal, and emitting photons to a target object under the condition that the emission module receives the emission signal;
receiving the photons reflected by the target object, and sending a stop pulse signal to the timing module after receiving the photons;
under the condition that the timing module receives the stop pulse signal, stopping timing to obtain a timing value;
and receiving a timing value sent by the timing module, and determining a predicted distance value between the target object and the laser ranging device according to the timing value.
8. The method of claim 7, wherein the timing module has a timing period that is an integer multiple of the predetermined period.
9. The method of claim 7, wherein the timing module comprises a time-to-digital conversion circuit.
10. The method according to any one of claims 7-9, further comprising:
and determining a target distance value between the target object and the laser ranging device according to the plurality of predicted distance values.
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