CN111580121A - Range finding method and device based on SiPM signal swing amplitude - Google Patents

Range finding method and device based on SiPM signal swing amplitude Download PDF

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Publication number
CN111580121A
CN111580121A CN202010438204.9A CN202010438204A CN111580121A CN 111580121 A CN111580121 A CN 111580121A CN 202010438204 A CN202010438204 A CN 202010438204A CN 111580121 A CN111580121 A CN 111580121A
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signal
time
voltage
test
sipm
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CN111580121B (en
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臧凯
张超
马志洁
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Shenzhen Adaps Photonics Technology Co ltd
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Shenzhen Adaps Photonics 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G01S7/4866—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak by fitting a model or function to the received signal

Abstract

The invention discloses a distance measuring method and a device based on SiPM signal swing amplitude, wherein the method comprises the following steps: controlling a signal transmitting end to transmit a signal to a target object, acquiring a signal reflected by the target object and received by an SiPM signal receiving end, and respectively detecting the wide pulse signal voltage and the narrow pulse signal voltage of the target object in real time; recording a first time when the voltage of the wide pulse signal of the target object reaches a maximum value and a second time when the voltage of the narrow pulse signal reaches a first voltage threshold value; acquiring a target time difference between the first time and the second time, and inquiring a pre-generated time difference and error distance corresponding table according to the target time difference to acquire a corresponding target error distance; and calculating the measurement distance of the target object according to the second time, and obtaining the actual distance of the target object according to the measurement distance and the target error distance. According to the invention, the object is subjected to ranging by combining the wide pulse signal and the narrow pulse signal of the SiPM laser radar, so that the ranging error is reduced, and the ranging precision is improved.

Description

Range finding method and device based on SiPM signal swing amplitude
Technical Field
The invention relates to the technical field of photoelectric detection, in particular to a range finding method and device based on SiPM signal swing amplitude.
Background
The conventional laser radar adopts a linear mode detector, such as a PD (Photo-Diode) detector, an APD (Avalanche Photo-Diode) detector, and the like. With the development of technology, the new laser radar employs a single photon detector in a geiger mode, such as SiPM (Silicon photomultiplier); the SiPM is an array formed by a plurality of SPADs (Single photon Avalanche diodes), all SPADs in the array are electrically connected in parallel, all SPADs share one port for signal output, and a structural schematic diagram of the SiPM is shown in fig. 1.
Time-of-Flight (ToF) is one of the mainstream ways for implementing precise ranging by using a laser radar, and the ranging principle is shown in fig. 2. The optical signal emitted by the signal emitting end is reflected to the signal receiving end through the target object, and the processor calculates the distance between the target object according to the time interval and the light speed between the signal emitting end and the signal receiving end.
The SiPM has two signal output ports, a wide pulse signal port whose output signal is shown in fig. 3a and a narrow pulse signal port whose output signal is shown in fig. 3 b.
Because the number of photons received by the SiPM signal receiving end is different from the number of photons transmitted to the target object by the signal transmitting end, the distance between the target object and the actual distance detected by the sensor is different, and the difference is called as a drift error (Walk error).
In the conventional laser radar, a signal diagram formed by the conventional laser radar is a Gaussian spot, and a drift error (Walk error) can be reduced by setting a threshold value, but the scheme is not suitable for the SiPM laser radar.
The ranging accuracy is one of the important indexes of the working performance of the laser radar. Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a distance measuring method and device based on SiPM signal swing, which aims to solve the problems of drift error and low distance measuring accuracy in SiPM laser ranging in the prior art.
The technical scheme of the invention is as follows:
a range finding method based on SiPM signal swing, the method comprising:
controlling a signal transmitting end to transmit a signal to a target object, acquiring a signal reflected by the target object and received by an SiPM signal receiving end, and respectively detecting two signal voltages of the target object in real time, wherein the signal voltages comprise a wide pulse signal voltage and a narrow pulse signal voltage;
recording a first time when the voltage of the wide pulse signal of the target object reaches a maximum value and recording a second time when the voltage of the narrow pulse signal reaches a first voltage threshold value; wherein the first time is obtained by detecting a wide pulse signal in combination with an analog-to-digital converter;
acquiring a target time difference between the first time and the second time, and inquiring a pre-generated time difference and error distance corresponding table according to the target time difference to acquire a corresponding target error distance;
and calculating the measurement distance of the target object according to the second time, and obtaining the actual distance of the target object according to the measurement distance and the target error distance.
Optionally, the controlling the signal transmitting terminal to transmit a signal to a target object, acquiring a SiPM signal receiving terminal to receive a signal reflected by the target object, and detecting two signal voltages of the target object in real time, respectively, where the signal voltages include a wide pulse signal voltage and a narrow pulse signal voltage, includes:
presetting a first voltage threshold of a narrow pulse signal voltage, wherein the first voltage threshold is smaller than the maximum value of the narrow pulse signal voltage and larger than an environmental noise value.
Optionally, the step of generating the time difference and error distance correspondence table includes:
the method comprises the steps that a signal transmitting end is controlled to transmit signals to a test object at a preset distance in advance, an SiPM signal receiving end is obtained to receive the signals reflected by the test object, two test signal voltages of the test object are detected respectively in real time, and the test signal voltages comprise a wide pulse test signal voltage and a narrow pulse test signal voltage;
recording a third time when the voltage of the wide pulse test signal reaches a maximum value and recording a fourth time when the voltage of the narrow pulse test signal reaches a second voltage threshold; wherein the third time is obtained by detecting a wide pulse test signal in combination with an analog-to-digital converter;
calculating the test distance of the test object according to the fourth time, and generating an error distance according to the test distance and the preset distance;
calculating the test time difference between the third time and the fourth time, and corresponding and recording the test time difference and the error distance;
and changing the curve amplitude of the test signal voltage received by the SiPM signal receiving end, recording each group of time difference and the corresponding error distance, and generating a corresponding table of the time difference and the error distance.
Optionally, the controlling the signal transmitting terminal to transmit a signal to a test object at a predetermined distance in advance, acquiring a signal reflected by the test object received by the SiPM signal receiving terminal, and detecting two test signal voltages of the test object in real time, respectively, where the test signal voltages include a wide pulse test signal voltage and a narrow pulse test signal voltage, includes:
presetting a second voltage threshold of the narrow pulse test signal voltage, wherein the second voltage threshold is smaller than the maximum value of the narrow pulse test signal voltage and larger than the environmental noise value.
Optionally, the changing the curve amplitude of the test signal voltage received by the SiPM signal receiving end includes:
changing the emissivity of the test object changes the amplitude of the curve of the test signal voltage received by the SiPM signal receiving terminal, or,
changing the transmission medium of the test signal realizes changing the curve amplitude of the test signal voltage received by the SiPM signal receiving terminal, or,
changing the distance of the test object realizes changing the curve amplitude of the test signal voltage received by the SiPM signal receiving end.
Optionally, the second time is a rising edge time or a falling edge time when the voltage of the narrow pulse signal of the target object reaches a first voltage threshold;
the fourth time is the rising edge time or the falling edge time when the narrow pulse test signal voltage of the test object reaches a second voltage threshold value;
wherein the second time and the fourth time are both rising edge time or falling edge time.
Another embodiment of the present invention provides a range finding apparatus based on SiPM signal swing, the apparatus comprising at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the SiPM signal swing-based ranging method described above.
Yet another embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the SiPM signal swing-based ranging method described above.
Another embodiment of the invention provides a computer program product comprising a computer program stored on a non-volatile computer readable storage medium, the computer program comprising program instructions which, when executed by a processor, cause the processor to perform the above SiPM signal swing based ranging method.
Has the advantages that: compared with the prior art, the distance measuring method and device based on the SiPM signal swing amplitude have the advantages that the wide pulse signal and the narrow pulse signal of the SiPM laser radar are combined to measure the distance of a target object, so that the measuring error is effectively reduced, and the distance measuring precision is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of a SiPM structure;
FIG. 2 is a schematic diagram of a laser radar ranging principle;
FIG. 3a is a schematic diagram of the narrow pulse signal output voltage of the SiPM lidar varying with time;
FIG. 3b is a schematic diagram of the output voltage of the broad pulse signal of the SiPM laser radar varying with time;
FIG. 4 is a flowchart illustrating a preferred embodiment of a range finding method based on SiPM signal swing according to the present invention;
FIG. 5a is a schematic diagram of a wide pulse signal for measuring a target distance according to a SiPM signal swing range measurement method of the present invention;
FIG. 5b is a schematic diagram of a narrow pulse signal for measuring a target distance according to a SiPM signal swing range measurement method of the present invention;
FIG. 6a is a schematic diagram of a wide pulse test signal generating a time difference and error distance correspondence table according to a SiPM signal swing distance measuring method of the present invention;
FIG. 6b is a schematic diagram of a narrow pulse test signal for generating a time difference and error distance correspondence table according to a SiPM signal swing distance measuring method of the present invention;
fig. 7 is a schematic hardware structure diagram of a distance measuring device based on SiPM signal swing according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is described in further detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Compared with the traditional laser radar, on one hand, the SiPM laser radar has a saturation (Pile up) effect, namely, the SPAD unit in the SiPM is triggered by ambient light and is saturated to cause waveform distortion, so that signal light cannot be correctly detected; on the other hand, the SiPM signals have difference due to the strength of the signals, and when the signals are stronger, the formed signal diagram is not a Gaussian spot; when the signal is weak, it is closer to the gaussian spot. Therefore, the conventional ranging method for reducing the drift error by setting a threshold value is not suitable for SiPM laser radar.
In order to overcome the above-mentioned drawbacks, embodiments of the present invention provide a range finding method based on SiPM signal swing. Referring to fig. 4, fig. 4 is a flowchart illustrating a distance measuring method based on SiPM signal swing according to a preferred embodiment of the present invention. As shown in fig. 4, it includes the steps of:
s100, controlling a signal transmitting end to transmit a signal to a target object, acquiring a signal reflected by the target object and received by an SiPM signal receiving end, and respectively detecting two signal voltages of the target object in real time, wherein the signal voltages comprise a wide pulse signal voltage and a narrow pulse signal voltage;
step S200, recording a first time when the voltage of the wide pulse signal of the target object reaches a maximum value and recording a second time when the voltage of the narrow pulse signal reaches a first voltage threshold value; wherein the first time is obtained by detecting a wide pulse signal in combination with an analog-to-digital converter;
step S300, acquiring a target time difference between the first time and the second time, inquiring a pre-generated time difference and error distance corresponding table according to the target time difference, and acquiring a corresponding target error distance;
and S400, calculating the measured distance of the target object according to the second time, and obtaining the actual distance of the target object according to the measured distance and the target error distance.
In specific implementation, the SiPM laser radar has two signal outputs, namely a narrow pulse signal and a wide pulse signal, as can be seen from fig. 3a and 3b, since the time from the start to the end of triggering of the narrow pulse signal is very short, it is difficult to accurately measure the number of returned photons; compared with the narrow pulse signal, the wide pulse signal has a gentle rise and fall, and the signal intensity is easy to follow by a circuit. Therefore, the maximum voltage of the wide pulse signal can be measured. Therefore, the time corresponding to the maximum light intensity of the target object is measured by adopting the wide pulse signal port. The maximum light intensity of the wide pulse signal is the maximum value of the voltage of the wide pulse signal.
When a distance measurement instruction is detected, the processor of the SiPM laser radar controls the signal transmitting end to transmit an optical signal to the target object, and the optical signal is transmitted to the SiPM signal receiving end after being returned by the target object. The SiPM signal receiving end receives signals reflected by a target object and detects signal voltage of the reflected signals in real time, wherein the reflected signals comprise wide pulse signals and narrow pulse signals.
When the voltage of the wide pulse signal is detected to reach the maximum signal voltage, recording first time corresponding to the voltage of the wide pulse signal reaching the maximum signal voltage, when the voltage of the narrow pulse signal is detected to reach a first voltage threshold, recording second time when the voltage of the narrow pulse signal reaches the first voltage threshold, and obtaining a target time difference according to a difference value between the second time and the first time; and inquiring a pre-generated time difference and error distance corresponding table according to the target time difference, acquiring the error distance corresponding to the target time, and calculating the measurement distance. And obtaining the actual distance of the target object according to the difference between the measured distance and the error distance, wherein the measured distance is obtained by combining the second time and the speed of light.
In a further embodiment, controlling a signal transmitting end to transmit a signal to a target object, acquiring a SiPM signal receiving end to receive a signal reflected by the target object, and respectively detecting two signal voltages of the target object in real time, where the signal voltages include a wide pulse signal voltage and a narrow pulse signal voltage, includes:
presetting a first voltage threshold of the narrow pulse signal voltage, wherein the first voltage threshold is smaller than the maximum value of the narrow pulse signal voltage and larger than the environmental noise value.
In specific implementation, the first voltage threshold of the narrow pulse signal voltage needs to be set reasonably, if the setting is too low, the detected noise is too much, and if the setting is too high, the signal of the target object may not be detected. Preferably, the first voltage threshold of the narrow pulse signal voltage should be less than the maximum voltage of the narrow pulse signal voltage and should be greater than the ambient noise value.
In some other embodiments, when it is detected that the narrow pulse signal voltage reaches the first voltage threshold, recording a corresponding second time when the narrow pulse signal voltage reaches the first voltage threshold, including:
when the narrow pulse signal voltage is detected to reach the first voltage threshold, the corresponding rising edge time or falling edge time when the narrow pulse signal voltage reaches the first voltage threshold is obtained and recorded as the second time when the narrow pulse signal voltage reaches the first voltage threshold.
In specific implementation, as shown in FIG. 5a, the maximum voltage V of the wide pulse signal voltageMThe signal curve with the broad pulse signal has only 1 time intersection. As shown in fig. 5b, the first voltage threshold of the narrow pulse signal voltage and the signal curve of the narrow pulse signal voltage have 2 time intersections, which are respectively the corresponding rising edge time and falling edge time when the first voltage threshold is reached. The time corresponding to the maximum voltage of the wide pulse signal is the first time, and the first time is denoted as t1As shown in fig. 5b, the corresponding rising edge time when the narrow pulse signal voltage is the first voltage threshold is denoted as a second time, and the second time is denoted as t2。
Further, the step of generating the time difference and error distance correspondence table includes:
the method comprises the steps that a signal transmitting end is controlled to transmit signals to a test object at a preset distance in advance, an SiPM signal receiving end is obtained to receive the signals reflected by the test object, two test signal voltages of the test object are detected respectively in real time, and the test signal voltages comprise a wide pulse test signal voltage and a narrow pulse test signal voltage;
recording a third time when the voltage of the wide pulse test signal reaches a maximum value and recording a fourth time when the voltage of the narrow pulse test signal reaches a second voltage threshold; wherein the third time is obtained by detecting a wide pulse test signal in combination with an analog-to-digital converter;
calculating the test distance of the test object according to the fourth time, and generating an error distance according to the test distance and the preset distance;
calculating the test time difference between the third time and the fourth time, and corresponding and recording the test time difference and the error distance;
and changing the curve amplitude of the test signal voltage received by the SiPM signal receiving end, recording each group of time difference and the corresponding error distance, and generating a corresponding table of the time difference and the error distance.
In specific implementation, the farther the same object is, the fewer the number of photons reflected back. The same distance will reflect photons differently due to the different object reflectivities. Such as snow or glass, the emitted photons are all reflected back; some objects are all black and the number of photons reflected back when hitting them is small. Varying the amplitude of the curve of the signal can therefore be achieved by varying the emissivity of the test object. In some other embodiments, changing the curve amplitude of the signal may be realized by changing the transmission medium of the signal or changing the distance of the test object.
Further, the method for controlling the signal transmitting end to transmit signals to a test object at a predetermined distance in advance, acquiring signals reflected by the test object and received by the SiPM signal receiving end, and detecting two test signal voltages of the test object respectively in real time, wherein the test signal voltages comprise a wide pulse test signal voltage and a narrow pulse test signal voltage, includes:
presetting a second voltage threshold of the narrow pulse test signal voltage, wherein the second voltage threshold is smaller than the maximum voltage of the narrow pulse test signal voltage and larger than the environmental noise value.
In specific implementation, the threshold setting needs to be reasonable, if the second voltage threshold of the narrow-pulse test signal voltage is set to be too low, the detected noise is too much, and if the second voltage threshold is set to be too high, the signal of the target object may not be detected. The second voltage threshold of the narrow pulse test signal voltage should be less than the maximum voltage of the narrow pulse test signal voltage and should be greater than the ambient noise value.
In a further embodiment, when it is detected that the voltage of the narrow pulse test signal reaches the second voltage threshold, recording a fourth time corresponding to the voltage of the narrow pulse test signal reaching the second voltage threshold, including:
when the narrow pulse test signal voltage reaches the second voltage threshold, acquiring corresponding rising edge time or falling edge time when the narrow pulse test signal voltage reaches the second voltage threshold, and recording as fourth time when the narrow pulse test signal voltage reaches the second voltage threshold;
and the fourth time and the second time are both rising edge time or falling edge time.
In specific implementation, as shown in FIG. 6a, the wide pulse test signal voltage VTThe signal curve of the maximum test voltage and the wide pulse signal has only 1 time intersection. The voltage signal of the wide pulse test signal is the maximum test voltage VTThe time corresponding to the first time is the third time, and the third time is recorded as t3. The second voltage threshold of the narrow pulse test signal voltage and the signal curve of the narrow pulse test signal have 2 time intersections, which are respectively corresponding rising edge time and falling edge time when the second voltage threshold is reached. As shown in FIG. 6b, the narrow pulse test signal voltage is used as the second voltage threshold Vth2The time corresponding to the rising edge is the fourth time, which is denoted as t4。
Further, an embodiment of the present invention further provides a specific embodiment of a distance measuring method based on SiPM signals, as shown in fig. 6a and fig. 6b, and a fourth time is taken as a second voltage threshold Vth2Corresponding rising edge time is taken as an example, and the maximum test voltage is denoted as VTThe maximum test voltage is denoted as VTThe corresponding time is the third time t3According to a fourth time t4Calculating a test distance of the test object, and generating an error distance according to the test distance and a preset distance, wherein the error distance comprises the following steps:
according to a fourth time t4The calculation formula for calculating the test distance of the test object is as follows:
Figure BDA0002503089990000101
wherein t is4At a fourth time, St0C is the test distance of the test object, and c is the speed of light;
the calculation formula for generating the error distance according to the test distance and the predetermined distance is as follows:
Serror0＝S0-St0(formula 2)
Wherein S0For a predetermined distance of the test object, Serror0To test the error distance of the object.
The time difference between the third time and the fourth time was recorded as △ t0,△t0The calculation formula of (a) is as follows:
△t0＝t4-t3(formula 3)
Time difference △ t0From the error distance Serror0And carrying out correspondence and recording the corresponding relation. Changing the curve amplitude of the signal reflected by the test object received by the SiPM signal receiving end, then t3And t4And recording each group of time difference and corresponding error distance along with the change of the time difference, and generating a corresponding table of the time difference and the error distance.
Further, as shown in FIG. 5a and FIG. 5b, the second time and the fourth time are both selected to be the rising edge time, and the second time t is2Acquiring a first time t for the rising edge time corresponding to the narrow pulse signal voltage reaching a first voltage threshold1And a second time t2The target time difference △ t, according to the target time difference △ t, querying a pre-generated correspondence table of time differences and error distances to obtain a corresponding target error distance, includes:
the target time difference Δ t between the first time and the second time is calculated as follows:
△t＝t2-t1(formula 4)
Inquiring a pre-generated corresponding table of time difference and error distance according to the target time difference △ t to obtain a corresponding target error distance Serror1。
Further, calculating the measured distance of the target object according to the second time, and generating the actual distance of the target object according to the measured distance and the target error distance, including:
the calculation formula for calculating the measured distance of the target object from the second time is as follows:
Figure BDA0002503089990000111
wherein St1A measured distance for the target object;
according to the measured distance and the target error distance, a calculation formula for generating the actual distance of the target object is as follows:
St＝St1+Serror1(formula 6)
Wherein StIs the actual distance of the target object, Serror1The target error distance is obtained by querying the time difference and error distance correspondence table according to the target time difference △ t.
In specific implementation, when each time is collected, the voltage threshold and the time corresponding to the maximum voltage in the wide pulse signal can be collected through the ADC. The ADC (Analog-to-digital converter) mainly converts continuous-time and continuous-amplitude Analog quantities into discrete-time and discrete-amplitude digital signals, that is, the discrete digital signals formed by the ADC can determine the corresponding time t when the maximum signal intensity is obtained0. Therefore, a laser light source is irradiated on a target object and then reflected to the sensor, and the ADC can acquire voltage values at different moments in the period to form an analog signal diagram; these analog signals can then be converted to digital signals that are proportional to the original signals. The time t corresponding to the highest point can be seen according to the digital signal diagram0. The signal acquisition density within a period depends on the time bin (time bin), which is typically above 1ns for an ADC.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist among the steps, and it can be understood by those skilled in the art according to the description of the embodiments of the present invention that, in different embodiments, the steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
Another embodiment of the present invention provides a range finding apparatus based on SiPM signal swing, as shown in fig. 7, the apparatus 10 includes:
one or more processors 110 and a memory 120, where one processor 110 is illustrated in fig. 7, the processor 110 and the memory 120 may be connected by a bus or other means, and where fig. 7 illustrates a bus connection.
Processor 110 is used to implement the various control logic of apparatus 10, which may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip microcomputer, an ARM (Acorn RISCMache) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the processor 110 may be any conventional processor, microprocessor, or state machine. Processor 110 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The memory 120, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the SiPM signal-based ranging method in the embodiments of the present invention. The processor 110 executes the nonvolatile software program, instructions and units stored in the memory 120 to execute various functional applications and data processing of the apparatus 10, that is, to implement the SiPM signal swing-based ranging method in the above method embodiment.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an application program required for operating the device, at least one function; the storage data area may store data created according to the use of the device 10, and the like. Further, the memory 120 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 non-volatile solid state storage device. In some embodiments, memory 120 optionally includes memory located remotely from processor 110, which may be connected to device 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more units are stored in the memory 120, which when executed by the one or more processors 110, perform the SiPM signal swing-based ranging method in any of the above-described method embodiments, e.g., performing the above-described method steps S100 to S400 in fig. 4.
Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors, for example, to perform method steps S100-S400 of fig. 4 described above.
By way of example, non-volatile storage media can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), electrically erasable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in many forms such as Synchronous RAM (SRAM), dynamic RAM, (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The disclosed memory components or memory of the operating environment described herein are intended to comprise one or more of these and/or any other suitable types of memory.
Another embodiment of the invention provides a computer program product comprising a computer program stored on a non-volatile computer readable storage medium, the computer program comprising program instructions which, when executed by a processor, cause the processor to perform the SiPM signal swing based ranging method of the above method embodiment. For example, the method steps S100 to S400 in fig. 4 described above are performed.
The above-described embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. Based on such understanding, the above technical solutions essentially or contributing to the related art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.
Conditional language such as "can," "might," or "may" is generally intended to convey that a particular embodiment can include (yet other embodiments do not include) particular features, elements, and/or operations, among others, unless specifically stated otherwise or otherwise understood within the context as used. Thus, such conditional language is also generally intended to imply that features, elements, and/or operations are in any way required for one or more embodiments or that one or more embodiments must include logic for deciding, with or without input or prompting, whether such features, elements, and/or operations are included or are to be performed in any particular embodiment.
What has been described herein in the specification and drawings includes examples of methods and apparatus capable of providing range finding based on SiPM signal swing. It will, of course, not be possible to describe every conceivable combination of components and/or methodologies for purposes of describing the various features of the disclosure, but it can be appreciated that many further combinations and permutations of the disclosed features are possible. It is therefore evident that various modifications can be made to the disclosure without departing from the scope or spirit thereof. In addition, or in the alternative, other embodiments of the disclosure may be apparent from consideration of the specification and drawings and from practice of the disclosure as presented herein. It is intended that the examples set forth in this specification and the drawings be considered in all respects as illustrative and not restrictive. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (9)

1. A range finding method based on SiPM signal swing is characterized in that the method comprises the following steps:
controlling a signal transmitting end to transmit a signal to a target object, acquiring a signal reflected by the target object and received by an SiPM signal receiving end, and respectively detecting two signal voltages of the target object in real time, wherein the signal voltages comprise a wide pulse signal voltage and a narrow pulse signal voltage;
recording a first time when the voltage of the wide pulse signal of the target object reaches a maximum value and recording a second time when the voltage of the narrow pulse signal reaches a first voltage threshold value; wherein the first time is obtained by detecting a wide pulse signal in combination with an analog-to-digital converter;
acquiring a target time difference between the first time and the second time, and inquiring a pre-generated time difference and error distance corresponding table according to the target time difference to acquire a corresponding target error distance;
and calculating the measurement distance of the target object according to the second time, and obtaining the actual distance of the target object according to the measurement distance and the target error distance.
2. The SiPM signal swing-based ranging method according to claim 1, wherein the controlling signal transmitting terminal transmits a signal to a target object, acquiring a signal reflected by the target object received by an SiPM signal receiving terminal, and respectively detecting two signal voltages of the target object in real time, wherein the signal voltages include a wide pulse signal voltage and a narrow pulse signal voltage, and the method comprises the following steps:
presetting a first voltage threshold of a narrow pulse signal voltage, wherein the first voltage threshold is smaller than the maximum value of the narrow pulse signal voltage and larger than an environmental noise value.
3. The SiPM signal-based ranging method according to claim 1, wherein the step of generating the time difference-to-error distance correspondence table comprises:
the method comprises the steps that a signal transmitting end is controlled to transmit signals to a test object at a preset distance in advance, an SiPM signal receiving end is obtained to receive the signals reflected by the test object, two test signal voltages of the test object are detected respectively in real time, and the test signal voltages comprise a wide pulse test signal voltage and a narrow pulse test signal voltage;
recording a third time when the voltage of the wide pulse test signal reaches a maximum value and recording a fourth time when the voltage of the narrow pulse test signal reaches a second voltage threshold; wherein the third time is obtained by detecting a wide pulse test signal in combination with an analog-to-digital converter;
calculating the test distance of the test object according to the fourth time, and generating an error distance according to the test distance and the preset distance;
calculating the test time difference between the third time and the fourth time, and corresponding and recording the test time difference and the error distance;
and changing the curve amplitude of the test signal voltage received by the SiPM signal receiving end, recording each group of time difference and the corresponding error distance, and generating a corresponding table of the time difference and the error distance.
4. The SiPM signal swing-amplitude-based distance measuring method according to claim 3, wherein the control signal transmitting terminal transmits a signal to a test object with a predetermined distance in advance, the SiPM signal receiving terminal is obtained to receive the signal reflected by the test object, and two test signal voltages of the test object are respectively detected in real time, wherein the test signal voltages comprise a wide pulse test signal voltage and a narrow pulse test signal voltage, and the method comprises the following steps:
presetting a second voltage threshold of the narrow pulse test signal voltage, wherein the second voltage threshold is smaller than the maximum value of the narrow pulse test signal voltage and larger than the environmental noise value.
5. The SiPM signal swing-based ranging method according to claim 3, wherein the changing of the curve amplitude of the test signal voltage received by the SiPM signal receiving end comprises:
changing the reflectivity of the test object changes the amplitude of the curve of the test signal voltage received by the SiPM signal receiving terminal, or,
changing the transmission medium of the test signal realizes changing the curve amplitude of the test signal voltage received by the SiPM signal receiving terminal, or,
changing the distance of the test object realizes changing the curve amplitude of the voltage of the test signal received by the SiPM signal receiving end.
6. The SiPM signal swing-based ranging method of claim 3,
the second time is the rising edge time or the falling edge time when the voltage of the narrow pulse signal of the target object reaches a first voltage threshold value;
the fourth time is the rising edge time or the falling edge time when the narrow pulse test signal voltage of the test object reaches a second voltage threshold value;
wherein the second time and the fourth time are both rising edge time or falling edge time.
7. A range finding apparatus based on SiPM signal swing, characterized in that the apparatus comprises at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the SiPM signal swing-based ranging method of any of claims 1-6.
8. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the SiPM signal swing-based ranging method of any one of claims 1-6.
9. A computer program product, characterized in that the computer program product comprises a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions that, when executed by a processor, cause the processor to perform the SiPM signal swing-based ranging method according to any one of claims 1-6.
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