CN112034471A - Time-of-flight ranging device and time-of-flight ranging method - Google Patents
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- CN112034471A CN112034471A CN201910479839.0A CN201910479839A CN112034471A CN 112034471 A CN112034471 A CN 112034471A CN 201910479839 A CN201910479839 A CN 201910479839A CN 112034471 A CN112034471 A CN 112034471A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention provides a flight time ranging device and a flight time ranging method. The time-of-flight ranging device includes a signal processor, a light emitter, and a light sensor. The light emitter emits pulsed light having a first wavelength to a sensing object. The optical sensor senses a sensing target to output a first sensing signal and a second sensing signal. The first sensing signal includes a pulse signal and a first background noise signal. The second sensing signal includes a second background noise signal. The signal processor performs a signal strength subtraction operation on the first sensing signal and the second sensing signal to obtain a pulse signal. The signal processor determines the distance between the time-of-flight ranging device and the sensing target according to the time difference between the emitted pulse light and the sensing pulse signal.
Description
Technical Field
The present invention relates to a ranging technique, and in particular, to a Time to Flight (ToF) ranging apparatus and a ToF ranging method.
Background
As ranging technology evolves, various ranging technologies are continuously developed and widely applied to, for example, vehicle distance detection, face recognition, and various Internet of Things (IoT) devices. Common ranging techniques are for example Infrared (IR) ranging, ultrasonic (Ultrasound) ranging and Laser (Laser) ranging. However, as the precision of distance measurement is required to be higher, the optical distance measurement technology using a Time to Flight (ToF) measurement method is one of the main research directions in the field. In view of this, how to improve the accuracy of time-of-flight ranging will be presented below with solutions of several embodiments.
Disclosure of Invention
The present invention provides a Time to Flight (ToF) ranging apparatus and a ToF ranging method, which can provide an effect of accurately sensing a distance between the ToF ranging apparatus and a sensing target.
The time-of-flight ranging apparatus of the present invention includes a signal processor, a light emitter, and a light sensor. The light emitter is coupled with the signal processor and used for emitting pulsed light with a first wavelength to a sensing object. The optical sensor is coupled with the signal processor. The optical sensor is used for sensing a sensing target to output a first sensing signal and a second sensing signal. The first sensing signal includes a pulse signal corresponding to the pulsed light and a first background noise signal. The second sensing signal includes a second background noise signal. The signal processor performs a signal strength subtraction operation on the first sensing signal and the second sensing signal to obtain a pulse signal. The signal processor determines the distance between the time-of-flight ranging device and the sensing target according to the time difference between the pulse light with the first wavelength emitted by the light emitter and the pulse signal sensed by the light sensor.
The flight time ranging method is suitable for the flight time ranging device. The time-of-flight ranging method comprises the following steps: transmitting pulsed light having a first wavelength to a sensing target via a light emitter; sensing a sensing object by a light sensor to output a first sensing signal and a second sensing signal, wherein the first sensing signal includes a pulse signal corresponding to pulsed light and a first background noise signal, and the second sensing signal includes a second background noise signal; performing a signal strength subtraction operation on the first sensing signal and the second sensing signal through a signal processor to obtain a pulse signal; and determining the distance between the time-of-flight distance measuring device and the sensing target through the signal processor according to the time difference between the pulse light with the first wavelength emitted by the light emitter and the pulse signal sensed by the light sensor.
Based on the above, the time-of-flight ranging apparatus and the time-of-flight ranging method of the present invention can emit pulsed light with a specific wavelength to a sensing target, and perform sensing through the pixel unit having the optical filter capable of filtering light with wavelengths other than the specific wavelength, so that accurate distance information can be obtained from the sensing result through simple operation.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a functional block diagram of a time-of-flight ranging apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating sensing in one frame operation according to an embodiment of the invention.
FIG. 3 is a schematic diagram of sensing for two frame operations according to an embodiment of the present invention.
FIG. 4 is a functional block diagram of a time-of-flight ranging apparatus according to another embodiment of the present invention.
Fig. 5 is a signal waveform diagram according to an embodiment of the invention.
FIG. 6 is a flow diagram of a time-of-flight ranging method in accordance with an embodiment of the present invention.
[ notation ] to show
100. 400: a time-of-flight ranging device;
110. 410: a signal processor;
120. 420: a light emitter;
130. 430: a light sensor;
131. 431: a first pixel unit;
132. 432: a second pixel unit;
200: sensing a target;
411: a drive circuit;
412: a comparator circuit;
413: a time-to-digital converter;
i1, I1 ', I2, I2 ', I3, I4, I4 ': pulsed light;
sa, Sb, Sp, Sr: a voltage signal;
p, P': a pulse signal;
BN, BN': a background noise signal;
s610 to S640: and (5) carrying out the following steps.
Detailed Description
In order that the present disclosure may be more readily understood, the following specific examples are given as illustrative of the invention which may be practiced in various ways. Further, wherever possible, the same reference numbers will be used throughout the drawings and the description to refer to the same or like parts.
FIG. 1 is a functional block diagram of a time-of-flight ranging apparatus according to an embodiment of the present invention. Referring to fig. 1, time-of-flight ranging apparatus 100 includes a signal processor 110, a light emitter 120, and a light sensor 130. A Signal Processor (Signal Processor)110 is coupled to the light emitter 120 and the light sensor 130. In the present embodiment, the light emitter 120 may be, for example, a Laser emitter or a Laser Diode (Laser Diode), but the pulsed light of the present invention is not limited to the type of Laser. And the light Sensor 130 may be, for example, a complementary metal oxide semiconductor Image Sensor (CIS). The light emitter 120 may emit a pulse (pulse) light having a specific wavelength to the sensing target 200. The light sensor 130 may have a pixel unit that may filter light filters other than a specific wavelength to receive pulsed light having a specific wavelength reflected via the sensing target 200. In this embodiment, the optical filter is an optical coating or an optical material, and is formed on the pixel unit.
However, since the light sensor 130 will simultaneously sense the background noise during the sensing process, the light sensor 130 of the present embodiment can output a plurality of sensing results through a plurality of pixel units having different optical filters, respectively. In this embodiment, the pixel units are arranged on the pixel substrate in an array, for example, and the pixel units with different optical filters are arranged in a staggered manner. In the present embodiment, the signal processor 110 calculates the sensing results to accurately obtain the signal waveform corresponding to the pulsed light, so as to accurately calculate the distance between the time-of-flight ranging apparatus 100 and the sensing target 200. For example, the signal processor 110 may scale the optical path length of the pulsed light according to the time of the pulsed light from being emitted to sensing the reflected pulsed light, and one-half of the optical path length is the distance between the time-of-flight ranging device 100 and the sensing target 200. In other words, the time-of-flight ranging apparatus 100 of the present embodiment can distinguish between pulsed light having a specific wavelength reflected via the sensing target 200 and background noise corresponding to ambient light using sensing results of a plurality of pixel units of different filters, and is applicable to pulsed light of various signal intensities.
FIG. 2 is a diagram illustrating sensing in one frame operation according to an embodiment of the invention. Referring to fig. 1 and fig. 2, the present embodiment is described by taking a frame operation as an example. The light emitter 120 may emit, for example, pulsed light I1 with a first wavelength to the sensing object 200, and the sensing object 200 reflects the pulsed light I1' with the first wavelength to the first pixel unit 131 with the first optical filter and the second pixel unit 132 with the second optical filter. Accordingly, the first pixel unit 131 may output a first sensing signal according to the pulsed light I1 'having the first wavelength and the ambient light, wherein the first sensing signal includes a pulse signal corresponding to the pulsed light I1' and a first background noise signal having the first wavelength corresponding to a portion of the overall background noise. The second pixel unit 132 may output a second sensing signal including a second background noise signal having a second wavelength corresponding to another portion of the overall background noise of the ambient light. It is noted that the first optical filter of the present embodiment is used for filtering light other than the first wavelength, and the second optical filter of the present embodiment is used for filtering light other than the second wavelength.
In the present embodiment, the first wavelength is, for example, 540 millimeters (mm), and the second wavelength is, for example, 550 mm, but the present invention is not limited thereto. That is, although the first pixel unit 131 and the second pixel unit 132 respectively sense light with different wavelengths, since the first wavelength and the second wavelength can be designed to be relatively close to each other, the signal intensity of the first background noise signal corresponding to the first wavelength and the signal intensity of the second background noise signal corresponding to the second wavelength can be considered to be similar or the same. Also, the first pixel unit 131 having the first optical filter may sense the pulse light I1 'also having the first wavelength, while the second pixel unit 132 having the second optical filter may not sense the pulse light I1' having the first wavelength.
In other words, in the present embodiment, the signal processor 110 may perform a signal intensity subtraction operation on the first sensing signal and the second sensing signal obtained in one frame operation through different pixel units of different optical filters, so as to obtain a signal waveform similar to the pulse signal without the background noise. That is, the signal processor 110 of the present embodiment may accurately calculate the distance between the time-of-flight ranging apparatus 100 and the sensing target 200 according to the time difference between the light emitter 120 emitting the pulsed light with the first wavelength and the light sensor 130 sensing the pulse signal.
FIG. 3 is a schematic diagram illustrating the sensing of a two frame operation according to an embodiment of the present invention. Referring to fig. 1 and fig. 3, the present embodiment is described by taking two consecutive frame operations as an example. In the first frame period, the light emitter 120 may first emit the pulsed light I1 with the first wavelength to the sensing object 200, and the sensing object 200 reflects the pulsed light I1' with the first wavelength to the first pixel unit 131 with the first optical filter and the second pixel unit 132 with the second optical filter. The first optical filter is used for filtering light out of a first wavelength, and the second optical filter is used for filtering light out of a second wavelength. Therefore, as in the one-frame operation, the signal processor 110 can perform the signal strength subtraction operation on the sensing results of the first pixel unit 131 and the second pixel unit 132. Therefore, in the present embodiment, the signal processor 110 can obtain the signal waveform of the pulse signal without background noise provided by the first pixel unit 131. Also, the signal processor 110 may accurately calculate the distance between the first pixel unit 131 and the sensing target 200 according to a time difference between the signal waveform of the pulsed light emitted by the light emitter 120 and the signal waveform of the pulse signal provided by the first pixel unit 131, which is approximate to a background-noise-free pulse signal.
Then, during the second frame period, the light emitter 120 may continuously emit the pulsed light I2 with the second wavelength to the sensing object 200, and the sensing object 200 reflects the pulsed light I2' with the second wavelength to the first pixel unit 131 with the first optical filter and the second pixel unit 132 with the second optical filter. The first optical filter is used for filtering light out of a first wavelength, and the second optical filter is used for filtering light out of a second wavelength. Therefore, as in the one-frame operation, the signal processor 110 can perform the signal strength subtraction operation on the sensing results of the first pixel unit 131 and the second pixel unit 132. Therefore, in the present embodiment, the signal processor 110 can obtain the signal waveform of the pulse signal without background noise provided by the second pixel unit 132. Also, the signal processor 110 may accurately calculate the distance between the second pixel unit 132 and the sensing target 200 according to a time difference between the signal waveform of the pulsed light emitted by the light emitter 120 and the signal waveform of the pulse signal provided by the second pixel unit 132, which is approximate to a background-noise-free pulse signal.
In this embodiment, the signal processor 110 may combine the distance sensing result provided by the first pixel unit 131 and the distance sensing result provided by the second pixel unit 132 to obtain a sensing result with a higher spatial resolution. For example, the distance sensing method of two consecutive frame operations can be applied to face recognition. The light sensor 130 has, for example, a plurality of first pixel units 131 and a plurality of second pixel units 132 arranged in a staggered and arrayed manner. When performing face recognition, the light sensor 130 can respectively contribute distance sensing results from the plurality of first pixel units 131 and the plurality of second pixel units 132 during two consecutive frame operations, and correspond to each pixel of the face image by piecing together the plurality of distance sensing results provided by the plurality of first pixel units 131 and the plurality of second pixel units 132. That is, the signal processor 110 may generate stereo sensing information with high spatial resolution to help provide good face recognition results.
FIG. 4 is a functional block diagram of a time-of-flight ranging apparatus according to another embodiment of the present invention. Fig. 5 is a signal waveform diagram according to an embodiment of the invention. Referring to fig. 4 and 5, time-of-flight ranging device 400 includes a signal processor 410, a light emitter 420, and a light sensor 430. The signal processor 410 includes a driving circuit 411, a comparator circuit 412, and a Time To Digital Converter (TDC) 413. The photosensor 430 includes a first pixel unit 431 and a second pixel unit 432. The comparator circuit 412 is coupled to the first pixel unit 431, the second pixel unit 432 and the time-to-digital converter 413. The driving circuit 411 is coupled to the time-to-digital converter 413 and the optical transmitter 420.
In the present embodiment, first, the driving circuit 411 drives the light emitter 420 to emit pulsed light I3 having a first wavelength to a sensing target. Pulsed light I3 may correspond to voltage signal Sa as shown in fig. 5. The voltage signal Sa includes a pulse signal P. In the present embodiment, the first pixel unit 431 of the photosensor 430 has a first optical filter, and the second pixel unit 432 has a second optical filter. Next, the first pixel unit 431 may receive the first sensing light I4, and the first sensing light I4 includes pulsed light having a first wavelength reflected via a sensing target and background noise having the first wavelength corresponding to a portion of ambient light. The second pixel unit 432 may receive the second sensing light I4 ', and the second sensing light I4' includes only background noise having the second wavelength corresponding to another portion of the ambient light.
In the present embodiment, the first pixel unit 431 may output a voltage signal Sp as shown in fig. 5, and the second pixel unit 432 may output a voltage signal Sb as shown in fig. 5. The voltage signal Sp includes a background noise signal BN 'corresponding to the ambient light and a pulse signal P'. The voltage signal Sb comprises a background noise signal BN corresponding to ambient light. The background noise signals BN, BN' have similar or identical signal strengths (which may be considered identical). Thus, the comparator circuit 412 receives the voltage signals Sp, Sb and may output a voltage signal Sr as shown in fig. 5 (a portion of the noise signal may be substantially subtracted). In the present embodiment, the time-to-digital converter 413 can obtain the readout signal according to the rising edge of the pulse signal P' of the voltage signal Sr. Therefore, the time-to-digital converter 413 may determine the distance between the time-of-flight ranging apparatus 400 and the sensing object according to a time difference between the time when the light emitter 420 emits the pulsed light I3 (e.g., the rising edge of the pulse signal P of the voltage signal Sa) and the occurrence time of the readout signal corresponding to the rising edge of the pulse signal P'. It should be noted that even if the background noise signal BN, BN 'has a signal strength of background noise higher than the pulse signal P, P', the time-of-flight ranging apparatus 400 of the present embodiment can still effectively perform distance sensing and obtain accurate distance sensing result.
FIG. 6 is a flow diagram of a time-of-flight ranging method in accordance with an embodiment of the present invention. Referring to fig. 1 and fig. 6, the time-of-flight ranging method of the present embodiment may be at least applied to the time-of-flight ranging apparatus 100 of the embodiment of fig. 1, such that the time-of-flight ranging apparatus 100 performs steps S610 to S640. In step S610, the light emitter 120 emits pulsed light having a first wavelength to the sensing object 200. In step S620, the light sensor 130 senses the sensing target 200 to output a first sensing signal and a second sensing signal. The first sensing signal includes a pulse signal corresponding to the pulsed light and a first background noise signal, and the second sensing signal includes a second background noise signal. In step S630, the signal processor 110 performs a signal strength subtraction operation on the first sensing signal and the second sensing signal to obtain a pulse signal. In step S640, the signal processor 110 determines the distance between the time-of-flight ranging apparatus 100 and the sensing target 200 according to the time difference between the light emitter 120 emitting the pulsed light with the first wavelength and the light sensor 130 sensing the pulse signal. Therefore, the time-of-flight ranging method of the present embodiment can effectively perform the ranging operation on the sensing target 200 and can obtain accurate distance information.
In addition, other circuit features, implementation means and technical details of the time-of-flight ranging apparatus 100 of the present embodiment may refer to the embodiments of fig. 1 to 5 to obtain sufficient teaching, suggestion and implementation description, and thus are not repeated.
In summary, the time-of-flight ranging apparatus and the time-of-flight ranging method of the present invention can obtain the first sensing signal having the pulse signal with the specific wavelength and the first background noise signal and the second sensing signal having the second background noise signal close to the specific wavelength by emitting the pulse light with the specific wavelength to the sensing target. In addition, the time-of-flight ranging device of the present invention subtracts the signal intensity of the first sensing signal and the second sensing signal, and then subtracts the background noise substantially or completely, so as to obtain the pulse signal with the specific wavelength. Therefore, the time-of-flight ranging device can accurately calculate the distance between the time-of-flight ranging device and the sensing target according to the time difference between the pulse light with the specific wavelength emitted to the sensing target and the pulse signal with the same specific wavelength, and can effectively reduce the influence of background noise so as to effectively improve the ranging accuracy.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. A time-of-flight ranging device, comprising:
a signal processor;
the optical emitter is coupled with the signal processor and used for emitting pulsed light with a first wavelength to the sensing object; and
a light sensor coupled to the signal processor and used for sensing the sensing target to output a first sensing signal and a second sensing signal,
wherein the first sensing signal comprises a pulse signal corresponding to the pulsed light and a first background noise signal, and the second sensing signal comprises a second background noise signal,
the signal processor performs a signal intensity subtraction operation on the first sensing signal and the second sensing signal to obtain the pulse signal, and determines a distance between the time-of-flight ranging device and the sensing target according to a time difference between the light emitter emitting the pulse light with the first wavelength and the light sensor sensing the pulse signal.
2. The time-of-flight ranging apparatus according to claim 1, wherein a first pixel unit of the light sensor having a first light filter senses the sensing target reflecting the pulsed light having the first wavelength and ambient light to output the first sensing signal, and a second pixel unit of the light sensor having a second light filter senses the ambient light to output the second sensing signal,
the first optical filter is used for filtering light out of the first wavelength, and the second optical filter is used for filtering light out of the second wavelength.
3. A time of flight ranging apparatus as claimed in claim 2 wherein the first background noise signal has the first wavelength and the second background noise signal has the second wavelength.
4. The time-of-flight ranging apparatus according to claim 2, wherein the first optical filter and the second optical filter are respectively an optical coating or an optical material and are formed on the first pixel unit and the second pixel unit, respectively.
5. The time-of-flight ranging apparatus according to claim 1, wherein the signal processor obtains a readout signal depending on a rising edge of the pulse signal, and the signal processor determines the distance between the time-of-flight ranging apparatus and the sensing target depending on the time difference between the time at which the light emitter emits the pulse light having the first wavelength and the time at which the signal processor obtains the readout signal.
6. A flight time distance measuring method is suitable for a flight time distance measuring device and is characterized by comprising the following steps:
transmitting pulsed light having a first wavelength to a sensing target via a light emitter;
sensing the sensing target by a light sensor to output a first sensing signal and a second sensing signal, wherein the first sensing signal includes a pulse signal corresponding to the pulsed light and a first background noise signal, and the second sensing signal includes a second background noise signal;
performing, by a signal processor, a signal strength subtraction operation on the first sensing signal and the second sensing signal to obtain the pulse signal; and
determining, by the signal processor, a distance between the time-of-flight ranging device and the sensing target according to a time difference between the light emitter emitting the pulsed light having the first wavelength and the light sensor sensing the pulse signal.
7. The time-of-flight ranging method of claim 6, wherein the step of sensing the sensing target by the light sensor comprises:
sensing, by a first pixel unit of the light sensor having a first optical filter, that the sensing object reflects the pulsed light having the first wavelength and ambient light to output the first sensing signal; and
sensing the ambient light by a second pixel cell of the light sensor having a second optical filter to output the second sensing signal,
the first optical filter is used for filtering light out of the first wavelength, and the second optical filter is used for filtering light out of the second wavelength.
8. The time-of-flight ranging method of claim 7, wherein the first background noise signal corresponds to the ambient light and has the first wavelength, and the second background noise signal corresponds to the ambient light and has the second wavelength.
9. The time-of-flight ranging method according to claim 7, wherein the first optical filter and the second optical filter are respectively an optical coating or an optical material and are formed on the first pixel unit and the second pixel unit, respectively.
10. The time-of-flight ranging method of claim 6, wherein the step of determining the distance between the time-of-flight ranging device and the sensing target comprises:
acquiring a read signal by the signal processor according to a rising edge of the pulse signal; and
determining, by the signal processor, the distance between the time-of-flight ranging device and the sensing target according to the time difference between the light emitter emitting the pulsed light having the first wavelength and the signal processor obtaining the readout signal.
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