CN112038361A - Distance sensor pixel array structure, distance sensor and working method - Google Patents
Distance sensor pixel array structure, distance sensor and working method Download PDFInfo
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- H01L27/00—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate
- H01L27/14—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate including semiconductor components sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation
- H01L27/144—Devices controlled by radiation
- H01L27/146—Imager structures
- H01L27/14601—Structural or functional details thereof
- H01L27/14603—Special geometry or disposition of pixel-elements, address-lines or gate-electrodes
- H01L27/14605—Structural or functional details relating to the position of the pixel elements, e.g. smaller pixel elements in the center of the imager compared to pixel elements at the periphery
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
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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
- G01S7/491—Details of non-pulse systems
- G01S7/4911—Transmitters
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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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L27/00—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate
- H01L27/14—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate including semiconductor components sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation
- H01L27/144—Devices controlled by radiation
- H01L27/146—Imager structures
- H01L27/14643—Photodiode arrays; MOS imagers
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Abstract
The invention discloses a distance sensor pixel array structure, a distance sensor and a working method. The distance sensor comprises a transmitting end and a receiving end, wherein the receiving end comprises a plurality of pixel units which are arranged in an array; part of the pixel units are irradiated by the light spots emitted by the emitting end with normal power, and the irradiated pixel units are in an opening state. Therefore, when the device works, the opening state of the transmitting end can be controlled purposefully, for example, the transmitting end is enabled to irradiate a part of area, and other areas are not irradiated, so that the transmitting power can be greatly reduced, namely, the power consumption of the TOF is greatly reduced, the popularization of the TOF is promoted, and the popularization of AR and VR is indirectly promoted.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a distance sensor pixel array structure, a distance sensor and a working method.
Background
With the gradual realization of the AR/VR technology on the mobile phone, the 3D TOF (direct time of flight) distance sensor is gradually becoming the standard configuration of the mobile phone like a two-dimensional image sensor as a core chip. However, the power consumption is too high, which seriously affects the application of the mobile phone, thereby hindering the popularization of the AR/VR technology.
The existing D TOF distance sensor has too large power consumption, so that the distance is limited when the mobile phone is applied, the service time is limited, and the use effect of a user is influenced. The operations of face unlocking, payment and the like which do not need to be started for a long time can be only carried out in the front of the mobile phone. When the application is used for mobile phone and pad backshooting, for example, the application needs to be started for a long time, for example, 1 hour, if the application is used for AR and VR, but the power consumption is too large, and the mobile phone is easily turned off, so that AR and VR cannot be popularized at present.
Therefore, only by significantly reducing the power consumption of the D TOF, AR, and VR can be popularized.
Disclosure of Invention
The invention aims to provide a distance sensor pixel array structure, a distance sensor and a working method, which are used for reducing the power consumption of the distance sensor.
To solve the above technical problem, according to a first aspect of the present invention, there is provided a distance sensor pixel array structure, comprising:
the pixel units are arranged in an array mode, and part of the pixel units are started simultaneously.
And a plurality of groups of pixel arrays, each group of pixel arrays comprising a plurality of elements, each element comprising at least one pixel unit, some of the elements being turned on simultaneously.
Optionally, a plurality of adjacent pixel units are turned on simultaneously.
According to a second aspect of the present invention, there is provided a distance sensor, comprising an emitting end and a receiving end, wherein the receiving end comprises a plurality of pixel units arranged in an array; part of the pixel units are irradiated by the light spots emitted by the emitting end with normal power, and the irradiated pixel units are in an opening state.
Optionally, the light spot provided by the emission end after passing through the collimating mirror and the DOE includes a plurality of speckles, and the speckle provided by the emission end each time corresponds to a different pixel unit.
Optionally, the emission end provides a secondary light spot after passing through the collimating mirror and the DOE, and the energy of the secondary light spot is lower than that of the light spot.
Optionally, the emitting end provides a light spot after passing through a diffusion sheet, and at least one area is irradiated by one-time emission. The pixel unit of the one region may be at least one pixel unit, a row of pixel units or a column of pixel units, or a plurality of pixel units.
According to a third aspect of the present invention, there is provided a method of operating a distance sensor, comprising: the transmitting end transmits light spots with normal power, the light spots reach the receiving end after being reflected by a measured object, the receiving end comprises a plurality of pixel units which are arranged in an array mode, part of the pixel units are irradiated, and the irradiated pixel units are in an opening state.
Optionally, the emitting end further emits a plurality of secondary light spots at lower power than normal power, and each secondary light spot illuminates one pixel unit and does not overlap with the light spot.
Optionally, the emitting end emits speckles, each speckle illuminating a portion of at least one row of pixel cells or a portion of at least one column of pixel cells.
Optionally, the emitting end emits a light spot to illuminate the pixel unit of at least one region.
Compared with the prior art, in the technical scheme of the invention, the distance sensor comprises an emitting end and a receiving end, wherein the receiving end comprises a plurality of pixel units which are arranged in an array; part of the pixel units are irradiated by the light spots emitted by the emitting end with normal power, and the irradiated pixel units are in an opening state. Therefore, when the device works, the opening state of the transmitting end can be controlled purposefully, for example, the transmitting end is enabled to irradiate a part of area, and other areas are not irradiated, so that the transmitting power can be greatly reduced, namely, the power consumption of the TOF is greatly reduced, the popularization of the TOF is promoted, and the popularization of AR and VR is indirectly promoted.
Further, it is possible that a part of the area is illuminated by a spot of low power, which does not substantially reduce the instantaneous image resolution, but the power consumption is greatly reduced.
Drawings
FIG. 1 is a schematic diagram of a D TOF distance sensor system;
FIG. 2 is a schematic diagram of a D TOF pixel unit array structure;
FIG. 3 is a schematic diagram of a pixel array of a range sensor according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a transmitting end according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a receiving end according to an embodiment of the present invention;
FIG. 6 is a first diagram illustrating a distribution of the pixel units on the receiving end according to an embodiment of the present invention;
fig. 7 is a diagram illustrating states of a transmitting end and a receiving end at t1 according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating a second distribution of the turn-on of the receiving end pixel units according to an embodiment of the present invention;
fig. 9 is a schematic diagram illustrating states of a transmitting end and a receiving end at t3 according to an embodiment of the present invention;
FIG. 10 is a diagram illustrating an exemplary distribution of a plurality of rows of pixel units at a receiving end according to the present invention;
FIG. 11 is a schematic diagram illustrating an opening distribution of multi-domain pixel units at a receiving end according to an embodiment of the present invention;
fig. 12 is a schematic diagram illustrating a working method of the distance sensor according to an embodiment of the present invention.
Detailed Description
The distance sensor pixel array structure, the distance sensor and the method of operation of the present invention will be described in more detail with reference to the schematic drawings, in which preferred embodiments of the invention are shown, it being understood that a person skilled in the art may modify the invention described herein while still achieving the advantageous effects of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
After research, the inventor finds that for a common D TOF distance sensor system, the emitting end is a light source, and the receiving end is an array, such as VGA (640 × 480) arrays, so that the resolution is 640 × 480. In operation, the emitting end illuminates the receiving end for all 640 × 480 pixels of the array area. And thus power consumption is large.
Therefore, the inventor breaks through the limitation of the prior art, adopts the regional emission, when the receiving end receives a certain region, the emitting end emits the region, and the emitting end corresponding to the non-working pixel region is closed, thereby avoiding the waste of emission power consumption.
Example 1
the pixel units are arranged in an array mode, and part of the pixel units are started simultaneously.
In this embodiment, the pixel units of adjacent i × j form a group 10, and the distance sensor pixel array structure includes the plurality of groups 10.
For example, each group 10 is a combination of 2 × 2 pixel units.
In general, each group may be identical.
In addition, each group may be in other forms, such as 2 × 3, 3 × 3, etc., and in this embodiment, each group may not be too complex.
Taking a simple 2 × 2 example, each group 10 is, for example, sequentially in turn on the order of the pixel unit 101, the pixel unit 102, the pixel unit 103, and the pixel unit 104.
Further, for example, a plurality of adjacent pixel cells may be turned on simultaneously.
Example 2
the receiving end comprises a plurality of pixel units which are arranged in an array; part of the pixel units are irradiated by the light spots emitted by the emitting end with normal power, and the irradiated pixel units are in an opening state.
Therefore, in the embodiment of the invention, only the part of elements in the on state can be irradiated, so that the utilization rate of the transmitting terminal is highest, and the waste of transmitting power consumption is avoided.
Example 3
for example, the emitting end may be divided into a plurality of light emitting regions, as schematically shown in fig. 4, a light emitting region 1, a light emitting region 2, a light emitting region 3 and a light emitting region 4, and different light emitting regions may emit light at different periods. The receiving end can be divided into a plurality of receiving areas, as shown schematically in fig. 5, which shows receiving area 1, receiving area 2, receiving area 3 and receiving area 4, and different receiving areas can be turned on at different time intervals. For example, when the light emitting region 1 emits light, the corresponding receiving region 1 is turned on, and the other light emitting regions and receiving regions are turned off, so that the utilization rate of the emitting terminal can be improved.
Example 4
Embodiment 4 of the present invention is a distance sensor, which may be further optimized or improved based on embodiment 2 or embodiment 3. The implementation details of the present embodiment are described in detail below with reference to the drawings, and the following description is only provided for the convenience of understanding and is not necessary for implementing the present embodiment. Referring to fig. 6 and 7, the present embodiment includes:
the Emitting end comprises a Vertical Cavity Surface Emitting Laser (VCSEL), light spots provided by a collimating mirror and DOEs (Diffractive Optical Elements) comprise a plurality of speckles, and the speckles provided by the Emitting end each time correspond to different pixel units.
As shown in FIG. 6, the receiving end includes a plurality of groups 10, and each group includes four pixel units 101-104 operating at different times. In this case, the D TOF pixel array of m × n resolution is actually formed of m/2 × n/2 groups. When global exposure is carried out, four periods of t1, t2, t3 and t4 are divided, and the spads (single photon avalanche diodes) at corresponding positions are sequentially turned on. Thus, the whole is divided into 4 interlaced regions to work in a time-sharing mode.
For example, fig. 7 illustrates that at t1, only the emitting end of the corresponding area operates, e.g., a light spot is provided, specifically, a plurality of speckles 201, each speckle 201 corresponding to illuminating pixel cell 101, while pixel cell 102, pixel cell 103, and pixel cell 104 are not illuminated.
Example 5
Embodiment 5 of the present invention is a distance sensor, which may be further optimized or improved based on embodiment 4. The implementation details of the present embodiment are described in detail below with reference to the drawings, and the following description is only provided for the convenience of understanding and is not necessary for implementing the present embodiment. Referring to fig. 8 and 9, the present embodiment includes:
each group 10' includes a plurality of pixel cells.
For example, four pixel units 101', 102', 103', and 104' are disposed above, below, to the left, and to the right, respectively, and may operate at four periods of time t1, t2, t3, and t4, respectively.
Accordingly, referring to fig. 9, it is illustrated that at t3, only the emitting end of the corresponding area is operated, for example, a light spot is provided, specifically, a plurality of speckles 202, and more specifically, each speckle 202 is a group of four, each speckle 202 corresponds to an illuminated pixel cell 103', and pixel cells 101', 102', and 104' are not illuminated.
Example 6
Embodiment 6 of the present invention is a distance sensor, which can be further optimized or improved based on embodiment 4 or embodiment 5. Implementation details of the present embodiment are specifically described below, and the following description is provided only for the sake of understanding and is not necessary for implementing the present embodiment. The embodiment comprises the following steps:
the transmitting end provides a secondary light spot after passing through the collimating mirror and the DOE, and the energy of the secondary light spot is lower than that of the light spot.
For example, the transmitting end may provide the secondary light spot with a power less than or equal to 10% of the normal power.
In this embodiment, a part of the area may be irradiated by a low-power spot, so that the instantaneous image resolution is not substantially reduced, but the power consumption is greatly reduced.
Example 7
Embodiment 7 of the present invention is a distance sensor, which can be further optimized or improved based on embodiment 2 or embodiment 3. The implementation details of the present embodiment are described in detail below with reference to the drawings, and the following description is only provided for the convenience of understanding and is not necessary for implementing the present embodiment. Referring to fig. 10, the present embodiment includes:
the emitting end provides a light spot after passing through a diffusion sheet (diffuser), and the pixel units at least irradiating one area are emitted at one time.
The pixel unit of the one region may be at least one pixel unit, a row of pixel units or a column of pixel units, or a plurality of pixel units, etc.
For example, it may be common to illuminate at least one row or column at a time.
Specifically, the light spot in this embodiment may be in the form of a surface light source, for example, in a long strip shape.
As fig. 10 illustrates the pixel cells of 7 rows from top to bottom, each row operates at Time1, Time2, Time3, Time4, Time5, Time6, and Time7, respectively, and accordingly, the light spot illuminates the pixel cells of the corresponding row at the corresponding Time interval.
It will be appreciated that this could also be, for example, from bottom to top, or from middle to sides, or from sides to middle, etc.
In addition, fig. 10 illustrates the column format, and the row format and the column format are the same, and the detailed description is omitted here.
Example 8
Embodiment 8 of the present invention is a distance sensor, which can be further optimized or improved based on embodiment 7. The implementation details of the present embodiment are described in detail below with reference to the drawings, and the following description is only provided for the convenience of understanding and is not necessary for implementing the present embodiment. Referring to fig. 11, the difference between the present embodiment and embodiment 7 is: at least one area is irradiated at a time.
As shown in fig. 11, six regions are illustrated, and the six regions may be a row, a column, a part of a row, a part of a column, or an i × j array in an m × n pixel cell array, where i < m and j < n.
The six regions of fig. 11 operate at Time1, Time2, Time3, Time4, Time5, and Time6, respectively, and accordingly, the light spot illuminates the pixel cells of the corresponding region at the corresponding Time period.
Where fig. 11 illustrates a top-to-bottom, left-to-right sequence, it is understood that other sequences are possible, such as bottom-to-top, right-to-left, etc., e.g., multiple non-adjacent regions are operating simultaneously, etc.
Example 9
Embodiment 9 of the present invention provides a method for operating a distance sensor. The implementation details of the present embodiment are described in detail below with reference to the drawings, and the following description is only provided for the convenience of understanding and is not necessary for implementing the present embodiment. This embodiment may be performed based on the structures of embodiments 1 to 8, and may not be limited to the structures provided by the present invention. The method of the embodiment of the invention comprises the following steps:
the transmitting end transmits light spots with normal power, the light spots reach the receiving end after being reflected by a measured object, the receiving end comprises a plurality of pixel units which are arranged in an array mode, part of the pixel units are irradiated, and the irradiated pixel units are in an opening state.
As shown in fig. 12, the light spots emitted by different light emitting areas reach the corresponding receiving areas after passing through the object to be measured, so that the light emitting areas can be opened or closed according to different requirements.
Please refer to fig. 6 and 12, e.g. for one group 10 of 2 x 2. The specific working sequence is that when the whole sensor works, at the time t1, a light emitting area 1 emits a light spot, and only the upper left pixel unit 101 of each group 10 is illuminated, so that the receiving end receives a 3D image 1;
at time T2, a light spot is emitted by the light emitting region 2 to illuminate only the upper right pixel unit 102 of each group 10, so that the receiving end receives a 3D image 2;
at time T3, a light spot is emitted by the light emitting region 3 to illuminate only the lower left pixel unit 103 of each group 10, so that the receiving end receives a 3D image 3;
at time T4, a light spot is emitted by the light emitting region 4 to illuminate only the lower right pixel element 104 of each group 10, so that the receiving end receives a 3D image 4;
finally, the images 1-4 are spliced into a graph, and a complete m x n resolution distance graph can be obtained.
In addition, the emitting end emits speckles, each speckle illuminating a portion of at least one row of pixel cells or a portion of at least one column of pixel cells.
In addition, the emitting end can also emit a light spot with normal power to irradiate the pixel units of at least one area. The pixel unit of the one region may be at least one pixel unit, a row of pixel units or a column of pixel units, or a plurality of pixel units.
One row or column or one area of illumination may be performed sequentially, e.g., from left to right, top to bottom, etc.; but also from the middle to the sides, or from both sides to the middle, etc., in a symmetrical manner.
Example 10
This embodiment may be further optimized or improved based on embodiment 9, and this embodiment 10 mainly lies in that the emitting end also emits a plurality of secondary light spots at lower than normal power simultaneously, and each secondary light spot irradiates one pixel unit and does not overlap with the light spot.
Specifically, the lower-than-normal power is 10% or less of the normal power. E.g., 1%, 5%, etc.
Thus, instantaneous image resolution is not substantially reduced, but power consumption is greatly reduced.
Example 11
This embodiment provides an application of a distance sensor to AR/VR, which may include the structure described in any one of embodiments 1-8.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A range sensor pixel array structure, comprising:
the pixel units are arranged in an array mode, and part of the pixel units are started simultaneously.
2. The range sensor pixel array structure of claim 1, wherein adjacent pixel cells are turned on simultaneously.
3. A distance sensor is characterized by comprising an emitting end and a receiving end, wherein the receiving end comprises a plurality of pixel units which are arranged in an array; part of the pixel units are irradiated by the light spots emitted by the emitting end with normal power, and the irradiated pixel units are in an opening state.
4. The distance sensor of claim 3 wherein the spot provided by the emitting end after passing through the collimating mirror and the DOE comprises a plurality of speckles, each speckle provided by the emitting end corresponding to a different pixel cell.
5. A distance sensor according to claim 4, characterized in that the emission end is provided with a secondary spot after passing through the collimating mirror and the DOE, the energy of the secondary spot being lower than the energy of the spot.
6. A distance sensor according to claim 3, wherein said emitting end provides a spot of light after passing through a diffuser, emitting pixel elements illuminating at least one area at a time.
7. A method of operating a distance sensor, comprising: the transmitting end transmits light spots with normal power, the light spots reach the receiving end after being reflected by a measured object, the receiving end comprises a plurality of pixel units which are arranged in an array mode, part of the pixel units are irradiated, and the irradiated pixel units are in an opening state.
8. The method of claim 7, wherein the emitting end also emits a plurality of secondary light spots simultaneously at a lower power than normal, each secondary light spot illuminating a pixel unit and being non-overlapping with the light spot.
9. The method of claim 7, wherein the emitting end emits speckles, each speckle illuminating a portion of at least one row of pixel cells or a portion of at least one column of pixel cells.
10. The method of claim 7, wherein said emitting end emits a light spot to illuminate at least one area of pixel cells.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112394365A (en) * | 2020-12-09 | 2021-02-23 | Oppo（重庆）智能科技有限公司 | Speckle tracking method, distance measuring module, electronic device and readable storage medium |
| CN112904313A (en) * | 2021-01-26 | 2021-06-04 | 光为科技(广州)有限公司 | Method, system, and electronic circuit for suppressing ambient light of LiDAR equipment |
| CN114615397A (en) * | 2020-12-09 | 2022-06-10 | 华为技术有限公司 | TOF device and electronic apparatus |
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