CN113702950B - Calibration method, device, equipment and system of flight time ranging module - Google Patents
Calibration method, device, equipment and system of flight time ranging module Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a system for calibrating a time-of-flight ranging module, wherein the method comprises the following steps: screening two sets of jigs with minimum hardware difference from the jig set, and respectively serving as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine; screening one set of jigs except the two sets of jigs from the jig set to be used as the equipping jig of the swinging error calibration machine; determining a compensation value according to the hardware difference of the two sets of jigs, and performing compensation setting on the fixed phase mode noise error calibration machine according to the compensation value; and carrying out error calibration of the flight time ranging module by adopting the swing error calibration machine, the fixed phase mode noise error calibration machine and the calibration verification machine. The calibration method, the device, the equipment and the system provided by the invention are used for solving the technical problem of low yield of the existing calibration method. The technical effect of improving the calibration yield is realized.
Description
Technical Field
The invention relates to the technical field of processing, in particular to a method, a device, equipment and a system for calibrating a time-of-flight ranging module.
Background
Before the Time of Flight (TOF) ranging module is shipped, calibration is often required to ensure the practical use effect.
At present, calibration of the time-of-flight ranging module is usually completed through three machines, namely a swinging (wiggling) error calibration machine, a fixed phase pattern noise (lens-fppn) error calibration machine and a calibration verification (calibration) machine.
However, due to the fact that the machine stations are often different in contact or wiring, the probe time delay of the high-speed signals is different, the calibration precision is large, and accordingly the calibration precision and the yield are reduced.
Disclosure of Invention
The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a method, apparatus, device and system for calibrating a time-of-flight ranging module that overcomes or at least partially solves the above-mentioned problems.
In a first aspect, a method for calibrating a time-of-flight ranging module is provided, including:
screening two sets of jigs with minimum hardware difference from the jig set, and respectively serving as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
Screening one set of jigs except the two sets of jigs from the jig set to be used as the equipping jig of the swinging error calibration machine;
Determining a compensation value according to the hardware difference of the two sets of jigs, and performing compensation setting on the fixed phase mode noise error calibration machine according to the compensation value;
and carrying out error calibration of the flight time ranging module by adopting the swing error calibration machine, the fixed phase mode noise error calibration machine and the calibration verification machine.
Optionally, two sets of jigs with the smallest hardware difference are selected from the jig set, including: adopting the swing error calibration machine and the fixed phase mode noise error calibration machine to calibrate errors of batches of test modules; respectively obtaining calibration result data of the test module batch when each set of jig in the jig set is equipped on the calibration verification machine; and determining two sets of jigs with the minimum hardware difference according to the calibration result data corresponding to each set of jigs.
Optionally, the hardware difference is characterized as a difference between the ranging depth values of the two sets of jigs.
Optionally, the ranging depth value is equal to the measured depth value divided by the theoretical maximum depth value, the ranging depth value being expressed in percent.
Optionally, determining the compensation value according to the hardware difference of the two sets of jigs includes: by the formulaCalculating a first compensation value f1_ boardoffset when the transmission pulse frequency is f 1; wherein diff is the hardware difference; f1_max_distance is the maximum test distance at the transmit pulse frequency f1,Wherein deltat is the phase difference between the emitted sine wave and the return sine wave, and c is the speed of light; by the formula/>Calculating a second compensation value f2_ boardoffset when the transmission pulse frequency is f 2; wherein f2_max_distance is the maximum test distance when the transmitted pulse frequency is f2,
Optionally, the compensating setting of the stationary phase mode noise error calibration machine according to the compensation value includes: when the fixed phase mode noise error calibration machine is arranged to calibrate the error of the flight time ranging module, calibrating by adopting the transmitted pulse frequency f1 through the first compensation value; and compensating calibration performed by adopting the transmission pulse frequency f2 through the second compensation value.
In a second aspect, a calibration system for a time-of-flight ranging module is provided, comprising:
a swing error calibration machine, a fixed phase mode noise error calibration machine and a calibration verification machine;
the flight time ranging module performs error calibration through the swing error calibration machine and the fixed phase mode noise error calibration machine, and then performs calibration verification through the calibration verification machine;
The fixed phase mode noise error calibration machine and the calibration verification machine have smaller hardware difference relative to the jigs of the swing error calibration machine;
When the fixed phase mode noise error calibration machine is used for calibrating the flight time ranging module, compensation values are adopted for compensation, and the compensation values are determined according to the hardware differences of the two sets of jigs.
In a third aspect, a method for calibrating a time-of-flight ranging module is provided, including:
obtaining calibration result data of a calibration test module batch when each set of jigs in the jig set is respectively arranged on a calibration verification machine;
Determining two sets of jigs with the smallest hardware difference in the jig set according to the calibration result data to respectively serve as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
And determining and outputting a compensation value to a fixed phase mode noise error calibration machine according to the hardware difference of the two sets of jigs so as to compensate the error calibration of the fixed phase mode noise error calibration machine to the flight time ranging module through the compensation value.
In a fourth aspect, a calibration device for a time-of-flight ranging module is provided, including:
The acquisition module is used for acquiring calibration result data of a calibration test module batch when each set of jig in the jig set is respectively arranged on the calibration verification machine;
The determining module is used for determining two sets of jigs with the smallest hardware difference in the jig set according to the calibration result data to be respectively used as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
And the compensation module is used for determining and outputting compensation values to the fixed-phase mode noise error calibration machine according to the hardware difference of the two sets of jigs so as to compensate the error calibration of the fixed-phase mode noise error calibration machine to the flight time ranging module through the compensation values.
In a fifth aspect, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the program:
obtaining calibration result data of a calibration test module batch when each set of jigs in the jig set is respectively arranged on a calibration verification machine;
Determining two sets of jigs with the smallest hardware difference in the jig set according to the calibration result data to respectively serve as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
And determining and outputting a compensation value to a fixed phase mode noise error calibration machine according to the hardware difference of the two sets of jigs so as to compensate the error calibration of the fixed phase mode noise error calibration machine to the flight time ranging module through the compensation value.
The technical scheme provided by the embodiment of the invention has at least the following technical effects or advantages:
According to the calibration method, the device, the equipment and the system for the time-of-flight ranging module, two sets of jigs with the smallest hardware difference are screened out and respectively provided with the fixed phase mode noise error calibration machine and the calibration verification machine, and according to the research that the calibration precision of the two machines is more sensitive to the hardware difference of the jigs, the two sets of jigs with the smallest hardware difference are provided on the two machines, so that the calibration error can be obviously reduced, and the calibration yield can be improved. And the application also determines the compensation value according to the hardware difference of the two sets of jigs, so as to compensate the calibration difference caused by the hardware difference by the compensation value when the fixed phase mode noise error calibration machine calibrates the flight time ranging module, thereby further reducing the calibration error and improving the calibration yield.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a schematic diagram of a calibration system of a time-of-flight ranging module according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a jig according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for calibrating a time-of-flight ranging module according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a determination of jig differences according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating determining a compensation value according to an embodiment of the present invention;
FIG. 6 (a) is a schematic diagram of yield before the scheme of the present application is adopted in the embodiment of the present application;
FIG. 6 (b) is a schematic diagram of yield after the scheme of the present application is adopted in the embodiment of the present application;
FIG. 7 is a second flowchart of a method for calibrating a time-of-flight ranging module according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an apparatus according to an embodiment of the present invention;
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical scheme in the embodiment of the invention has the following overall thought:
In the embodiment, two sets of jigs with the minimum hardware difference are screened from the jig set and are respectively used as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine so as to reduce calibration errors, and the compensation value is determined according to the hardware difference of the two sets of jigs, so that the fixed phase mode noise error calibration machine is compensated and set, and the calibration errors are further reduced and the calibration yield is improved.
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Before describing the calibration method of the time-of-flight ranging module provided in this embodiment, the calibration system of the time-of-flight ranging module provided in this embodiment is described first. As shown in fig. 1, the system comprises a swing error calibration machine 1, a fixed phase mode noise error calibration machine 2 and a calibration verification machine 3. The time-of-flight ranging module usually performs oscillation error calibration through the oscillation error calibration machine 1 and error calibration of a lens fixed-phase mode through the fixed-phase mode noise error calibration machine 2, and then performs calibration verification through the calibration verification machine 3. As shown in fig. 2, each machine needs to be equipped with a jig to contact and test the time-of-flight ranging Module, i.e. Module in fig. 2, and even if the same batch of jigs with the same model are adopted, the calibration accuracy will be reduced due to the hardware differences of the contact portion (e.g. different delays exist in the contact of probes of the jigs) and the wiring. According to researches, the calibration of the swing error calibration machine 1 is related to the phase, the influence of hardware differences such as contact and wiring of the jig is small, and the influence of hardware differences such as contact and wiring of the jig is large for the stationary phase mode noise error calibration machine 2 and the calibration verification machine 3, so that two sets of jigs of the two machines have smaller hardware differences relative to the jigs of the swing error calibration machine 1, and the calibration yield is improved.
The embodiment provides a calibration method of a time-of-flight ranging module, which is applied to a system shown in fig. 1, as shown in fig. 3, and includes:
step S301, two sets of jigs with the smallest hardware difference are selected from the jig sets and respectively used as the equipment jigs of the fixed phase mode noise error calibration machine 2 and the calibration verification machine 3;
Step S302, a set of jigs except the two sets of jigs is selected from the jig set to be used as the equipping jig of the swing error calibration machine 1;
step S303, determining a compensation value according to the hardware difference of the two sets of jigs, and performing compensation setting on the fixed phase mode noise error calibration machine 2 according to the compensation value;
and S304, performing error calibration of the flight time ranging module by adopting the swing error calibration machine 1, the fixed phase mode noise error calibration machine 2 and the calibration verification machine 3.
The following describes in detail the implementation steps of the method provided in this embodiment with reference to fig. 1 and 3:
First, step S301 is executed to screen out two sets of jigs with the smallest hardware difference from the jig set, which are respectively used as the equipment jigs of the stationary phase mode noise error calibration machine 2 and the calibration verification machine 3.
It should be noted that the jig set may include more than 3 sets of jigs, and the hardware difference between the jigs may be represented by a measurement parameter of an external dimension, or may be represented by a performance test parameter. Preferably, the hardware difference characterization is set to be the difference value of the ranging depth values of the two sets of jigs, so that the testing requirement of the time-of-flight ranging module is better adapted, and the method is more suitable for the consideration of calibration errors. Further, the ranging depth value may be set equal to the measured depth value divided by the theoretical maximum depth value for ease of calculation, and expressed as a percentage.
The method comprises the steps that a jig a is adopted on a machine to measure a measured depth value of a distance measurement of a flight time distance measurement module, a jig b is adopted on the same machine to measure a measured depth value of the distance measurement of the same flight time distance measurement module, b1 is adopted on the same machine, a theoretical maximum depth value of the flight time distance measurement module is c, and then hardware difference characterization of the jig a and the jig b is as follows
In the specific implementation process, different jig screening modes can be set according to different characterization forms of hardware differences. For example, if the hardware difference is represented by a measurement parameter of the external dimension, the screening method is to measure the dimension of each jig one by the instrument and then compare and screen. If the hardware difference is represented by the performance test parameters, the test parameters can be obtained by respectively testing the performance of the modules after the jigs are installed on the machine platform one by one, and then the comparison and the screening are carried out.
Preferably, the embodiment sets up and provides the time of flight ranging module of multiunit as experimental module batch earlier, adopts swing error calibration board 1 and stationary phase mode noise error calibration board 2 to carry out error calibration to experimental module batch again to reduce the parameter difference of experimental module batch. Then, firstly, one set of jigs in the jig set is equipped on the calibration verification machine 3, calibration is carried out on the test module batch through the calibration verification machine 3 to obtain calibration result data corresponding to the set of jigs, then the jigs are replaced, and the steps are repeated to obtain the calibration result data corresponding to each set of jigs in the jig set. And comparing the calibration result data to determine two sets of jigs with minimum hardware difference. The calibration result data may be an actual measurement depth value of the module ranging.
For example, assume a jig set having jig PCB1, jig PCB2, and jig PCB3, a test module lot having 7 time-of-flight ranging modules. The jig PCB1 is equipped to a calibration verification machine 3, and the actual measurement depth values of all the modules are tested to obtain the calibration result data of the 2 nd row in FIG. 4. And replacing the jig, and sequentially preparing the jig PCB2 and the jig PCB3 to the calibration verification machine 3 by adopting the same method to obtain calibration result data of the 3 rd column and the 4 th column in the figure 4. And calculating the average value of the calibration result data corresponding to each jig, and obtaining the hardware difference of each jig by calculating the difference value. Therefore, the hardware difference between the jig PCB1 and the jig PCB3 is the smallest, so the jig PCB1 and the jig PCB3 are used as the equipment jig for fixing the phase pattern noise error calibration machine 2 and the calibration verification machine 3, and the jig PCB2 is used as the equipment jig for the swing error calibration machine 1.
Specifically, the calibration verification machine 3 is adopted as a machine for testing hardware differences of the jigs, and the test module batch is set to be a module calibrated by the swing error calibration machine 1 and the fixed phase mode noise error calibration machine 2, so that interference of module parameter differences can be avoided, and accuracy of two sets of jigs with minimum screened hardware differences is ensured.
Step S302, a set of jigs except the two sets of jigs is selected from the jig set to serve as the equipment jig of the swing error calibration machine 1.
Specifically, if the jig set has 3 sets of jigs, the remaining set of jigs can be selected as the equipping jig of the swing error calibration machine 1. If more than 4 sets of jigs are provided, a jig with the least hardware difference from the two sets of jigs screened before can be selected, or one set of jigs is selected from the rest of jigs at random to be used as the equipping jig of the swing error calibration machine 1, and the method is not limited.
And step S303, determining a compensation value according to the hardware difference of the two sets of jigs, and performing compensation setting on the fixed phase mode noise error calibration machine 2 according to the compensation value.
Specifically, there are various methods for determining the compensation value based on the hardware difference, for example, the hardware difference may be directly used as the compensation value, or the compensation value may be determined after calculation processing is performed on the hardware difference. Preferably, the present embodiment provides a manner of determining the compensation value as follows:
Considering that two different frequencies are often adopted to calibrate each machine of the time-of-flight ranging module, compensation values corresponding to the frequencies are calculated respectively.
In particular by the formulaCalculating a first compensation value f1_ boardoffset when the transmission pulse frequency is f 1; wherein diff is the hardware difference of the two selected jigs; f1_max_distance is the maximum test distance when the transmitted pulse frequency is f1,/> Wherein Δt is the phase difference of the emitted sine wave and the return sine wave, and it is studied that Δt is equal to 2pi and c is the light speed.
And pass through the formulaCalculating a second compensation value f2_ boardoffset when the transmission pulse frequency is f 2; wherein f2_max_distance is the maximum test distance when the transmitted pulse frequency is f2,/>
Of course, in the implementation process, if the calibration machine only needs to use one frequency for calibration, the formula can also be usedAnd calculating a compensation value f_ boardoffset when the transmission pulse frequency is f, wherein f_max_distance is the maximum test distance when the transmission pulse frequency is f, and the calculation method is the same as the previous method.
The theoretical basis of the calculation formula of the compensation value is derived from the calculation formula of the time-of-flight ranging method. The application adopts the percentage to represent the hardware difference, thereby normalizing the parameter form without considering the unit dimension limitation, so that the calculation software can read in the floating point number, the software can process the data indiscriminately, and the calculation efficiency can be effectively improved and the accuracy can be ensured.
For example, as shown in fig. 5, for the data list calculated by the compensation value, after the hardware differences of the two sets of jigs at the frequencies f1 and f2 are tested by using 18 selected modules, the hardware difference values are expressed in mm and percentage respectively. And calculating the compensation value of the last row according to each hardware difference value.
And after the compensation value is determined, carrying out compensation setting on the fixed phase mode noise error calibration machine according to the compensation value. Specifically, the embodiment is arranged in the calibration process of the fixed phase mode noise error calibration machine to compensate, and can reduce the calibration error of the time-of-flight ranging module before calibration verification so as to improve the yield of subsequent calibration verification.
For the case of adopting two frequencies, when the fixed phase mode noise error calibration machine 2 performs error calibration on the time-of-flight ranging module, calibration is performed by adopting the transmitting pulse frequency f1 through first compensation value compensation, and calibration is performed by adopting the transmitting pulse frequency f2 through second compensation value compensation. I.e. the calibration of the two frequencies is compensated for separately. For the case of using a frequency, the calibration data is compensated directly with the compensation value.
The specific compensation method can be to add or subtract the calibration value to or from the calibration value to be calibrated during calibration so as to offset the influence of the hardware difference of the jig on the error. For example, if the hardware difference is the difference obtained by subtracting the calibration data of the fixed phase pattern noise error calibration machine 2 from the calibration data of the calibration verification machine 3, the calibration value to be calibrated may be added to the calibration value during compensation, otherwise the calibration value to be calibrated may be subtracted from the calibration value during compensation. In this embodiment, the compensation value can be obtained by calculating the hardware difference tested by the calibration verification machine 3, but in the calibration process of the fixed phase mode noise error calibration machine 2, the two frequencies are respectively compensated by the compensation value, so that the calibration yield of the subsequent calibration verification machine 3 is improved.
After the compensation setting is performed, step S304 is performed, and the swing error calibration machine 1, the fixed phase mode noise error calibration machine 2 and the calibration verification machine 3 are adopted to perform the error calibration of the time-of-flight ranging module. Each machine is a jig configured in the steps S301-S302, and the fixed phase mode noise error calibration machine 2 performs compensation setting, and the fixed phase mode noise error calibration machine 2 performs compensation according to the requirement of the compensation setting when the time-of-flight ranging module is calibrated.
Through verification, 97 time-of-flight ranging modules are tested by the method provided by the embodiment, and the yield of the time-of-flight ranging module can be improved from about 70% shown in fig. 6 (a) to more than 90% shown in fig. 6 (b). In fig. 6, the abscissa indicates the module number and the ordinate indicates the ranging depth. Therefore, the error caused by the calibration hardware difference of all calibration machines can be reduced on the premise of using only the existing machines by adopting the method provided by the embodiment, the yield is obviously improved, the calibration retest time is saved, the scrapping quantity is reduced, and the material cost is saved.
Based on the same inventive concept, the embodiment of the invention also provides a calibration method of the time-of-flight ranging module, as shown in fig. 7, comprising the following steps:
Step S701, obtaining calibration result data of a calibration test module batch when each set of jigs in the jig set is respectively arranged on a calibration verification machine;
Step S702, determining two sets of jigs with the smallest hardware difference in the jig set according to the calibration result data, so as to respectively serve as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
And step 703, determining and outputting a compensation value to a fixed-phase mode noise error calibration machine according to the hardware difference of the two sets of jigs so as to compensate the error calibration of the fixed-phase mode noise error calibration machine to the flight time ranging module by the compensation value.
The calibration method of the time-of-flight ranging module is applied to equipment with calculation or storage functions such as a computer and a server, and the equipment can be connected with the system provided by the embodiment, acquire calibration result data from the system and output compensation values to the system. The specific data acquisition method can be wire or wireless communication acquisition, or can be acquisition through a removable storage device such as a USB flash disk. The specific method for outputting the compensation value may be outputting through wired or wireless communication, or may be outputting through a removable storage device such as a usb disk, which is not limited herein.
Since the method described in this embodiment is based on the same inventive concept as the method described in the foregoing embodiment of the present invention, but the hardware of the specific application is different, based on the method described in the foregoing embodiment of the present invention, those skilled in the art can understand the specific implementation steps of the method, and therefore will not be described herein.
Based on the same inventive concept, the embodiment of the invention also provides a calibration device of the time-of-flight ranging module, as shown in fig. 8, comprising:
the obtaining module 801 is configured to obtain calibration result data of a calibration test module batch when each set of jigs in the jig set is respectively equipped on the calibration verification machine;
The determining module 802 is configured to determine, according to the calibration result data, two sets of jigs with the smallest hardware difference in the jig set, so as to respectively serve as the equipment jigs of the stationary phase mode noise error calibration machine and the calibration verification machine;
And the compensation module 803 is used for determining and outputting a compensation value to the fixed-phase mode noise error calibration machine according to the hardware difference of the two sets of jigs so as to compensate the error calibration of the fixed-phase mode noise error calibration machine to the flight time ranging module through the compensation value.
The device may be a computer, a server, or other apparatus having a computing or storage function. The device may be an independent computing device, or may be a computing module integrated into a production line or machine, which is not limited herein.
Since the device described in the embodiments of the present invention is a device used for implementing the method of the embodiments of the present invention, based on the method described in the embodiments of the present invention, a person skilled in the art can understand the specific structure and the deformation of the device, and therefore, the description thereof is omitted herein. All devices used in the method of the embodiment of the invention are within the scope of the invention.
Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, as shown in fig. 9, including a memory 910, a processor 920, and a computer program 911 stored on the memory 910 and executable on the processor 920, wherein the processor 920 implements the following steps when executing the computer program 911:
obtaining calibration result data of a calibration test module batch when each set of jigs in the jig set is respectively arranged on a calibration verification machine;
Determining two sets of jigs with the smallest hardware difference in the jig set according to the calibration result data to respectively serve as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
And determining and outputting a compensation value to a fixed phase mode noise error calibration machine according to the hardware difference of the two sets of jigs so as to compensate the error calibration of the fixed phase mode noise error calibration machine to the flight time ranging module through the compensation value.
In an embodiment of the present invention, any implementation of the method of the embodiment of the present invention may be implemented when the processor 920 executes the computer program 911.
Because the electronic device described in the embodiments of the present invention is a device used to implement the method of the embodiments of the present invention, based on the method described in the embodiments of the present invention, a person skilled in the art can understand the specific structure and the deformation of the device, and therefore, the description thereof is omitted herein. All equipment adopted by the method of the embodiment of the invention belongs to the scope of protection of the invention.
The technical scheme provided by the embodiment of the invention has at least the following technical effects or advantages:
According to the calibration method, the device, the equipment and the system for the time-of-flight ranging module, two sets of jigs with the smallest hardware difference are screened out and respectively provided with the fixed phase mode noise error calibration machine and the calibration verification machine, and according to the research that the calibration precision of the two machines is more sensitive to the hardware difference of the jigs, the two sets of jigs with the smallest hardware difference are provided on the two machines, so that the calibration error can be obviously reduced, and the calibration yield can be improved. And the application also determines the compensation value according to the hardware difference of the two sets of jigs, so as to compensate the calibration difference caused by the hardware difference by the compensation value when the fixed phase mode noise error calibration machine calibrates the flight time ranging module, thereby further reducing the calibration error and improving the calibration yield.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in a gateway, proxy server, system according to embodiments of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Claims (10)
1. The method for calibrating the time-of-flight ranging module is characterized by comprising the following steps of:
screening two sets of jigs with minimum hardware difference from the jig set, and respectively serving as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
Screening one set of jigs except the two sets of jigs from the jig set to be used as the equipping jig of the swinging error calibration machine;
Determining a compensation value according to the hardware difference of the two sets of jigs, and performing compensation setting on the fixed phase mode noise error calibration machine according to the compensation value;
and carrying out error calibration of the flight time ranging module by adopting the swing error calibration machine, the fixed phase mode noise error calibration machine and the calibration verification machine.
2. The method of claim 1, wherein the screening two sets of tools with minimal hardware differences from the set of tools comprises:
adopting the swing error calibration machine and the fixed phase mode noise error calibration machine to calibrate errors of batches of test modules;
respectively obtaining calibration result data of the test module batch when each set of jig in the jig set is equipped on the calibration verification machine;
and determining two sets of jigs with the minimum hardware difference according to the calibration result data corresponding to each set of jigs.
3. The method of claim 1, wherein the hardware difference is characterized as a difference in ranging depth values of the two sets of jigs.
4. A method according to claim 3, wherein the ranging depth value is equal to the measured depth value divided by the theoretical maximum depth value, the ranging depth value being expressed in percent.
5. The method of claim 3, wherein determining the compensation value based on the hardware differences between the two sets of jigs comprises:
by the formula Calculating a first compensation value f1_ boardoffset when the transmission pulse frequency is f 1; wherein diff is the hardware difference; f1_max_distance is the maximum test distance when the transmitted pulse frequency is f1,/>Wherein deltat is the phase difference between the emitted sine wave and the return sine wave, and c is the speed of light;
by the formula Calculating a second compensation value f2_ boardoffset when the transmission pulse frequency is f 2; wherein f2_max_distance is the maximum test distance when the transmitted pulse frequency is f2,
6. The method of claim 5, wherein said compensating the stationary phase mode noise error calibration stage according to the compensation value comprises:
When the fixed phase mode noise error calibration machine is arranged to calibrate the error of the flight time ranging module, calibrating by adopting the transmitted pulse frequency f1 through the first compensation value; and compensating calibration performed by adopting the transmission pulse frequency f2 through the second compensation value.
7. A calibration system for a time-of-flight ranging module, comprising:
a swing error calibration machine, a fixed phase mode noise error calibration machine and a calibration verification machine;
the flight time ranging module performs error calibration through the swing error calibration machine and the fixed phase mode noise error calibration machine, and then performs calibration verification through the calibration verification machine;
The fixed phase mode noise error calibration machine and the calibration verification machine have smaller hardware difference relative to the jigs of the swing error calibration machine;
When the fixed phase mode noise error calibration machine is used for calibrating the flight time ranging module, compensation values are adopted for compensation, and the compensation values are determined according to the hardware differences of the two sets of jigs.
8. The method for calibrating the time-of-flight ranging module is characterized by comprising the following steps of:
obtaining calibration result data of a calibration test module batch when each set of jigs in the jig set is respectively arranged on a calibration verification machine;
Determining two sets of jigs with the smallest hardware difference in the jig set according to the calibration result data to respectively serve as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
And determining and outputting a compensation value to a fixed phase mode noise error calibration machine according to the hardware difference of the two sets of jigs so as to compensate the error calibration of the fixed phase mode noise error calibration machine to the flight time ranging module through the compensation value.
9. The utility model provides a calibrating device of time of flight range finding module which characterized in that includes:
The acquisition module is used for acquiring calibration result data of a calibration test module batch when each set of jig in the jig set is respectively arranged on the calibration verification machine;
The determining module is used for determining two sets of jigs with the smallest hardware difference in the jig set according to the calibration result data to be respectively used as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
And the compensation module is used for determining and outputting compensation values to the fixed-phase mode noise error calibration machine according to the hardware difference of the two sets of jigs so as to compensate the error calibration of the fixed-phase mode noise error calibration machine to the flight time ranging module through the compensation values.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the following steps when executing the program:
obtaining calibration result data of a calibration test module batch when each set of jigs in the jig set is respectively arranged on a calibration verification machine;
Determining two sets of jigs with the smallest hardware difference in the jig set according to the calibration result data to respectively serve as the equipment jigs of the fixed phase mode noise error calibration machine and the calibration verification machine;
And determining and outputting a compensation value to a fixed phase mode noise error calibration machine according to the hardware difference of the two sets of jigs so as to compensate the error calibration of the fixed phase mode noise error calibration machine to the flight time ranging module through the compensation value.
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| EP3620821A1 (en) * | 2018-09-05 | 2020-03-11 | Infineon Technologies AG | Time of flight camera and method for calibrating a time of flight camera |
| CN109946681A (en) * | 2019-03-06 | 2019-06-28 | 武汉市聚芯微电子有限责任公司 | A kind of TOF fast calibration device and method |
| CN110458900A (en) * | 2019-08-30 | 2019-11-15 | 深圳奥比中光科技有限公司 | A kind of caliberating device of TOF camera, calibration facility and scaling method |
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| Title |
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| Qiang Wu,et al.A Novel Calibration Procedure that Insensitive to Stains and Colors for Pulsed TOF Cameras.《2017 6th International Conference on Advanced Materials and Computer Science (ICAMCS 2017)》.2017,第192-203页. * |
| 基于相关法飞行时间三维感知的误差机理研究;卢纯青等;《红外与激光工程》;20191130;第1-9页 * |
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