CN115963506A - Single photon avalanche diode direct time flight ranging method and device and application thereof - Google Patents
Single photon avalanche diode direct time flight ranging method and device and application thereof Download PDFInfo
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Abstract
The application provides a method and a device for direct time-of-flight ranging of a single photon avalanche diode and application thereof, and the method comprises the following steps: s00, uniformly dividing the whole measuring range into a plurality of time segments; s10, under the condition that a light source is not turned on, obtaining photon event count values of all bins in a time slice as average noise, and setting a signal threshold according to the average noise; s20, under the condition of turning on a light source, measuring from a first time segment; s30, if the peak position exceeding the signal threshold does not appear, clearing the histogram array and continuously measuring the next time slice until the measurement of all the time slices is completed or the peak position exceeding the signal threshold appears; and if the peak position exceeding the signal threshold value appears, stopping measuring the subsequent time slice, and generating a local histogram according to the peak position. The method and the device can obviously improve the time precision of the histogram, improve the measurement speed and reduce the measurement storage waste and the calculation power waste.
Description
Technical Field
The application relates to the technical field of optoelectronics, in particular to a method and a device for direct time-of-flight distance measurement of a single photon avalanche diode and application thereof.
Background
The dToF-LiDAR ranging system is a laser radar ranging technology based on the direct Time-of-Flight (dToF) principle. Mainly comprises laser emission, SPAD reception and a TDC timer. And (3) starting timing by emitting pulse laser, triggering timing to stop by the SPAD receiving return signal light, obtaining light propagation flight time, and converting with light speed to obtain a target distance. The distance measuring device utilizes a laser transmitter to transmit a short pulse laser beam, the short pulse laser beam is reflected by a target object and then received by a receiver, and the distance between the target object and a distance measuring system is measured by calculating the time required by the round trip of the laser beam.
At present, the main measurement mode is to repeat multiple transmitting and receiving cycles, count the obtained flight time, and take out the current times as the ranging results. The problems are that:
SPAD is a single photon trigger and can generate a pulse as long as there is a photon, but since TDC can only be triggered to stop once in a timing cycle, and SPAD can be triggered repeatedly many times, in this case only the time of arrival of the first pulse can be recorded. The SPAD generates three pulses, one is self-generated dark noise, the other is ambient light trigger noise, and finally, a valid signal for returning laser trigger. Therefore, under a strong environment light environment, the possibility that the first pulse triggering the TDC is noise is high, and an effective pulse signal triggered by the returned signal light pulse of the SPAD is lost, so that the resource and information of the ranging period are wasted. And the farther the distance is, the longer the arrival time of the effective signal is, the more likely the TDC is triggered by noise first, so that the occurrence probability of the effective ranging result is greatly reduced, and the error and jitter of the long-distance ranging result are increased.
2. As shown in fig. 1, since a large number of measurement periods TDC are triggered off on the left side of the time axis, the noise peak on the left side of the histogram is still higher than the peak of the signal, making it difficult to determine the target distance from the peak position of the signal.
3. Meanwhile, no matter which position of the whole measuring range the target is located, each pulse period needs to wait for the light pulse to run out of the whole measuring range. In time, especially when the target is very close. Is a significant waste and can significantly limit the improvement of the frame rate.
4. Because the specific time (i.e. the position of the target) of the laser return cannot be determined, the histogram statistics needs to reserve the maximum number of statistics for each possible result, for example, 0-15m range, 1.5cm resolution, and there are 1000 possible TDC counting results, if 8bit (i.e. maximum 256) statistics storage space needs to be reserved, 1000 × 8bit storage space is needed, and the valid results of the statistics only occupy a small part of the storage space, which results in waste of storage space.
5. The generation of the statistical histogram requires a plurality of measurements, and assuming that the light emitting frequency is 1.667MHz and the frame rate of the output distance information is 2kHz, the generation of one histogram requires approximately 833 measurements. If the frame rate needs to be increased, the number of times of statistics needs to be reduced, and the smaller the number of times of statistics is, the lower the reliability of the result is. The data volume of the histogram result is huge, more calculation force is needed for generating the statistical histogram, the transmission result is easily limited by the transmission line bandwidth, and the time utilization rate is low.
6. Because the time of flight is acquired by relying on the TDC timing, the resolution of the TDC directly determines the precision of the ranging result. The TDC with 100ps time resolution is equivalent to 15mm distance resolution, and the higher the TDC resolution, the higher its manufacturing cost, the higher the power consumption, the higher the required memory space and computational power.
Therefore, a method and a device for direct time-of-flight ranging of single photon avalanche diodes and applications thereof are needed to solve the problems in the prior art.
Disclosure of Invention
The embodiment of the application provides a single photon avalanche diode direct time flight ranging method and application thereof, and aims to solve the problems of pulse sampling time waste, storage space waste, computing power waste and the like in the prior art.
The kernel technology of the invention is mainly that SPAD spontaneous triggering dark noise and pulse generated by triggering of ambient light are white noise which are uniformly distributed on a time domain, the triggering times in the same time are approximately equal, and the pulse triggered by pulse laser can be concentrated at a certain moment. By utilizing the characteristic, the specific flight time corresponding to the target can be obtained by recording a photon arrival time histogram in a time segment near the echo pulse and searching for a peak value.
In a first aspect, the present application provides a single photon avalanche diode direct time-of-flight ranging method, comprising the steps of:
s00, uniformly dividing the whole measuring range into a plurality of time segments;
s10, under the condition that a light source is not turned on, obtaining photon event count values of all bins in a time slice as average noise, and setting a signal threshold according to the average noise;
s20, under the condition of turning on the light source, starting to measure from a first time segment;
s30, if the peak position exceeding the signal threshold does not appear, clearing the histogram array and continuously measuring the next time slice until the measurement of all the time slices is completed or the peak position exceeding the signal threshold appears; and if the peak position exceeding the signal threshold value appears, stopping measuring the subsequent time slice, and generating a local histogram according to the peak position.
Further, in step S30, if the peak position is located at the edge of the time slice, a new multi-segment equal-length time slice is constructed with the maximum value represented by the peak position as the center, and re-measurement is performed, and correction is performed according to the result, so as to obtain a local time slice histogram completely including the peak position.
Further, in step S10, the signal threshold is the sum of the average noise and the standard deviation.
In a second aspect, the present application provides a single photon avalanche diode direct time-of-flight ranging device, comprising:
the range division module is used for uniformly dividing the whole range into a plurality of time segments;
the signal threshold setting module is used for acquiring the photon event count value of each bin in a time slice as average noise under the condition that the light source is not turned on, and setting a signal threshold according to the average noise;
the measuring module starts to measure from a first time segment under the condition of turning on the light source; if the peak position exceeding the signal threshold value does not appear, clearing the histogram array and continuously measuring the next time slice until the measurement of all the time slices is finished or the peak position exceeding the signal threshold value appears; if the peak position exceeds the signal threshold value, stopping measuring the subsequent time segment, and generating a local histogram according to the peak position; if the peak position is located at the edge of the time segment, constructing a new multi-segment equal-length time segment by taking the maximum value represented by the peak position as the center to perform re-measurement, and correcting according to the result to obtain a local time segment histogram completely containing the peak position;
and the output module outputs the histogram.
In a third aspect, the application provides an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the method for single photon avalanche diode direct time-of-flight ranging as described above.
In a fourth aspect, the present application provides a readable storage medium having stored thereon a computer program comprising program code for controlling a process to execute a process comprising a single photon avalanche diode direct time-of-flight ranging method according to the above.
The main contributions and innovation points of the invention are as follows: 1. compared with the prior art, the method and the device only need limited data length, for example, the length of an array for recording the histogram is shortened from 10000 to 1000, so that the data size, the subsequent computational overhead and the data processing time are greatly reduced; while reducing the sampling time. Firstly, for the ith time period, the time of each pulse sampling period is i/N of the original method, and secondly, if a peak value is found in the ith time period, the time from i +1 to N time periods does not need to be measured, so that the time and the power consumption are further reduced.
2. Compared with the prior art, the method has a remarkable effect of inhibiting the ambient light interference. The traditional method can hardly complete the distance measurement under strong ambient light. The method utilizes the principle that the accumulation of the ambient light events at the left end of the histogram is positively correlated with the measuring range, and after the complete measuring range is divided into shorter time periods, the accumulation of the ambient light at the left end of the local histogram is not obvious in each time period, or even if the accumulation phenomenon can be observed, the amplitude value of the accumulation phenomenon is smaller than the corresponding signal peak value, so that the interference on the peak searching work is avoided.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a first prior art measurement view;
FIG. 2 is a prior art measurement chart two;
FIG. 3 is a flow chart of a single photon avalanche diode direct time-of-flight ranging method according to an embodiment of the application;
FIG. 4 is a measurement diagram according to an embodiment of the present application;
FIG. 5 is a process diagram according to an embodiment of the application;
fig. 6 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with one or more embodiments of the present specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of one or more embodiments of the specification, as detailed in the claims which follow.
It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily performed in the order shown and described herein. In some other embodiments, the method may include more or fewer steps than those described herein. Moreover, a single step described in this specification may be broken down into multiple steps in other embodiments; multiple steps described in this specification may be combined into a single step in other embodiments.
As shown in fig. 2, the conventional time-of-flight counting approach, due to the limitations of the circuit performance principle, can only record the first photon event output and the corresponding timestamp in each pulse cycle. If there is a high probability that the ambient light interference is strong, causing the photon event recorded in the measurement period not to be the signal photon generation (small rectangular box in fig. 2) but the noise light before the signal light arrives (large rectangular box in fig. 2), the algorithm for finding the signal peak by the maximum value (large rectangular box) becomes complicated when the height of the left noise event exceeds the peak. The length of the data volume of the histogram is recorded at the same time, the whole range and the width of each bin (ranging accuracy) are determined. For example, when the required precision is 1.5cm and the measuring range is 150m, the array length is 10000, which brings challenges to real-time storage and processing of data.
Because SPAD spontaneous triggering dark noise and pulse generated by triggering of ambient light are white noise uniformly distributed in a time domain, triggering times in the same time are approximately equal, and pulses triggered by pulsed laser can be concentrated at a certain moment. By utilizing the characteristic, the specific flight time corresponding to the target can be obtained by recording a photon arrival time histogram in a time segment near the echo pulse and searching for a peak value. Based on the above, the present invention is developed based on the above-mentioned ideas to solve the problems of the prior art.
Example one
The present application aims to propose a single photon avalanche diode direct time-of-flight ranging method, in particular with reference to fig. 3, comprising the following steps:
s00, uniformly dividing the whole measuring range into a plurality of time segments;
in this embodiment, as shown in fig. 4, the whole range is first divided into several segments. For example, 150m is divided into 10 segments of 15m each. Assuming a range accuracy (width of each bin) of 1.5cm, arrays of length 100000, now only 1000, are needed for 150m ranging.
S10, under the condition that a light source is not turned on, obtaining photon event count values of all bins in a time slice as average noise, and setting a signal threshold according to the average noise;
in the present embodiment, under the condition that the light source is not turned on, the photon event count value of each bin in one time slice is obtained as the average noise (solid line), and a value slightly larger than the average noise is set as the signal threshold. In the subsequent event segment measurement, the time segment in which the peak position is found is considered to be found when the count value is found to be greater than the threshold value.
S20, under the condition of turning on the light source, starting to measure from a first time segment;
in this embodiment, the light source is turned on, the measurement is started for a first time segment, and if no peak exceeding the threshold is found, the histogram array is cleared and the previous measurement steps are repeated for the next time segment. If in the prior art method, each pulse period needs to satisfy the condition that the pulsed light runs the full range, for example, under the condition of 150m range, each pulse measurement period needs 1000ns. In the method, when the ith time segment (for N time segments) is measured, each pulse period only needs i/N of the original period, so that the measurement time is greatly shortened.
S30, if the peak position exceeding the signal threshold does not appear, clearing the histogram array and continuously measuring the next time slice until the measurement of all the time slices is completed or the peak position exceeding the signal threshold appears; and if the peak position exceeding the signal threshold value appears, stopping measuring the subsequent time slice, and generating a local histogram according to the peak position.
In the present embodiment, the time period in which the peak position is found is shown as the (n-1) th period in fig. 4. The subsequent time period is not measured any more, and the measuring time is saved. The peak may be located anywhere in the time slice, and if the peak is located at an edge, the histogram of the peak may be incomplete, and further processing may be required. Therefore, as shown in fig. 5, if the maximum value is located at the edge of the time interval histogram (middle graph in fig. 5), a new equal-length time segment is constructed with the maximum value as the center for measurement, and then according to the measurement result, the position of the maximum value and a new time window are corrected for ranging, the maximum value is guided to be located at the middle position of the selected time window, a local time interval histogram completely including the peak position is obtained, and an accurate target distance is obtained by matching with an algorithm (which is not described any more) in the prior art.
Thus, a 150m range, if 100 storage space is used, originally each bin represents 15cm of accuracy, and each measurement period is 1000ns. Now dividing 150m into 10 time slices, and again storing space, each bin can now represent 1.5cm of precision. Turning off a light source, and recording the average count value of each bin in a window of 0-15m under the current environment to be about 20; turning on a light source, repeatedly measuring the distance of 0-15m, wherein each measuring period is 100ns, finding that the average count value in each bin is close to 20, starting measuring the distance of a window of 15-30m, wherein each laser pulse period is 200ns, and finding that the amplitude of the last bin is 80 and is obviously higher than 20; and moving the sliding window by 7.5m to the right, moving the peak position bin measured last time to the center of the window, measuring the distance from 22.5 to 37.5m, wherein the peak position bin is positioned in the middle of the local histogram, outputting the local histogram, and obtaining the target distance through calculation. The subsequent distance (37.5-150m) is not measured any more, and the measurement time is saved.
In summary, compared to the original full-scale production TCSPC (TCSPC stands for Time-resolved fluorescence Spectroscopy (Time-resolved Single photon Counting), which is a technique for measuring fluorescence intensity and lifetime, the technique excites a sample using a laser pulse, and then measures the number of photons emitted from the sample when the sample emits fluorescence and the arrival Time of the emitted photons, thereby obtaining the fluorescence lifetime of the sample and the Time distribution of the emitted photons. If the device range is 10m, a counter with the same 10bit is adopted to record a histogram, the original method precision is only 1cm, sliding peak searching is adopted, and if the sliding window is set to be 1m, the distance measurement precision of 1mm can be realized on the premise that the TDC precision is improved at the same time. In addition, if the target is at a middle distance, such as 5m, the target can be found by 5m in the sliding process, and the distance measurement is finished, so that the distance measurement time is saved.
Example two
Based on the same conception, the application also provides a single photon avalanche diode direct time flight distance measuring device, which comprises:
the range division module is used for uniformly dividing the whole range into a plurality of time segments;
the signal threshold setting module is used for acquiring the photon event count value of each bin in a time slice as average noise under the condition that a light source is not turned on, and setting a signal threshold according to the average noise;
the measuring module starts to measure from a first time segment under the condition of turning on the light source; if the peak position exceeding the signal threshold does not appear, clearing the histogram array and continuing to measure the next time slice until the measurement of all the time slices is completed or the peak position exceeding the signal threshold appears; if the peak position exceeding the signal threshold value appears, stopping measuring the subsequent time segment, and generating a local histogram according to the peak position; if the peak position is located at the edge of the time segment, constructing a new multi-segment equal-length time segment by taking the maximum value represented by the peak position as the center to perform re-measurement, and correcting according to the result to obtain a local time segment histogram completely containing the peak position;
and the output module outputs the histogram.
EXAMPLE III
The present embodiment also provides an electronic device, referring to fig. 6, comprising a memory 404 and a processor 402, wherein the memory 404 stores a computer program, and the processor 402 is configured to execute the computer program to perform the steps in any of the above method embodiments.
Specifically, the processor 402 may include a Central Processing Unit (CPU), or A Specific Integrated Circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.
The processor 402 implements any of the single photon avalanche diode direct time-of-flight ranging methods described in the embodiments above by reading and executing computer program instructions stored in the memory 404.
Optionally, the electronic apparatus may further include a transmission device 406 and an input/output device 408, where the transmission device 406 is connected to the processor 402, and the input/output device 408 is connected to the processor 402.
The transmitting device 406 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wired or wireless network provided by a communication provider of the electronic device. In one example, the transmission device includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmitting device 406 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
The input-output device 408 is used to input or output information. In the present embodiment, the input information may be measurement data or the like, and the output information may be a histogram or the like.
Example four
The present embodiments also provide a readable storage medium having stored thereon a computer program comprising program code for controlling a process to execute a process, the process comprising the single photon avalanche diode direct time-of-flight ranging method according to an embodiment.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
In general, the various embodiments may be implemented in hardware or special purpose circuits, software, logic or any combination thereof. Some aspects of the invention may be implemented in hardware, while other aspects may be implemented in firmware or software which may be executed by a controller, microprocessor or other computing device, although the invention is not limited thereto. While various aspects of the invention may be illustrated and described as block diagrams, flow charts, or using some other pictorial representation, it is well understood that these blocks, apparatus, systems, techniques or methods described herein may be implemented in, as non-limiting examples, hardware, software, firmware, special purpose circuits or logic, general purpose hardware or controller or other computing devices, or some combination thereof.
Embodiments of the invention may be implemented by computer software executable by a data processor of the mobile device, such as in a processor entity, or by hardware, or by a combination of software and hardware. Computer software or programs (also referred to as program products) including software routines, applets and/or macros can be stored in any device-readable data storage medium and they include program instructions for performing particular tasks. The computer program product may include one or more computer-executable components configured to perform embodiments when the program is run. The one or more computer-executable components may be at least one software code or a portion thereof. Further in this regard it should be noted that any block of the logic flow as in the figures may represent a program step, or an interconnected logic circuit, block and function, or a combination of a program step and a logic circuit, block and function. The software may be stored on physical media such as memory chips or memory blocks implemented within the processor, magnetic media such as hard or floppy disks, and optical media such as, for example, DVDs and data variants thereof, CDs. The physical medium is a non-transitory medium.
It should be understood by those skilled in the art that various technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present description should be considered as being described in the present specification.
The above examples are merely illustrative of several embodiments of the present application, and the description is more specific and detailed, but not to be construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (6)
1. The direct time-of-flight ranging method of the single photon avalanche diode is characterized by comprising the following steps of:
s00, uniformly dividing the whole measuring range into a plurality of time segments;
s10, under the condition that a light source is not turned on, obtaining a photon event count value of each bin in a time slice as average noise, and setting a signal threshold according to the average noise;
s20, under the condition of turning on the light source, starting to measure from a first time segment;
s30, if the peak position exceeding the signal threshold value does not appear, clearing the histogram array and continuing to measure the next time slice until the measurement of all the time slices is completed or the peak position exceeding the signal threshold value appears; and if the peak position exceeding the signal threshold value appears, stopping measuring the subsequent time slice, and generating a local histogram according to the peak position.
2. The single photon avalanche diode direct time-of-flight ranging method of claim 1, wherein in step S30, if the peak position is located at the edge of the time slice, a new plurality of equal-length time slices are constructed with the maximum value represented by the peak position as the center for re-measurement, and are corrected according to the result to obtain a local time slice histogram completely containing the peak position.
3. The single photon avalanche diode direct time-of-flight ranging method of claim 1 or 2, wherein in step S10, said signal threshold is the sum of said mean noise and standard deviation.
4. A single photon avalanche diode direct time-of-flight ranging device, comprising:
the range division module is used for uniformly dividing the whole range into a plurality of time segments;
the signal threshold setting module is used for acquiring the photon event count value of each bin in a time slice as average noise under the condition that a light source is not turned on, and setting a signal threshold according to the average noise;
the measuring module starts to measure from a first time segment under the condition of turning on the light source; if the peak position exceeding the signal threshold value does not appear, clearing the histogram array and continuously measuring the next time slice until the measurement of all the time slices is finished or the peak position exceeding the signal threshold value appears; if the peak position exceeding the signal threshold value appears, stopping measuring the subsequent time segment, and generating a local histogram according to the peak position; if the peak position is located at the edge of the time slice, constructing a new multi-section equal-length time slice by taking the maximum value represented by the peak position as the center to perform re-measurement, and correcting according to the result to obtain a local time slice histogram completely containing the peak position;
and the output module outputs the histogram.
5. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to execute the computer program to perform the single photon avalanche diode direct time of flight ranging method of any one of claims 1 to 3.
6. A readable storage medium having stored thereon a computer program comprising program code for controlling a process to execute a process comprising the single photon avalanche diode direct time of flight ranging method according to any one of claims 1 to 3.
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