CN115963506B - Single photon avalanche diode direct time flight ranging method, device and application thereof - Google Patents
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Abstract
The application provides a direct time flight ranging method and device for 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 slices; s10, under the condition that a light source is not started, photon event count values of the bins in a time segment are obtained to serve as average noise, and a signal threshold is set according to the average noise; s20, under the condition that the light source is turned on, measuring is carried out from a first period of time segment; s30, if the peak position exceeding the signal threshold value does not appear, removing the histogram array and continuing to measure the next time segment until the measurement of all the time segments is completed or the peak position exceeding the signal threshold value appears; if a peak position exceeding the signal threshold occurs, the measurement of the subsequent time segment is stopped, and a local histogram is generated according to the peak position. The method and the device can remarkably improve the time precision of the histogram, improve the measurement speed and reduce the measurement storage waste and the calculation force waste.
Description
Technical Field
The application relates to the technical field of optoelectronics, in particular to a direct time-of-flight ranging method and device for a single photon avalanche diode and application of the direct time-of-flight ranging method and device.
Background
dTOF-LiDAR ranging system is a LiDAR ranging technology based on the direct Time-of-Flight (dTOF) principle. Mainly comprises laser emission, SPAD receiving and TDC timer. And (3) starting to time by transmitting pulse laser, triggering and stopping timing by receiving a return signal light by the SPAD, obtaining light propagation flight time, and obtaining a target distance by converting the light propagation flight time and the light speed. The distance between the target object and the distance measuring system is measured by calculating the time required for the laser beam to round and trip.
The main measuring mode at present is to repeat a plurality of transmitting and receiving periods, count the obtained flight time and take out the distance measurement result with a plurality of times. The problems are that:
SPAD is a single photon trigger, and only one photon can generate one pulse, but since the SPAD can be triggered and stopped once in one timing period of the TDC, the SPAD can be repeatedly triggered for a plurality of times, in this case, only the time of arrival of the first pulse can be recorded. The pulses generated by SPAD are three, one is self-generated dark noise, the other is ambient light trigger noise, and finally, the effective signal of laser trigger is returned. Therefore, under the strong environment light environment, the possibility that the pulse triggering the TDC for the first time 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. The longer the distance is, the longer the arrival time of the effective signal is, the more likely the TDC is triggered by noise, so that the occurrence probability of the effective ranging result is greatly reduced, and the error and jitter of the remote ranging result are increased.
2. As shown in fig. 1, since a large number of measurement cycles TDC are triggered off on the left side of the time axis, the noise peak on the left side of the histogram is also higher than the peak of the signal, making it difficult to determine the target distance from the signal peak position.
3. And each pulse period needs to run the complete measuring range of the constant light pulse no matter which position in the whole measuring range the target is. In time, especially when the target distance is very close. Is extremely wasteful and significantly limits the improvement in frame rate.
4. Since the specific time of laser return (i.e. the position of the target) cannot be determined, the histogram statistics need to reserve the maximum statistics number of each possible result, for example, 0-15m range, 1.5cm resolution, and total 1000 possible TDC count results, if 8bit (i.e. up to 256) statistics count storage space needs to be reserved, 1000×8bit storage space is needed, and the effective statistics result occupies only a small part of them, resulting in waste of storage space.
5. The generation of the statistical histogram requires multiple measurements, assuming a light emission frequency of 1.667MHz and a frame rate of 2kHz for the output distance information, then the generation of a histogram requires approximately 833 measurements. If the frame rate needs to be improved, the statistics times are reduced, and the smaller the statistics times are, the lower the reliability of the result is. The histogram results have huge data volume, the generation of the statistical histogram needs more calculation power to support, the transmission result is easily limited by the speed of the transmission line bandwidth, and the time utilization rate is low.
6. The resolution of the TDC directly determines the accuracy of the ranging result since the TDC timing is relied upon to acquire the time of flight. A TDC with a time resolution of 100ps is equivalent to a distance resolution of 15mm, and the higher the TDC resolution, the higher the fabrication cost, the higher the power consumption, and the higher the required memory space and computation power.
Therefore, a direct time-of-flight ranging method and device for single photon avalanche diode and application thereof are needed to solve the problems in the prior art.
Disclosure of Invention
The embodiment of the application provides a direct time flight ranging method of a single photon avalanche diode and application thereof, aiming at the problems of pulse sampling time waste, storage space and calculation power waste and the like in the prior art.
The core technology of the invention is mainly that the SPAD spontaneous trigger dark noise and the pulse generated by the triggering of the ambient light are white noise which is evenly distributed in the time domain, the triggering times are approximately equal in the same time, and the pulse triggered by the pulse laser is concentrated at a certain moment. By utilizing the characteristic, the specific flight time corresponding to the target can be obtained by recording the photon arrival time histogram in a time slice near the echo pulse and searching the 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 slices;
s10, under the condition that a light source is not started, photon event count values of the bins in a time segment are obtained to serve as average noise, and a signal threshold is set according to the average noise;
s20, under the condition that the light source is turned on, measuring is carried out from a first period of time segment;
s30, if the peak position exceeding the signal threshold value does not appear, removing the histogram array and continuing to measure the next time segment until the measurement of all the time segments is completed or the peak position exceeding the signal threshold value appears; if a peak position exceeding the signal threshold occurs, the measurement of the subsequent time segment is stopped, and a local histogram is generated according to the peak position.
Further, in step S30, if the peak is located at the edge of the time segment, a new multi-segment long-time segment is constructed with the maximum value represented by the peak as the center for re-measurement, and correction is performed according to the result, so as to obtain a local time segment histogram completely containing the peak.
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 apparatus comprising:
the measuring range dividing module uniformly divides the whole measuring range into a plurality of time slices;
the signal threshold setting module is used for acquiring photon event count values of the bins in a time segment as average noise under the condition of not switching on a light source, and setting a signal threshold according to the average noise;
the measuring module starts to measure from the first period of time segment under the condition of turning on the light source; if the peak position exceeding the signal threshold value does not appear, the histogram array is cleared and the measurement of the next time segment is continued until the measurement of all the time segments is completed or the peak position exceeding the signal threshold value appears; if the peak position exceeding the signal threshold appears, stopping measuring the subsequent time segment, and generating a local histogram according to the peak position; if the peak position is positioned at the edge of the time segment, constructing a new multi-section long-time segment with the maximum value represented by the peak position as the center for 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 present application provides an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the single photon avalanche diode direct time-of-flight ranging method described above.
In a fourth aspect, the present application provides a readable storage medium having stored therein a computer program comprising program code for controlling a process to perform 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 only needs limited data length, for example, the length of an array used for recording the histogram is shortened from 10000 to 1000, so that the data volume is greatly reduced, the subsequent calculation cost and the data processing time are greatly shortened; and simultaneously, the sampling time is shortened. 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, measurement of the time periods from i+1 to N is not needed, so that the time and the power consumption are further reduced.
2. Compared with the prior art, the method has a remarkable effect of suppressing the interference of the ambient light. The conventional method can hardly complete ranging under strong ambient light. According to the method, the principle that the light event accumulation and the measuring range positive correlation are carried out at the left end of the histogram is utilized, when 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 of the accumulation phenomenon is smaller than the corresponding signal peak value, and the interference on 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 other features, objects, and advantages 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 embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a measurement diagram of the prior art;
FIG. 2 is a prior art measurement diagram two;
FIG. 3 is a flow chart of a single photon avalanche diode direct time-of-flight ranging method in accordance with an embodiment of the present 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 present 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 exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to 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 aspects of one or more embodiments of the present description as detailed in the accompanying claims.
It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than described in this specification. Furthermore, individual steps described in this specification, in other embodiments, may be described as being split into multiple steps; while various 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 method is limited by the circuit performance principle, and generally only the first photon event and the corresponding timestamp can be recorded and output in each pulse period. If there is a high probability that the photon event recorded by the measurement cycle is not signal photon generation (small rectangular box in fig. 2) but noise light before the arrival of the signal light (large rectangular box in fig. 2) when the ambient light disturbance is strong, the algorithm of finding the signal peak (large rectangular box) by the maximum value becomes complicated when the height of the left noise event exceeds the peak. The whole range of the data size length of the histogram and the width (ranging accuracy) of each bin are recorded simultaneously. For example, when the precision is required to be 1.5cm and the measuring range is 150m, the array length is 10000, and the real-time storage and processing of the data are all challenged.
Since SPAD spontaneously triggers dark noise and pulses generated by ambient light trigger white noise which are uniformly distributed in the time domain, the number of triggers is approximately equal in the same time, and pulses triggered by pulsed laser are concentrated at a certain moment. By utilizing the characteristic, the specific flight time corresponding to the target can be obtained by recording the photon arrival time histogram in a time slice near the echo pulse and searching the peak value. Based on the above, the present invention has been developed based on the above-described ideas to solve the problems of the prior art.
Example 1
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 steps of:
s00, uniformly dividing the whole measuring range into a plurality of time slices;
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 ranging accuracy (width of each bin) of 1.5cm, an array of length 100000 is required for 150m ranging, now only an array of length 1000 is required.
S10, under the condition that a light source is not started, photon event count values of the bins in a time segment are obtained to serve as average noise, and a signal threshold is set according to the average noise;
in this embodiment, photon event count values of the respective bins in one time segment are obtained as average noise (solid line) without turning on the light source, and a value slightly larger than the average noise is set as a signal threshold. In subsequent event segment measurements, when the count value is found to be greater than the threshold, the time segment in which the peak position is found is considered to be found.
S20, under the condition that the light source is turned on, measuring is carried out from a first period of time segment;
in this embodiment, the light source is turned on to begin measuring for a first period of time and if no peak position exceeding the threshold is found, the histogram array is cleared and the previous measurement steps are repeated for the next period of time. If in the prior art method, each pulse period needs to meet the condition of the pulse light running full range, for example, under the condition of 150m range, 1000ns is needed for each pulse measurement period. In the method of the application, 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 value does not appear, removing the histogram array and continuing to measure the next time segment until the measurement of all the time segments is completed or the peak position exceeding the signal threshold value appears; if a peak position exceeding the signal threshold occurs, the measurement of the subsequent time segment is stopped, and a local histogram is generated according to the peak position.
In this embodiment, when the period in which the peak position is found, the n-1 th period is as shown in FIG. 4. The distance measurement is not carried out on the time period where the subsequent time period is located, and the measurement time is saved. At this point the peak may be located anywhere in the time segment and further processing is required if the peak is located at an edge that may result in incomplete histogram of peak positions. Therefore, as shown in fig. 5, if the maximum value is located at the edge of the histogram of the time period (middle graph in fig. 5), a new time segment with equal length is constructed with the maximum value as the center for measurement, then the position of the maximum value and the new time window are corrected for ranging according to the measurement result, the maximum value is guided to be located at the middle position of the selected time window, the local time period histogram completely containing the peak position is obtained, and the accurate target distance is obtained by matching with an algorithm (the existing algorithm is not repeated).
Thus, if a storage space of 100 is used, the accuracy of each bin is 15cm, and each measurement period is 1000ns. Dividing 150m into 10 time slices, the same storage space, each bin can now represent a 1.5cm accuracy. Firstly, 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 ranging 0-15m, wherein each measuring period is 100ns, finding that the average count value in each bin is close to 20, starting ranging a window of 15-30 m, each laser pulse period is 200ns, and finding that the last bin amplitude is 80 and is obviously higher than 20; and moving the sliding window 7.5m to the right, moving the last measured peak position bin to the center of the window, and ranging 22.5-37.5 m, 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 (37.5-150 m) is not measured, and the measurement time is saved.
In summary, TCSPC is a technique for measuring fluorescence intensity and lifetime, which uses laser pulses to excite a sample, and then measures the number of photons emitted by the sample when it 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, compared to the original full-scale TCSPC (TCSPC stands for Time-resolved fluorescence spectroscopy (Time-Correlated SinglePhoton Counting). If the measuring range of the equipment is 10m, a counter with the same 10 bits is adopted to record a histogram, the original method precision is only 1cm, and if a sliding window is set to be 1m, the ranging precision of 1mm can be realized on the premise that the TDC precision is improved simultaneously. In addition, if the target is at the middle distance, for example, 5m, the target can be found to be 5m in the sliding process, so that the distance measurement is finished, and 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 ranging device, which comprises:
the measuring range dividing module uniformly divides the whole measuring range into a plurality of time slices;
the signal threshold setting module is used for acquiring photon event count values of the bins in a time segment as average noise under the condition of not switching on a light source, and setting a signal threshold according to the average noise;
the measuring module starts to measure from the first period of time segment under the condition of turning on the light source; if the peak position exceeding the signal threshold value does not appear, the histogram array is cleared and the measurement of the next time segment is continued until the measurement of all the time segments is completed or the peak position exceeding the signal threshold value appears; if the peak position exceeding the signal threshold appears, stopping measuring the subsequent time segment, and generating a local histogram according to the peak position; if the peak position is positioned at the edge of the time segment, constructing a new multi-section long-time segment with the maximum value represented by the peak position as the center for 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
This embodiment also provides an electronic device, referring to fig. 6, comprising a memory 404 and a processor 402, the memory 404 having stored therein a computer program, the processor 402 being arranged to run the computer program to perform the steps of any of the method embodiments described above.
In particular, the processor 402 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.
The memory 404 may include, among other things, mass storage 404 for data or instructions. By way of example, and not limitation, memory 404 may comprise a Hard Disk Drive (HDD), floppy disk drive, solid State Drive (SSD), flash memory, optical disk, magneto-optical disk, tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Memory 404 may include removable or non-removable (or fixed) media, where appropriate. Memory 404 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 404 is a Non-Volatile (Non-Volatile) memory. In particular embodiments, memory 404 includes Read-only memory (ROM) and Random Access Memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), an electrically rewritable ROM (EAROM) or FLASH memory (FLASH) or a combination of two or more of these. The RAM may be Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM) where appropriate, and the DRAM may be fast page mode dynamic random access memory 404 (FPMDRAM), extended Data Output Dynamic Random Access Memory (EDODRAM), synchronous Dynamic Random Access Memory (SDRAM), or the like.
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 transmission 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 (Network InterfaceController, simply referred to as NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the transmission device 406 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.
The input-output device 408 is used to input or output information. In this embodiment, the input information may be measurement data or the like, and the output information may be a histogram or the like.
Example IV
The present embodiment also provides a readable storage medium having stored therein a computer program comprising program code for controlling a process to perform a process comprising a single photon avalanche diode direct time-of-flight ranging method according to embodiment one.
It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.
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 a 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 apparatus-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. In addition, in this regard, it should be noted that any blocks of the logic flows as illustrated may represent program steps, or interconnected logic circuits, blocks and functions, or a combination of program steps and logic circuits, blocks and functions. The software may be stored on a physical medium such as a memory chip or memory block implemented within a processor, a magnetic medium such as a hard disk or floppy disk, and an optical medium such as, for example, a DVD and its data variants, a CD, etc. The physical medium is a non-transitory medium.
It should be understood by those skilled in the art that the technical features of the above embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.
The foregoing examples merely represent several embodiments of the present application, the description of which is more specific and detailed and which should not be construed as limiting the scope of the present application in any way. It should be noted that variations and modifications can be made by those skilled in the art without departing from the spirit of the present application, which falls within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (4)
1. The direct time 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 slices;
s10, under the condition that a light source is not started, photon event count values of the bins in a time segment are obtained to serve as average noise, and a signal threshold is set according to the average noise;
wherein the signal threshold is the sum of the average noise and standard deviation;
s20, under the condition that the light source is turned on, measuring is carried out from a first period of time segment;
s30, if the peak position exceeding the signal threshold does not appear, removing the histogram array and continuing to measure the next time segment until the measurement of all the time segments is completed or the peak position exceeding the signal threshold appears; if the peak position exceeding the signal threshold appears, stopping measuring the subsequent time segment, and generating a local histogram according to the peak position;
if the peak position is positioned at the edge of the time segment, a new multi-section long-time segment is constructed by taking the maximum value represented by the peak position as the center for re-measurement, and correction is carried out according to the result, so as to obtain a local time segment histogram completely containing the peak position.
2. A single photon avalanche diode direct time-of-flight ranging apparatus comprising:
the measuring range dividing module uniformly divides the whole measuring range into a plurality of time slices;
the signal threshold setting module is used for acquiring photon event count values of the bins in a time segment as average noise under the condition of not switching on a light source, and setting a signal threshold according to the average noise;
wherein the signal threshold is the sum of the average noise and standard deviation;
the measuring module starts to measure from the first period of time segment under the condition of turning on the light source; if the peak position exceeding the signal threshold value does not appear, the histogram array is cleared and the measurement of the next time segment is continued until the measurement of all the time segments is completed or the peak position exceeding the signal threshold value appears; if the peak position exceeding the signal threshold appears, stopping measuring the subsequent time segment, and generating a local histogram according to the peak position; if the peak position is positioned at the edge of the time segment, constructing a new multi-section long-time segment with the maximum value represented by the peak position as the center for 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.
3. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the single photon avalanche diode direct time-of-flight ranging method of claim 1.
4. A readable storage medium, characterized in that it has stored therein a computer program comprising program code for controlling a process to perform a process comprising the single photon avalanche diode direct time-of-flight ranging method according to claim 1.
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