TWI762387B - Time of flight devide and inspecting method for the same - Google Patents

Abstract

An inspecting method for a time-of-flight device having a light system and an electronic system is disclosed and includes: providing multiple reference phase-signal values by an MCU; computing, by the electronic system, a testing phase delay based on the multiple reference phase-signal values, and a testing depth value based on the testing phase delay; computing a difference between the testing depth value and a reference depth value corresponding to the multiple reference phase-signal values; determining that the electronic system is normal when the difference is determined to be within a tolerance scope; sensing an external environment to generate an environmental image and compute a distance between the time-of-flight device and a target object; determining whether the light system is normal in accordance with the environmental image; and, outputting the computed distance if the light system is determined to be normal.

Description

Flight ranging device and detection method thereof

The present invention relates to a flight ranging device, in particular to a flight ranging device that can realize a system self-detection program, and a detection method used therefor.

Time of Flight (ToF) technology is a technology that uses light signals to measure distance or depth. Specifically, the flight ranging technology uses the device to emit an optical signal, and receives the reflected optical signal reflected by the optical signal after hitting the target object, and finally calculates the device according to the phase delay between the optical signal and the reflected optical signal. The distance to the target object (ie, the depth of the target object relative to the device).

Referring to FIG. 1 , it is a schematic diagram of the operation of the flight ranging device of the related art. The flight ranging device in the related art mainly has a processor 11 and a sensor 12, wherein the sensor 12 is used for externally transmitting an optical signal and receiving the reflected optical signal, and the processor 11 is used for calculating the difference between the optical signal and the reflected optical signal. to calculate the distance between the device and the target object.

In order to ensure the normal operation of the flight ranging device, at least two redundant processors 11 are set in the flight ranging device in the related art (the first processor 111 and the second processor 112 are taken as examples in FIG. 1 ), The two processors 111 and 112 respectively calculate the reflected light signal received by the sensor 12 and obtain two results (ie, two phase delays), and then judge the consistency of the two results (step S01 ) . If the two results are consistent, it can be determined that the operation of the flight ranging device is normal, so the storage program can be executed to record the current state (step S02), and the processing program can be further executed according to the calculated phase delay to calculate the flight ranging The distance between the device and the target object in the external environment (step S03).

If it is determined that the calculation results of the first processor 111 and the second processor 112 are inconsistent, it can be determined that the electronic system of the flight ranging device is abnormal (step S04 ), so the distance calculation is not performed for the time being, but the digital output program is executed first to Send an alarm to the outside world (step S05 ), or execute the register writing program to write the current state into the register (step S06 ).

However, the above detection method can only test whether the electronic system (including the sensor 12 and the processor 11 , etc.) inside the flight ranging device operates normally, but cannot be used to detect the optical system (such as the light source) on the flight ranging device. , lens, etc.) is normal. For example, when the external environment sensed by the flight ranging device changes (for example, the lens of the flight ranging device falls off due to impact, or the light signal emitted by the light source changes), the signal received by the sensor 12 has been distorted, even if The electronic system is functioning normally, but the final distance calculated by the flight rangefinder will still be wrong.

To sum up, how to improve the flight ranging device in the related art to realize the detection of the electronic system and the optical system at the same time, and to ensure the accuracy of the final calculation result, is very important.

The main purpose of the present invention is to provide an in-flight ranging device and a detection method thereof, which can respectively detect whether the electronic system and the optical system in the in-flight ranging device are in normal state.

In order to achieve the above object, the detection method of the present invention is applied to a flight ranging device including an electronic system and an optical system, and includes:

a) A plurality of reference phase signal values are provided by a micro-control unit, wherein the micro-control unit records a plurality of preset phase intervals and a reference depth value, and the plurality of reference phase signal values are based on a reference phase delay and the plurality of generated by a preset phase interval, and the reference phase delay is generated based on the reference depth value;

b) calculating a test phase delay by the electronic system according to the plurality of reference phase signal values, and calculating a test depth value according to the test phase delay;

c) calculating a difference value between the test depth value and the reference depth value by the micro-control unit;

d) judging that the electronic system is normal when the difference value falls within an error range;

e) Sensing an external environment to generate an environmental image, and calculating a distance between the flight ranging device and a target object, wherein the environmental image includes at least one target object and at least one positioning marker;

f) judging whether a real-time state of the optical system is normal according to the positioning mark in the environmental image; and

g) When the real-time state of the optical system is normal, output the distance between the flight ranging device and the target object, and store the environment image.

In order to achieve the above purpose, the flight ranging device of the present invention includes:

an electronic system, including:

a processing unit that receives a plurality of reference phase signal values, calculates a test phase delay according to the plurality of reference phase signal values, and calculates a test depth value according to the test phase delay;

A micro-control unit, connected to the processing unit, records a plurality of preset phase intervals and a reference depth value, wherein the reference depth value is used to calculate a reference phase delay, and the reference phase delay and the plurality of preset phase intervals are used for calculating the plurality of reference phase signal values, and the micro-control unit calculates a difference value between the test depth value and the reference depth value, and judges that the electronic system is normal when the difference value falls within an error range;

a sensing unit connected to the processing unit; and

an optical system that emits an optical signal to an external environment, wherein the external environment includes at least one target object and at least one positioning marker;

Wherein, the sensing unit receives a reflected light signal corresponding to the light signal from the external environment and generates an environmental image, and calculates a distance between the flight ranging device and the target object in the environmental image, the The processing unit determines whether a real-time state of the optical system is normal according to the positioning mark in the environment image, and outputs the distance and stores the environment image when the real-time state of the optical system is normal.

Compared with the related art, the present invention provides a plurality of pre-generated phase signal values to the processing unit for calculation by an additional micro-control unit, and compares them with the pre-stored reference depth value to confirm whether the processing unit is normal or not. It overcomes the problem that the detection result of the normal operation of the electronic system will still be obtained even if the external signal is abnormal when the repeated calculation is generally performed by two redundant processing units. Therefore, in addition to detecting whether the electronic system is normal, the detection technology of the present invention can also be used to detect whether the optical system is normal.

Hereinafter, a preferred embodiment of the present invention will be described in detail in conjunction with the drawings.

First, please refer to FIG. 2 , which is a first specific embodiment of the block diagram of the flight ranging device of the present invention. The present invention discloses an in-flight ranging device 2. The in-flight ranging device 2 includes an electronic system 3 and an optical system 4, wherein the electronic system 3 includes components for signal processing, and the optical system 4 includes components for assisting the optical signal and the optical signal to be processed. Elements for transmitting and receiving reflected light signals, but not limited to this.

As shown in FIG. 2 , the electronic system 3 may include, for example, a processing unit 31 , and includes a sensing unit 32 and a Micro Control Unit (MCU) 33 connected to the processing unit 31 . In one embodiment, the processing unit 31 may be, for example, a System on Chip (SoC), a Central Process Unit (CPU), or a Field Programmable Gate Array (FPGA), But not limited to this.

The electronic system 3 may further include a storage unit 34 connected to the processing unit 31 for storing calculation results of the electronic system 3, such as the distance between the flight ranging device 2 and the target object (not shown). In one embodiment, the storage unit 34 may be, for example, a Read Only Memory (ROM), a Random Access Memory (RAM), or a Non-Volatile Memory (NVM) , Flash Memory (Flash Memory), Hard Disk Drive (HDD) or CD-ROM, etc., but not limited thereto.

The electronic system 3 may further include a driver 35 connected with the sensing unit 32 or the processing unit 31 to control the optical system 4 in the flight ranging device 2 .

In one embodiment, the optical system 4 may include a light source 41 , a first lens 42 and a second lens 43 . As shown in FIG. 2 , the light source 41 is connected to the driver 35 to be controlled by the driver 35 to emit light signals toward the external environment. The first lens 42 is disposed corresponding to the position of the light source 41 to focus or diffuse the light signal emitted by the light source 41 . The second lens 43 is disposed corresponding to the position of the sensing unit 32 for guiding the reflected light signal corresponding to the light signal from the external environment to the sensing unit 32 to be received by the sensing unit 32 .

The light source 41 can be, for example, an emission light source of laser light, infrared light, or the like. The sensing unit 32 can be, for example, a photosensitive element having an imaging function and an arithmetic function. However, the above is only a specific embodiment of the present invention, but not limited thereto.

One of the technical features of the present invention is that the micro-control unit 33 stores a plurality of preset phase intervals 331 and at least one reference depth value 332 in advance. Based on the plurality of preset phase intervals 331 and the at least one reference depth value 332, the micro-control unit 33 may execute an electronic system detection program to confirm whether the electronic system 3 operates normally (mainly confirming the processing unit 31 in the electronic system 3). is normal).

If it is determined that the electronic system 3 is operating normally after the detection, the flight ranging device 2 can further execute the optical system detection program through the processing unit 31 to confirm whether the real-time status of the optical system 3 is normal (for example, whether the flight ranging device 2 is Is it skewed due to impact, whether the first lens 42 and the second lens 43 fall off, whether the light signal emitted by the light source 41 changes, etc.). If it is confirmed that the real-time state of the optical system 3 is normal, the flight ranging device 2 can use the processing unit 31 to calculate and output the distance between the flight ranging device 2 and the external target object based on the signal received by the sensing unit 32 (content detailed later).

In one embodiment, the micro-control unit 33 in the flight ranging device 2 executes a specific calculation formula based on the pre-recorded reference depth value 3 to generate a corresponding reference phase delay, and based on the reference phase delay and a plurality of pre-recorded pre-recorded The phase interval is set to execute a specific calculation formula to generate a plurality of corresponding reference phase signal values. Thereby, the micro-control unit 33 provides a plurality of reference phase signal values to the processing unit 31 for detection. In the present invention, the reference depth value 3, the reference phase delay and a plurality of reference phase signal values are all generated to detect whether the processing unit 31 is normal, and the distance between the actual target object to be measured and the flight ranging device 2 is not Not directly related.

After the flight ranging device 2 is activated, the processing unit 31 can receive a plurality of reference phase signal values provided by the micro-control unit 33 when one or more preset detection time points arrive, so as to use the plurality of reference phase signal values to determine the test. In one embodiment, the processing unit 31 regards the plurality of reference phase signal values provided by the micro-control unit 33 as the plurality of phase signal values obtained after the sensing unit 32 actually receives the external reflected light signal and calculates it. That is, the processing unit 31 performs the same operation as the actual ranging (described in detail later) based on the plurality of reference phase signal values. The above detection time points can be, for example, after the flight ranging device 2 is activated, before the driver 35 controls the light source 41 to emit an optical signal, after the light source 41 emits an optical signal, after the sensing unit 32 receives the reflected light signal, and the processing unit 31 calculates the flight ranging. Before the distance between the device 2 and the target object, after the processing unit 31 calculates the distance between the flight ranging device 2 and the target object, etc., it is not limited.

After receiving the plurality of reference phase signal values provided by the micro-control unit 33, the processing unit 31 calculates the test phase delay according to the plurality of reference phase signal values, and further calculates the test depth value according to the test phase delay. In the present invention, the processing unit 31 uses the same algorithm as the micro-control unit 33 to calculate the test phase delay and the test depth value. Therefore, if the processing unit 31 operates normally, the processing unit 31 calculates the generated signal based on the multiple reference phase signal values. The test depth value will be equal to or similar to the reference depth value 332 pre-stored by the micro-control unit 33 (ie, the calculation basis of a plurality of reference phase signal values).

In the present invention, the processing unit 31 transmits the calculated test depth value to the micro-control unit 33 , and the micro-control unit 33 calculates a difference value between the test depth value and the reference depth value 332 . The difference value may be an absolute value of a rational number, but is not limited thereto. The micro-control unit 33 determines whether the difference value falls within the preset error range, and when the difference value falls within the error range (for example, the difference value is less than or equal to the threshold value), it determines that the processing unit 31 is normal, and when the difference value does not fall within the error range. When it falls within the error range (for example, the difference value is greater than the threshold value), the processing unit 31 is determined to be abnormal.

It is worth mentioning that the optical system detection program in the present invention is executed by the processing unit 31, so in an embodiment, the flight ranging device 2 will only execute the optical system detection program when it is confirmed that the processing unit 31 is normal. . In one embodiment, the flight ranging device 2 calculates the distance between the flight ranging device 2 and at least one target object in the external environment when performing the optical system detection procedure, and only after confirming that both the electronic system 3 and the optical system 4 are The distance is only output when normal. In another embodiment, the flight ranging device 2 only calculates the distance between the flight ranging device 2 and at least one target object in the external environment when it is confirmed that the electronic system 3 and the optical system 4 are normal, but does not. be limited.

Please refer to FIG. 3 and FIG. 4 at the same time, which are divided into a first specific embodiment and a second specific embodiment of the external environment detection schematic diagram of the present invention. As mentioned above, if it is confirmed that the electronic system 3 is normal (that is, the processing unit 31 is normal) through the electronic system testing procedure, the processing unit 31 sends an instruction to the driver 35 so that the driver 35 controls the optical system 4 to emit the optical signal S1 toward the external environment 5 . In the embodiment of FIG. 3 , the external environment 5 may include at least one target object 51 and at least one positioning mark 52 . In this embodiment, the target object 51 is the main measurement target of the flight ranging device 2 , and the positioning mark 52 is used as a criterion for judging whether the optical system 4 of the flight ranging device 2 is normal.

After the light signal S1 is irradiated in the external environment 5 , the sensing unit 32 of the flight ranging device 2 can receive the reflected light signal S2 corresponding to the light signal S1 from the external environment through the optical system 4 . Through the received reflected light signal 2, the sensing unit 32 can generate a corresponding environment image, and the content of the environment image corresponds to the illumination range of the light signal S1. For example, if the irradiation range of the light signal S1 includes a target object 51 and a plurality of positioning marks 52 in the external environment 5 , the environment image generated by the sensing unit 32 will also include an image of a corresponding target object 51 and a corresponding image of the target object 51 . image of the plurality of positioning markers 52 .

In one embodiment, the environment image may be a one-dimensional image, a two-dimensional image, a three-dimensional image, or a four-dimensional image, etc., but not limited thereto.

One of the technical features of the present invention is that the processing unit 31 can determine whether the real-time state of the optical system 4 is normal according to the positioning mark 52 in the environment image after the sensing unit 32 generates the environment image. As shown in FIG. 4 , if the processing unit 31 analyzes the environmental image generated by the sensing unit 32 and finds that the information (eg coordinates) of the positioning marks 52 ′ in the environmental image has changed, and the change degree is greater than the preset threshold value , it can be judged that the real-time state of the optical system 4 is abnormal. In the embodiment of FIG. 4 , the position of the positioning mark 52' is compared with the initial position of the positioning mark 52 during the current detection and is deflected in the clockwise direction as an example, but it is not limited thereto.

Please also refer to FIG. 5 , which is a first specific embodiment of the detection flow chart of the present invention. The present invention also discloses a detection method, which is applied to the flight ranging device 2 as shown in FIG. 2 to detect whether the electronic system 3 inside the flight ranging device 2 operates normally.

In one embodiment, the flight ranging device 2 can preset one or more detection time points, and when the detection time point arrives, automatically execute the detection method shown in FIG. 5 to execute the electronic system detection procedure.

As shown in FIG. 5 , when any detection time point arrives, the flight ranging device 2 firstly provides a plurality of pre-generated or pre-stored reference phase signal values from the micro-control unit 33 to the processing unit 31 (step S10 ).

In one embodiment, the micro-control unit 33 can pre-store a plurality of reference phase signal values, and directly provide them to the processing unit 31 in step S10 . In another embodiment, the micro-control unit 33 stores the plurality of preset phase intervals 331 and the reference depth value 332, and when any detection time point arrives, the micro-control unit 33 first calculates according to the reference depth value 332 A reference phase delay is generated, and then a plurality of reference phase signal values are calculated and generated according to the reference phase delay and a plurality of preset phase intervals 331 (described in detail later). Thereby, in step S10 , a plurality of reference phase signal values generated in real time are provided to the processing unit 31 .

However, the above are only some specific embodiments of the present invention, but are not limited to the above.

Next, the processing unit 31 receives a plurality of reference phase signal values from the micro-control unit 33, and calculates a test phase delay according to the plurality of reference phase signal values (step S12), and then calculates a test depth value according to the calculated test phase delay (step S12). S14).

In one embodiment, the processing unit 31 may receive four reference phase signal values provided by the micro-control unit 33 in step S10, including the first reference phase signal value, the second reference phase signal value, the third reference phase signal value and the The fourth reference phase signal value.

，其中Øt為測試相位延遲，Qr1至Qr4分別為第一參考相位訊號值至第四參考相位訊號值。 In step S12, the processing unit 31 mainly executes the first formula based on the four reference phase signals to calculate the test phase delay. The first formula can be, for example:

, where Øt is the test phase delay, and Qr1 to Qr4 are the first to fourth reference phase signal values, respectively.

，其中Dt為測試深度值，Øt為測試相位延遲，c為光速，f為飛行測距裝置2採用的調變頻率。具體地，所述第一公式與第二公式可記錄於處理單元31的韌體中，但不以此為限。 In step S14, the processing unit 31 executes the second formula mainly based on the test phase delay to calculate the test depth value. The second formula can be, for example:

, where Dt is the test depth value, Øt is the test phase delay, c is the speed of light, and f is the modulation frequency used by the flight ranging device 2 . Specifically, the first formula and the second formula may be recorded in the firmware of the processing unit 31, but not limited thereto.

Please also refer to FIG. 6 , which is a first specific embodiment of a signal schematic diagram of the present invention. FIG. 6 discloses the actual data generated and used by the sensing unit 32 and the processing unit 31 when the flight ranging device 2 of the present case actually performs the ranging procedure (ie, measuring the distance between the flight ranging device 2 and the target object). signal content. In the present invention, the micro-control unit 33 adopts the same algorithm as the sensing unit 32 and the processing unit 31 when actually executing the ranging procedure to generate a plurality of reference phase signal values and reference depth values 332 . Therefore, the following paragraphs will be described with reference to FIG. 6 in conjunction with the ranging procedure performed by the sensing unit 32 and the processing unit 31 , but its technical content is applicable to the generation procedure of the micro-control unit 33 for multiple reference phase signal values.

As shown in FIG. 6 , the flight ranging device 2 transmits the optical signal S1 through the optical system 4 , and receives the reflected optical signal S2 from the external environment through the sensing unit 32 . The phase of the optical signal S1 is 0 degrees as an example, and there is a phase delay Ø between the reflected optical signal S2 and the optical signal S1 (because the receiving time of the reflected optical signal S2 is later than the transmitting time of the optical signal S1).

,

]，第三預設相位區間I3可設定為[π,2π]，第四預設相位區間I4可設定為[

,

]。 In one embodiment, the plurality of predetermined phase intervals 331 include a first predetermined phase interval I1, a second predetermined phase interval I2, a third predetermined phase interval I3 and a fourth predetermined phase interval I4, wherein, The first preset phase interval I1 can be set to [0, π], and the second preset phase interval I2 can be set to [

,

], the third preset phase interval I3 can be set to [π, 2π], and the fourth preset phase interval I4 can be set to [

,

].

After receiving the reflected light signal S2, the sensing unit 32 can respectively integrate the reflected light signal S2 based on the above-mentioned four preset phase intervals I1-I4 to calculate four phase signal values. Specifically, the sensing unit 32 integrates the reflected light signal S2 based on the first preset phase interval I1 to calculate the first phase signal value Q1 relative to the phase of 0 degrees. The sensing unit 32 integrates the reflected light signal S2 based on the second preset phase interval I2 to calculate a second phase signal value Q2 that is 90 degrees relative to the phase. The sensing unit 32 integrates the reflected light signal S2 based on the third preset phase interval I3 to calculate a third phase signal value Q3 that is 180 degrees relative to the phase. The sensing unit 32 integrates the reflected light signal S2 based on the fourth preset phase interval I4 to calculate the fourth phase signal value Q4 relative to the phase of 270 degrees.

)來計算相位延遲Ø。並且，在計算得到相位延遲Ø後，處理單元31可進一步通過上述第二公式(即，

)來計算飛行測距裝置2與目標物體51間的距離。 Next, the sensing unit 32 transmits the first phase signal value Q1, the second phase signal value Q2, the third phase signal value Q3 and the fourth phase signal value Q4 to the processing unit 31, and the processing unit 31 passes the aforementioned first formula (which is,

) to calculate the phase delay Ø. Moreover, after calculating the phase delay Ø, the processing unit 31 can further use the above-mentioned second formula (ie,

) to calculate the distance between the flight ranging device 2 and the target object 51 .

Please also refer to FIG. 7 , which is a first embodiment of a schematic diagram of a reference signal of the present invention. In one embodiment, the micro-control unit 33 of the present invention may pre-store a plurality of reference phase signal values generated based on a plurality of preset phase intervals 331 and a reference depth value 332 . In this embodiment, the micro-control unit 33 can directly provide a plurality of reference phase signal values to the processing unit 31 without any calculation, so as to execute the electronic system detection procedure.

In another embodiment, the micro-control unit 33 pre-stores a plurality of preset phase intervals 331 and the reference depth value 332, and when the electronic system detection program needs to be executed, the same algorithm as that used by the above-mentioned processing unit 31 is used to real-time Generate multiple reference phase signal values.

)來計算一個參考相位延遲，其中Dr指參考深度值332，Ør指參考相位延遲。於一實施例中，所述第二公式可記錄於微控制單元33的韌體中，但不加以限定。 Specifically, as shown in FIG. 7 , since the reference depth value 332 is a known value for the micro-control unit 33, the micro-control unit 33 can pass the above-mentioned second formula (ie, Dr.

) to calculate a reference phase delay, where Dr refers to the reference depth value 332 and Ør refers to the reference phase delay. In one embodiment, the second formula can be recorded in the firmware of the micro-control unit 33, but it is not limited.

In one embodiment, the reference depth value 332 is calculated data after actual measurement, and is recorded in the micro-control unit 33 . Therefore, for the micro-control unit 33, the optical signal used in the actual measurement (hereinafter referred to as the reference optical signal Sr1) is also a known signal. In this embodiment, after the micro-control unit 33 calculates the reference phase delay Ør, it can process the reference optical signal Sr1 according to the reference phase delay Ør to generate the reference reflected light signal Sr2.

,

])、第三預設相位區間(預設為[π,2π])與第四預設相位區間(預設為[

,

])，故微控制單元33可以基於四個預設相位區間來分別對參考反射光訊號Sr2進行積分，以計算對應的四個參考相位訊號值，包括第一參考相位訊號值Qr1、第二參考相位訊號值Qr2、第三參考相位訊號值Qr3以及第四參考相位訊號值Qr4。接著，微控制單元33可以將上述四個參考相位訊號值Qr1-Qr4提供給處理單元31。 As described above, the plurality of preset phase intervals pre-stored by the micro-control unit 33 may include a first preset phase interval (default is [0, π]), a second preset phase interval (default is [

,

]), the third preset phase interval (the default is [π, 2π]), and the fourth preset phase interval (the default is [

,

]), so the micro-control unit 33 can respectively integrate the reference reflected light signal Sr2 based on the four preset phase intervals to calculate the corresponding four reference phase signal values, including the first reference phase signal value Qr1, the second reference The phase signal value Qr2, the third reference phase signal value Qr3, and the fourth reference phase signal value Qr4. Next, the micro-control unit 33 may provide the above-mentioned four reference phase signal values Qr1 - Qr4 to the processing unit 31 .

)以計算測試相位延遲Øt。於步驟S14中，處理單元31基於測試相位延遲Øt執行所述第二公式(即，

)以計算測試深度值Dt。 Return to Figure 5. In step S12, the processing unit 31 executes the first formula based on the received at least four reference phase signals Qr1-Qr4 (ie,

) to calculate the test phase delay Øt. In step S14, the processing unit 31 executes the second formula based on the test phase delay Øt (ie,

) to calculate the test depth value Dt.

After step S14, the processing unit 31 transmits the test depth value to the micro-control unit 33, and the micro-control unit 33 calculates the difference value between the test depth value and the pre-stored reference depth value 332 (step S16). For example, the micro-control unit 33 may subtract the test depth value from the reference depth value and take the absolute value thereof as the difference value, but it is not limited thereto.

After step S16, the micro-control unit 33 determines whether the difference value falls within a predetermined error range (step S18), for example, determines whether the difference value is less than or equal to a threshold value. In addition, when the difference value does not fall within the error range (for example, the difference value is greater than the threshold value), the micro-control unit 33 determines that the electronic system 3 is abnormal (step S20 ). That is, the test depth value calculated by the processing unit 31 based on the received four reference phase signal values does not match the reference depth value 332 on which the four reference phase signal values are calculated. On the contrary, when the difference value falls within the error range (eg, the difference value is less than or equal to the preset threshold value), the micro-control unit 33 determines that the electronic system 3 is normal (step S22 ).

If the micro-control unit 33 determines in step S20 that the electronic system 3 is abnormal, the flight ranging device 2 does not execute the optical system detection method, and does not calculate the distance between the flight ranging device 2 and the target object 51 . In this embodiment, the flight ranging device 2 can selectively execute a digital output procedure to give an alarm, or execute a register write procedure to write an abnormal state into the register. Through the above technical means, the administrator can receive an alarm when the abnormality is detected, or confirm the occurrence time of the abnormality from the temporary register, thereby effectively saving the detection time of the flight ranging device 2 .

If the micro-control unit 33 determines in step S22 that the electronic system 3 is normal, the flight ranging device 2 can further sense the external environment 5 through the sensing unit 32 to generate a corresponding environment image, and the sensing unit 32 provides the The information (such as the first phase signal value Q1 to the fourth phase signal value Q4) is used to calculate the distance between the flight ranging device 2 and the at least one target object 51 in the environment image (step S24). As shown in FIGS. 3 and 4 , the environment image corresponds to the irradiation range of the light signal S1 in the external environment 5 , and includes an image of at least one target object 51 and an image of at least one positioning marker 52 in the external environment 5 .

After step S24, the processing unit 31 receives the environment image generated by the sensing unit 32, and determines whether the real-time state of the optical system 4 is normal according to the state of the positioning marker 52 in the environment image (step S26).

If the micro-control unit 33 determines in step S26 that the optical system 4 is abnormal, the processing unit 31 does not output the distance between the flight ranging device 2 and the target object 51 and does not store the current environment image. In this embodiment, the processing unit 31 can selectively execute the digital output procedure to give an alarm, or execute the register write procedure to write the abnormal state into the register. If the processing unit 31 determines in step S26 that the optical system 4 is normal, the processing unit 31 may further output the distance between the flight ranging device 2 and the target object 51 calculated in step S24, and store the current environment image (step S28) .

Please refer to FIG. 8 , which is a first specific embodiment of a ranging flowchart of the present invention. 8 is used to illustrate how the processing unit 31 calculates the distance between the flight ranging device 2 and the target object 51 according to the information provided by the sensing unit 32 when the electronic system 3 is determined to be normal through the electronic system detection procedure and the optical system detection procedure is executed. .

As shown in FIG. 8 , when the flight ranging device 2 is operating normally, the electronic system 3 (eg, the driver 35 ) controls the optical system 4 to emit an optical signal S1 (step S30 ), and the optical system 4 (eg, the second lens) transmits the optical signal S1 to the outside. 43) The sensing unit 32 receives the reflected light signal S2 relative to the light signal S1 (step S32). In one embodiment, the optical signal S1 and the reflected optical signal S2 are continuous waves that change periodically.

Next, as described above with respect to FIG. 6 , the sensing unit 32 respectively integrates the reflected light signal S2 based on a plurality of preset phase intervals (eg, the first preset phase interval I1 to the fourth preset phase interval I4 ) to obtain A plurality of phase signal values (eg, the first phase signal value Q1 to the fourth phase signal value Q4 ) are calculated (step S34 ), wherein each phase signal value Q1 to Q4 corresponds to different phase intervals respectively.

)，以計算反射光訊號S2相對於光訊號S1的相位延遲Ø。 After step S34, the processing unit 31 obtains a plurality of phase signal values from the sensing unit 32, and calculates the phase delay of the reflected light signal S2 relative to the light signal S1 based on the plurality of phase signal values (step S36). As described above, the processing unit 31 may execute the first formula (ie, based on a plurality of phase signal values)

) to calculate the phase delay Ø of the reflected optical signal S2 relative to the optical signal S1.

)，以計算飛行測距裝置2與目標物體51間的距離D。 After step S36, the processing unit 31 may calculate the distance between the flight ranging device 2 and the target object 51 based on the calculated phase delay Ø (step S38). As previously described, the processing unit 31 may execute the second formula based on the phase delay Ø (ie,

) to calculate the distance D between the flight ranging device 2 and the target object 51 .

After step S38, the processing unit 31 has calculated the distance D between the flight ranging device 2 and the target object 51, and can further store the distance D in the storage unit 34 (step S40), or based on the The distance D performs the corresponding function.

It is worth mentioning that, in the present invention, the flight ranging device 2 can preset one or more detection time points. When the detection time point arrives, the micro-control unit 33 automatically provides the plurality of reference phase signal values (eg, the first reference phase signal values Qr1-Qr4) to the processing unit 31 (step S42). In this embodiment, the processing unit 31 regards the plurality of reference phase signal values as the plurality of phase signal values directly provided by the sensing unit 32, and based on the technical means of the aforementioned steps S36 and S38, the plurality of reference phase signal values are based on Calculate the corresponding test depth value.

After step S38, the processing unit 31 transmits the test depth value to the micro-control unit 33, and the micro-control unit 33 determines whether the test depth value is consistent with the pre-stored reference depth value 332 (step S44). In one embodiment, the micro-control unit 33 determines that the test depth value is inconsistent with the reference depth value 332 when the difference between the test depth value and the reference depth value 332 does not fall within a predetermined error range.

If the micro-control unit 33 determines in step S44 that the test depth value is inconsistent with the reference depth value 332, it can be determined that the state of the processing unit 31 is abnormal, and thus controls the flight ranging device 2 to stop executing the optical system detection program and stop executing the ranging program . Moreover, as mentioned above, the micro-control unit 33 can execute a digital output program to give an external alarm, or execute a register write program to write the abnormal state of the processing unit 31 into the register.

Please refer to FIG. 9 , which is a second specific embodiment of the detection flow chart of the present invention. After the micro-control unit 33 confirms that the processing unit 31 is normal through the above-mentioned electronic system detection program, the processing unit 31 can further execute the optical system detection program through the method shown in FIG. 9 to confirm the optical system on the basis of the normal electronic system 3 4 is normal.

In the present invention, the processing unit 31 may first obtain and store the reference environment image (eg, stored in the storage unit 34 ) as the basis for detection. When the flight ranging device 2 is performing the ranging procedure, the optical system 4 will continue to transmit the optical signal S1 to the outside, and the sensing unit 32 will continue to receive the reflected optical signal S2. In one embodiment, the sensing unit 32 not only calculates a plurality of phase signal values based on the reflected light signal S2 to enable the processing unit 31 to calculate the distance between the flight ranging device 2 and the target object 51, but also based on the reflected light The signal S2 is used to generate the corresponding environment image. By comparing the environmental image with the reference environmental image, the processing unit 31 can confirm the real-time state of the optical system 4 .

As shown in FIG. 9 , first, before officially starting to monitor the external environment 5 and executing the ranging procedure, the external environment 5 is sensed by the sensing unit 32 to generate a corresponding environmental image, and the environmental image is stored as a reference Environment image (step S50). Specifically, the flight ranging device 2 can control the driver 35 by the processing unit 31 to drive the optical system 4 to emit the light signal S1 toward the external environment 5 , and the reflected light signal S2 is received by the sensing unit 32 , and the reflected light signal S2 is received by the sensing unit 32 based on the reflected light. Signal S2 generates the reference environment image.

In the present invention, the purpose of generating and storing the reference environment image is to determine whether the state of the optical system 4 is normal. Therefore, the reference environment image must at least include the image of the positioning mark 52 shown in FIG. 3 . Furthermore, the processing unit 31 performs image analysis on the reference environment image to obtain information of the positioning marker 52 in the reference environment image (step S52 ), such as coordinates, angles, etc., but not limited thereto.

After storing the reference environment image, the processing unit 31 controls the optical system 4 to continuously emit the light signal S1 through the driver 35, and controls the sensing unit 32 to continuously receive the reflected light signal S2 and generate the corresponding environment image (step S54).

Specifically, the flight ranging device 2 of the present invention is used to measure the depth of an unspecified target object 5 (ie, the distance between the target object 5 and the flight ranging device 2 ), that is, the target object 5 is movable. However, for detection purposes, the positioning markers 52 in the external environment 51 are fixed. In the present invention, the processing unit 31 continuously compares the environment image with the reference environment image (step S56), and determines whether the deviation value between the positioning markers in the environment image and the positioning markers in the reference environment image is greater than a threshold value ( step S58). The deviation value can be, for example, a displacement amount or a rotation amount, etc., but is not limited thereto.

If it is determined in step S58 that the deviation between the positioning marks in the environment image and the positioning marks in the reference environment image is not greater than the threshold value, the processing unit 31 may determine that the real-time state of the optical system 4 is normal, and store the detection results in the in the storage unit 34 (step S60). If it is determined in step S58 that the deviation value is greater than the threshold value, the processing unit 31 can determine that the real-time state of the optical system 4 is abnormal, and therefore does not output the relationship between the flight ranging device 2 and the target object 51 calculated by the previous ranging program. distance between. On the other hand, the processing unit 31 can execute a digital output program to give an external alarm, or execute a register write program to write an abnormal state into the register (step S62 ).

In this embodiment, the processing unit 31 can continuously determine whether the flight ranging device 2 stops executing the ranging procedure (step S64 ), and continues to execute the above steps S54 to S62 before stopping executing the ranging procedure. In this way, the processing unit 31 can immediately determine whether there is a problem with the optical system 4 (for example, the first lens 42 and the second lens 43 fall off due to impact) during the ranging process.

The present invention can ensure that the state of the processing unit 31 is normal when the optical system detection program is executed through the above-mentioned electronic system detection program. Through the above optical system detection procedure, it can be ensured that the signal received by the sensing unit 32 is correct, and the accuracy of the distance/depth calculated by the processing unit 31 can be ensured.

It is worth mentioning that, in some environments, the flight ranging device 2 needs to transmit multiple sets of optical signals S1 to the same target object 51 at the same time, so as to generate an effective environmental image after receiving the reflected optical signal S2. Therefore, in another embodiment, the optical system 4 of the flight ranging device 2 may include more than one set of light sources 41 .

Please refer to FIG. 10 , which is a second specific embodiment of the block diagram of the flight ranging device of the present invention. Figure 10 discloses another in-flight ranging device 2'. The difference from the flight ranging device 2 shown in FIG. 2 is that the optical system 4 of the flight ranging device 2 ′ includes at least two light sources 41 and at least two first lenses 42 , and the electronic system 3 includes at least two A driver 35 and a signal repeater (Signal Repeater) 36 .

As shown in FIG. 10 , the signal repeater 36 is connected to the sensing unit 32 or the processing unit 31 , and at least two drivers 35 are respectively connected to the signal repeater 36 and the two light sources 41 . In this embodiment, since the flight ranging device 2 ′ needs to transmit at least two sets of optical signals S1 through the optical system 4 , the sensing unit 32 processes the control commands through the signal repeater 36 , and then transmits them to at least two sets of optical signals S1 respectively. 35 drives.

In this embodiment, the number of drivers 35 , the number of light sources 41 and the number of first lenses 42 are the same, and their connection relationship is the same as that shown in the flight ranging device 2 shown in FIG. 2 . Through the control of the at least two drivers 35 , the at least two light sources 41 can respectively emit light signals S1 through the corresponding first lenses 42 to the outside.

It is worth mentioning that, in the embodiment in which the optical system 4 is provided with a plurality of light sources 41 and a plurality of first lenses 42 , multiple sets of optical signals S1 need to be simultaneously transmitted to the target object 51 to be measured in order to form an effective The reflected light signal S2 is received by the sensing unit 32 through the second lens 43 .

Through the technical solution of the present invention, the flight ranging devices 2, 2' can detect the optical system 4 only after confirming that the electronic system 3 is normal, thereby saving the time spent on debugging. In addition, the flight ranging device 2 will perform the ranging procedure only after confirming that the states of the electronic system 3 and the optical system 4 are normal, thereby making the measurement result more accurate.

The above description is only a preferred specific example of the present invention, and therefore does not limit the scope of the patent of the present invention. Therefore, all equivalent changes made by using the content of the present invention are all included in the scope of the present invention. bright.

11: Processor 111: The first processor 112: Second processor 12: Sensor S01~S06: Processing program 2, 2': flight ranging device 3: Electronic system 31: Processing unit 32: Sensing unit 33: Micro Control Unit 331: Preset phase interval 332: Reference depth value 34: Storage unit 35: Drive 36: Signal Repeater 4: Optical system 41: Light source 42: The first lens 43: Second lens 5: External environment 51: target object 52, 52': positioning mark Ø: Phase delay Ør: Reference phase delay I1: The first preset phase interval I2: The second preset phase interval I3: The third preset phase interval I4: Fourth preset phase interval S1: Optical signal S2: Reflected light signal Sr1: reference optical signal Sr2: Reference reflected light signal Q1: The first phase signal value Q2: The second phase signal value Q3: The third phase signal value Q4: Fourth phase signal value Qr1: first reference phase signal value Qr2: The second reference phase signal value Qr3: The third reference phase signal value Qr4: Fourth reference phase signal value S10~S28: detection steps S30~S44: Ranging steps S50~S64: Optical system inspection steps

FIG. 1 is a schematic diagram of the operation of a flight ranging device in the related art.

FIG. 2 is a first specific embodiment of the block diagram of the flight ranging device of the present invention.

FIG. 3 is a first specific embodiment of a schematic diagram of an external environment detection according to the present invention.

FIG. 4 is a second specific embodiment of a schematic diagram of external environment detection according to the present invention.

FIG. 5 is a first specific embodiment of a detection flow chart of the present invention.

FIG. 6 is a first specific embodiment of a signal schematic diagram of the present invention.

FIG. 7 is a first embodiment of a schematic diagram of a reference signal of the present invention.

FIG. 8 is a first specific embodiment of a ranging flowchart of the present invention.

FIG. 9 is a second specific embodiment of the detection flow chart of the present invention.

FIG. 10 is a second specific embodiment of the block diagram of the flight ranging device of the present invention.

2: Flight ranging device

3: Electronic system

31: Processing unit

32: Sensing unit

33: Micro Control Unit

331: Preset phase interval

332: Reference depth value

34: Storage unit

35: Drive

4: Optical system

41: Light source

42: The first lens

43: Second lens

Claims (13)

A detection method of a flight ranging device is applied to a flight ranging device including an electronic system and an optical system, and the detection method includes: a) A plurality of reference phase signal values are provided by a micro-control unit, wherein the micro-control unit records a plurality of preset phase intervals and a reference depth value, and the plurality of reference phase signal values are based on a reference phase delay and the plurality of generated by a preset phase interval, and the reference phase delay is generated based on the reference depth value; b) calculating a test phase delay by the electronic system according to the plurality of reference phase signal values, and calculating a test depth value according to the test phase delay; c) calculating a difference value between the test depth value and the reference depth value by the micro-control unit; d) judging that the electronic system is normal when the difference value falls within an error range; e) Sensing an external environment to generate an environmental image, and calculating a distance between the flight test device and a target object in the external environment, wherein the environmental image includes at least one target object and at least one positioning marker; f) judging whether a real-time state of the optical system is normal according to the at least one positioning mark in the environmental image; and g) When the real-time state of the optical system is normal, output the distance between the flight ranging device and the target object, and store the environment image. The detection method of claim 1, wherein the micro-control unit calculates the reference phase delay by a first formula:

, where Dr is the reference depth value, Ør is the reference phase delay, c is the speed of light, and f is a modulation frequency. The detection method of claim 2, wherein the micro-control unit processes a reference light signal according to the reference phase delay to generate a reference reflected light signal, and the reference reflected light is respectively based on the plurality of preset phase intervals The signals are integrated to calculate the plurality of reference phase signal values. The detection method of claim 3, wherein the plurality of preset phase intervals include a first preset phase interval, a second preset phase interval, a third preset phase interval, and a fourth preset phase interval, The first preset phase interval is [0, π], and the second preset phase interval is [

,

], the third preset phase interval is [π, 2π], and the fourth preset phase interval is [

,

]. The detection method according to claim 1, wherein the step b) calculates the test depth value by a first formula, and calculates the test phase delay by a second formula; wherein the first formula is:

, where Dt is the test depth value, Øt is the test phase delay, c is the speed of light, and f is a modulation frequency; the second formula is:

, where Øt is the test phase delay, Qr1 is a first reference phase signal value among the plurality of reference phase signal values, Qr2 is a second reference phase signal value among the plurality of reference phase signal values, and Qr3 is the A third reference phase signal value among the plurality of reference phase signal values, and Qr4 is a fourth reference phase signal value among the plurality of reference phase signal values. The detection method according to claim 1, further comprising a step h): sensing the external environment and generating a reference environment image, wherein the reference environment image at least includes the positioning marker; Wherein, this step e) comprises: e1) simultaneously transmit at least one optical signal externally by the optical system, and receive at least one reflected optical signal relative to the at least one optical signal by the electronic system; and e2) generating the environmental image according to the at least one reflected light signal; Wherein, the step f) is to judge whether the real-time state of the optical system is normal according to a deviation value between the positioning mark in the environment image and the positioning mark in the reference environment image. The detection method as claimed in claim 6, wherein the step e) further comprises: e3) respectively integrating the reflected light signal based on the plurality of preset phase intervals to calculate a plurality of phase signal values; e4) calculating a phase delay of the reflected optical signal relative to the optical signal based on the plurality of phase signal values; and e5) Calculate the distance between the flight ranging device and the target object based on the phase delay. The detection method according to claim 7, wherein the plurality of predetermined phase intervals at least include a first predetermined phase interval, a second predetermined phase interval, a third predetermined phase interval and a fourth predetermined phase interval interval, the first preset phase interval is [0, π], and the second preset phase interval is [

,

], the third preset phase interval is [π, 2π], and the fourth preset phase interval is [

,

], this step e4) calculates this phase delay by a second formula, this step e5) calculates this distance by a first formula, wherein this first formula is:

, where D is the distance, Ø is the phase delay, c is the speed of light, and f is a modulation frequency; the second formula is:

, where Ø is the phase delay, Q1 is a first phase signal value, Q2 is a second phase signal value, Q3 is a third phase signal value, and Q4 is a fourth phase signal value. A flight ranging device, comprising: an electronic system, including: a processing unit that receives a plurality of reference phase signal values, calculates a test phase delay according to the plurality of reference phase signal values, and calculates a test depth value according to the test phase delay; A micro-control unit, connected to the processing unit, records a plurality of preset phase intervals and a reference depth value, wherein the reference depth value is used to calculate a reference phase delay, and the reference phase delay and the plurality of preset phase intervals are used for calculating the plurality of reference phase signal values, and the micro-control unit calculates a difference value between the test depth value and the reference depth value, and judges that the electronic system is normal when the difference value falls within an error range; a sensing unit connected to the processing unit; and an optical system that emits an optical signal to an external environment, wherein the external environment includes at least one target object and at least one positioning marker; wherein, the sensing unit receives a reflected light signal corresponding to the light signal from the external environment and generates an environmental image, and calculates a distance between the flight ranging device and the target object in the external environment, and The processing unit determines whether a real-time state of the optical system is normal according to the positioning mark in the environment image, and outputs the distance and stores the environment image when the real-time state of the optical system is normal. The in-flight ranging device as claimed in claim 9, wherein the optical signal and the reflected optical signal are a continuous wave that changes periodically. The in-flight ranging device according to claim 9, wherein the processing unit is a system-on-chip, a central processing unit or a field programmable logic gate array, and the optical system includes a first lens through which the light is emitted A light source for the signal and a second lens for guiding the reflected light signal to the sensing unit, the electronic system includes a driver that connects the light source and controls the light source to emit the light signal. The flight ranging device according to claim 11, wherein the optical system includes two or more first lenses, and two or more light sources corresponding to the first lenses, and the electronic system includes two or more connections Each of the light sources simultaneously controls the driver for each of the light sources to emit the optical signal, and a signal repeater connected to each of the drivers and the sensing unit to process a control command sent to each of the drivers. The flight ranging device according to claim 9, wherein the micro-control unit records a first formula, the processing unit records the first formula and a second formula; the processing unit calculates the reference phase through the first formula delaying, processing a reference optical signal according to the reference phase delay to generate a reference reflected optical signal, and respectively integrating the reference reflected optical signal based on the plurality of preset phase intervals to calculate the plurality of reference phase signals; the The processing unit calculates the test depth value through the first formula, and calculates the test phase delay through the second formula; the first formula is:

, where Dt is the test depth value or the reference depth value, Øt is the test phase delay or the reference phase delay, c is the speed of light, and f is a modulation frequency; the second formula is:

, wherein Qr1 is a first reference phase signal value among the plurality of reference phase signal values, Qr2 is a second reference phase signal value among the plurality of reference phase signal values, and Qr3 is one of the plurality of reference phase signal values A third reference phase signal value of , Qr4 is a fourth reference phase signal value among the plurality of reference phase signal values.

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