WO2022109826A1 - 距离测量方法和装置、电子设备和存储介质 - Google Patents

距离测量方法和装置、电子设备和存储介质 Download PDF

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Publication number
WO2022109826A1
WO2022109826A1 PCT/CN2020/131314 CN2020131314W WO2022109826A1 WO 2022109826 A1 WO2022109826 A1 WO 2022109826A1 CN 2020131314 W CN2020131314 W CN 2020131314W WO 2022109826 A1 WO2022109826 A1 WO 2022109826A1
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Prior art keywords
histogram
matrix
time
photon
distance measurement
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PCT/CN2020/131314
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English (en)
French (fr)
Inventor
杨锦城
任亚林
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深圳市速腾聚创科技有限公司
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Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to PCT/CN2020/131314 priority Critical patent/WO2022109826A1/zh
Priority to CN202080004944.XA priority patent/CN115038989A/zh
Publication of WO2022109826A1 publication Critical patent/WO2022109826A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves

Definitions

  • the present application relates to the field of measurement, and in particular to a distance measurement method and device, an electronic device and a storage medium.
  • Time of flight (TOF) measurement systems have important applications in various 3D ranging and 3D imaging fields, such as autonomous driving, face recognition, 3D games, and virtual reality.
  • the time-of-flight (TOF) technology is that the light source emits a continuous or pulsed outgoing beam, which returns after being reflected by the measured target, and the photoelectric sensor receives the returned echo beam.
  • TOF time-of-flight
  • the photoelectric sensor receives the returned echo beam.
  • Embodiments of the present application provide a distance measurement method and device, an electronic device, and a storage medium.
  • an embodiment of the present application provides a distance measurement method, the method comprising:
  • the flight time of the signal photons is determined according to the histogram, and the distance between the measuring device and the measured target is determined according to the flight time of the signal photons.
  • an embodiment of the present application provides a distance measurement device, the device comprising:
  • the acquisition module is used to acquire multiple histogram data
  • a generating module configured to perform smooth interpolation processing on the multiple histogram data to generate a histogram
  • a determination module configured to determine the time of flight of the signal photons according to the histogram, and determine the distance between the measuring device and the measured target according to the time of flight of the signal photons.
  • an embodiment of the present application provides a computer storage medium, where the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above method steps.
  • an embodiment of the present application provides an electronic device, which may include: a processor and a memory;
  • the memory stores a computer program
  • the computer program is adapted to be loaded by the processor and execute the above-mentioned method steps.
  • multiple histogram data are acquired; smooth interpolation processing is performed on the multiple histogram data to generate a histogram; according to the histogram, the flight time of the signal photon is determined, and according to the flight time of the signal photon, the measuring device is determined to The distance between the measured objects. Therefore, the distance measurement method of the present application can process multiple histogram data through smooth interpolation, so as to filter out noise photon events and improve the accuracy of signal photon detection. In addition, the present application performs optimization and improvement on the basis of the inherent photoelectric sensor and time-to-digital converter, and does not need to change the existing hardware structure, thus saving the design cost.
  • FIG. 1 is a schematic diagram of the architecture of a distance measurement system according to an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a distance measurement method according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of time stamps of n integration periods in an embodiment provided by the present application.
  • FIG. 5 is a schematic flowchart of a distance measurement method according to another embodiment of the present application.
  • FIG. 6 is a schematic diagram of the process of convolution and processing of the first matrix in the distance measurement method provided by the application;
  • Fig. 7a is a histogram generated by an embodiment of smooth interpolation provided by the application.
  • Figure 7b is a histogram generated by another embodiment of smooth interpolation provided by the application.
  • FIGS. 8a-8d are schematic diagrams of specific processing procedures of smooth interpolation in a distance measurement method according to an embodiment of the present application.
  • FIG. 9 is a schematic flowchart of a distance measurement method according to yet another embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a distance measurement device according to an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of a distance measuring device according to another embodiment provided by the present application.
  • FIG. 12 is a schematic structural diagram of a distance measuring device according to still another embodiment provided by the present application.
  • FIG. 13 is a structural diagram of an electronic device provided by the present application.
  • FIG. 1 is a schematic structural diagram of a distance measurement system provided by an embodiment of the present application.
  • the distance measurement system may include a photoelectric sensor, a time to digital converter (Time to Digital Convert, TDC), a random access memory (Random Access Memory, RAM), and a processor.
  • the photoelectric sensor can use devices that receive photon events, such as photodiode (PD) and single photon avalanche diode (SPAD).
  • PD photodiode
  • SPAD single photon avalanche diode
  • a histogram is generated from the received photon events, and operations such as smooth interpolation are performed on the histogram to determine the signal photons used to calculate the distance between the measuring device and the measured target.
  • a single-photon avalanche diode receives the echo photons reflected by the measured target and triggers to generate an avalanche pulse electrical signal, and transmits the avalanche pulse electrical signal to a time-to-digital converter (TDC) to record the time
  • the random access memory stores the time of the received echo photons
  • the processor performs smooth interpolation and other processing on the data stored in the random access memory to filter the noise signal received during the measurement process, and Obtain the time of the outgoing photons emitted by the transmitting end of the distance measurement system, calculate the time difference between the outgoing photons and the received echo photons, which is the flight time of the detected photons, and finally calculate the distance between the distance measurement system and the measured target according to the flight time. the distance.
  • the distance measurement method provided by the embodiment of the present application is introduced in conjunction with the distance measurement system introduced in FIG. 1 .
  • FIG. 2 provides a flow chart of a distance measurement method.
  • the distance measurement method includes the following steps:
  • the histogram data may include a timestamp of each photon event in one frame period, one frame period includes n integration periods, and the timestamp is used to represent the moment when the photon event is received within one integration period.
  • the photon events may include noise photon events and signal photon events.
  • the time stamps of the noise photon events and the signal photon events are received in each integration period.
  • the timestamps t1, t2, ..., t(n) of multiple photon events received in one frame period the number of photon events corresponding to each timestamp t1 ⁇ bin1, t2 ⁇ bin2, ..., t(n) ⁇ bin(n).
  • S203 Determine the flight time of the signal photons according to the histogram, and determine the distance between the measuring device and the measured target according to the flight time of the signal photons.
  • multiple histogram data are acquired; smooth interpolation processing is performed on the multiple histogram data to generate a histogram; according to the histogram, the flight time of the signal photon is determined, and according to the flight time of the signal photon, the measuring device is determined to The distance between the measured objects. Therefore, the distance measurement method of the present application can process multiple histogram data through smooth interpolation, so as to filter out noise photon events and improve the accuracy of signal photon detection. In addition, the present application optimizes and improves on the basis of the inherent photoelectric sensor and time-to-digital converter, and does not need to change the existing hardware structure, thus saving the design cost.
  • any of the distance measurement methods provided in the embodiments of the present application may be executed by any appropriate device with data processing capabilities, including but not limited to: terminal devices and servers.
  • any of the distance measurement methods provided in the embodiments of the present application may be executed by a processor, for example, the processor executes any of the distance measurement methods mentioned in the embodiments of the present application by invoking corresponding instructions stored in the memory. No further description will be given below.
  • step S202 in the above embodiment of the present application may specifically include the following steps:
  • S501 Determine a first matrix based on timestamps in multiple histogram data.
  • the first matrix is used to represent the time stamps in the histogram data are converted into a one-dimensional matrix, for example, there are 2 photon events with timestamp t 1 and 1 photon event with timestamp t 2 in the histogram data , 3 photon events with timestamp t 3 , then the first matrix can be expressed as: [t 1 , t 1 , t 2 , t 3 , t 3 , t 3 ].
  • S502 Perform smooth interpolation processing on the first matrix based on a preset window function coefficient matrix to obtain a second matrix.
  • the preset window function may be a rectangular window function.
  • the value in the window function coefficient matrix may be determined by the number of photon events and the intensity of photon events corresponding to each timestamp in the plurality of histogram data.
  • the present application can also use the coefficient matrix of a window function such as a Hamming window function or a Caesar window function to perform smooth interpolation processing on the first matrix to obtain the second matrix.
  • a window function such as a Hamming window function or a Caesar window function
  • step S502 may include: convolving and operating the first matrix based on the coefficient matrix of the rectangular window function to obtain the second matrix.
  • the first matrix and the window function coefficient matrix are convolved and processed, for example, the data 3, 6, 6, 6, 6, 6, 7, 8, 8, 8, 9, and 0.073, 0.075, 0.077, 0.078, 0.079, 0.079, 0.079, 0.079, 0.078, 0.077 in the window function coefficient matrix are convolved and operated to obtain The data in the second matrix as shown below:
  • the present application can generate a histogram based on the number of photon events corresponding to each timestamp in the second matrix.
  • the abscissa data of the histogram is determined according to the time range in which each data in the second matrix is located, and the ordinate data of the histogram is determined according to the quantity of data in each time range.
  • the abscissa data of the histogram includes 0-t1, t1 -t2, t2-t3, t3-t4 four time ranges, and because the data in the 0-t1 time range is 1 (t0.3), and the data in the t1-t2 time range is 1 (t1.2) , the data in the time range of t2-t3 is 3 (t2.1, t2.3, t2.8), and the data in the time range of t3-t4 is 2 (t3.1, t3.4), therefore, the histogram
  • the ordinate data of the graph are 1, 1, 3, and 2, respectively, so that the histogram shown in FIG.
  • the time stamp obtained based on the preset rule is the reception time of the signal photon event, for example, it may be the maximum value, the minimum value or the middle value in the time range t2-t3.
  • the present application may also round the timestamps in the second matrix to an integer, and then perform quantity accumulation.
  • a preferred embodiment may be that after rounding the timestamps in the second matrix in the embodiment 7a to an integer, an integerized second matrix [t0, t1, t2, t2, t3, t3, t3] is obtained, and then After further accumulating the number of photon events corresponding to each timestamp in the second integerized matrix, the histogram shown in FIG. 7b can be generated. It can be seen from Figure 7b that the number of photon events accumulated at the timestamp t3 is the largest, which is the reception time of the signal photon event.
  • FIG. 8a A specific implementation of the smooth interpolation process is shown in Figures 8a-8c.
  • the timestamps measured by the time-to-digital converter over multiple integration periods within a frame period are distributed in the range of 0 to T0.
  • the time stamps of signal photon events are coherent, and the time stamps of noise photon events are random, so after multiple integration periods, the accumulated number of signal photon events is greater than that of noise photon events, forming a peak in the histogram, It is then recognized by the back-end processing circuit.
  • the time stamp tk is the time of flight (TOF) of the signal photon corresponding to the measured target.
  • TOF time of flight
  • Figure 8b shows a specific process of convolution and processing of the first matrix [t1, t1, t2, t2, t3, t4, ..., tn-2, tn-1, tn] of the photon time data.
  • the window function ⁇ a1, a2, a3, a4, a5 ⁇ used in this process can be a 5th-order low-pass FIR filter, which performs an operation on each data at the first matrix position, and the result of the operation is stored. to another memory corresponding to the same position coordinates; after the calculation of the current position is completed, the window function moves one bit to the right to calculate the data of the next position, for example:
  • the window function coefficient matrix continuously moves the convolution and operation of the first matrix until a complete convolution and operation is performed on the entire first matrix, and the obtained second matrix [t1, t1. 5,t2.2,t2.9,t3.6,...,tn-1.k1,tn-2.k2,tn.k], perform histogram distribution calculation on the second matrix, you can get: t 1 -t There are t 1 and t 1.5 between 2 , so the number corresponding to timestamp t 1 is 2; there are t 2.2 and t 2.9 between t 2 -t 3 , so the number corresponding to timestamp t 2 is 2; t 3 There is t 3.6 between -t 4 , so the number corresponding to timestamp t 3 is 1; there is t 4.3 between t 4 -t 5 , so the number corresponding to timestamp t 4 is 1, ..., t k -t There are t k.1 , t k.2 , t
  • the histogram may be obtained by rounding the timestamps in the second matrix to integers and then performing quantity accumulation. For example, rounding the timestamp of the second matrix in FIG. 8b to obtain an integerized second matrix is [t1,t2,t2,t3,t4,...,tn-1,tn-2,tn], the integer The number of photon events corresponding to each timestamp in the transformed second matrix is accumulated, and the histogram shown in Fig. 8d can be obtained.
  • the histogram processed by the smooth interpolation of the present application can more correctly identify the peak value corresponding to the flight time of the signal photon event. Therefore, the time data calculated by smooth interpolation improves the signal-to-noise ratio, thereby improving the accuracy of time-of-flight detection.
  • step S203 in the above embodiment of the present application may specifically include the following steps:
  • S902 Determine the flight time of the signal photon according to the preset emission time of the signal photon and the reception time.
  • the flight time of the signal photons can be determined to be 66ns, and when the speed of the signal photons is 300000km/s, it can be determined that the distance between the measuring device and the measured target can be determined. The distance is about 10m.
  • FIG. 10 is a schematic structural diagram of a distance measurement device 10 provided by an exemplary embodiment of the present application.
  • the distance measuring apparatus 10 may be set in electronic equipment such as a terminal device and a server, and execute the distance measuring method of any of the above-mentioned embodiments of the present application. As shown in Figure 10, the distance measuring device 10 includes:
  • an acquisition module 11 for acquiring multiple histogram data
  • a generating module 12 configured to perform smooth interpolation processing on the multiple histogram data to generate a histogram
  • the determining module 13 is used for determining the time of flight of the signal photon according to the histogram, and determining the distance between the measuring device and the measured target according to the time of flight of the signal photon.
  • multiple histogram data are acquired; smooth interpolation processing is performed on the multiple histogram data to generate a histogram; according to the histogram, the flight time of the signal photon is determined, and according to the flight time of the signal photon, the measuring device is determined to The distance between the measured objects. Therefore, the distance measurement method of the present application can process multiple histogram data through smooth interpolation, so as to filter out noise photon events and improve the accuracy of signal photon detection. In addition, the present application performs optimization and improvement on the basis of the inherent photoelectric sensor and time-to-digital converter, and does not need to change the existing hardware structure, thus saving the design cost.
  • the histogram data includes timestamps of each photon event.
  • the generating module 12 includes:
  • a first determining unit 21 configured to determine a first matrix based on the timestamps in the plurality of histogram data
  • a generating unit 23 configured to generate a histogram based on the second matrix.
  • each item of data in the preset window function coefficient matrix is determined by the number of photon events and the intensity of the photon events corresponding to each of the timestamps in the histogram data.
  • the obtaining unit 22 is specifically configured to perform convolution and operation on the first matrix based on the coefficient matrix of the rectangular window function to obtain a second matrix.
  • the generating unit 23 is specifically configured to generate the histogram based on the quantity accumulation of photon events corresponding to each timestamp in the second frequency domain matrix.
  • the determining module 13 includes:
  • the second determination unit 31 is configured to determine the time stamp corresponding to the maximum number of photon events in the histogram as the reception time of the signal photon;
  • the third determination unit 32 determines the flight time of the signal photon according to the preset emission time and the reception time of the signal photon;
  • the fourth determining unit 32 determines the distance between the measuring device and the measured target according to the flight time of the signal photon and the speed of the signal photon.
  • the distance measurement device provided in the above embodiment executes the distance measurement method
  • only the division of the above-mentioned functional modules is used as an example for illustration. , that is, dividing the internal structure of the device into different functional modules to complete all or part of the functions described above.
  • the distance measurement device provided in the above embodiments and the distance measurement method embodiments belong to the same concept, and the embodiment and implementation process thereof are detailed in the method embodiments, which will not be repeated here.
  • the electronic device 20 may include: at least one processor 131 , at least one network interface 134 , user interface 133 , memory 135 , and at least one communication bus 1003 .
  • the communication bus 132 is used to realize the connection and communication between these components.
  • the user interface 133 may include a display screen (Display) and a camera (Camera), and the optional user interface 133 may also include a standard wired interface and a wireless interface.
  • Display display screen
  • Camera Camera
  • the optional user interface 133 may also include a standard wired interface and a wireless interface.
  • the network interface 134 may optionally include a standard wired interface and a wireless interface (eg, a WI-FI interface).
  • the processor 131 may include one or more processing cores.
  • the processor 131 uses various excuses and lines to connect various parts of the entire electronic device 20, and executes by running or executing the instructions, programs, code sets or instruction sets stored in the memory 135, and calling the data stored in the memory 135.
  • Various functions of the electronic device 20 and processing data may adopt at least one of digital signal processing (Digital Signal Processing, DSP), field-programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). implemented in a hardware form.
  • DSP Digital Signal Processing
  • FPGA Field-Programmable Gate Array
  • PLA programmable logic array
  • the processor 131 may integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU), a modem, and the like.
  • CPU Central Processing Unit
  • GPU Graphics Processing Unit
  • the CPU mainly handles the operating system, user interface, and application programs
  • the GPU is used for rendering and drawing of the content that needs to be displayed on the display screen
  • the modem is used to handle wireless communication. It can be understood that, the above-mentioned modem may not be integrated into the processor 131, but is implemented by a single chip.
  • the memory 135 may include random access memory (Random Access Memory, RAM), or may include read-only memory (Read-Only Memory).
  • the memory 135 includes a non-transitory computer-readable storage medium.
  • Memory 135 may be used to store instructions, programs, codes, sets of codes or sets of instructions.
  • the memory 135 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), Instructions and the like used to implement the above method embodiments; the storage data area may store the data and the like involved in the above method embodiments.
  • the memory 135 can optionally also be at least one storage device located away from the aforementioned processor 131 .
  • the memory 135 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a distance measurement application program.
  • the user interface 133 is mainly used to provide an input interface for the user to obtain the data input by the user; and the processor 131 can be used to call the distance measurement application program stored in the memory 135, and specifically Do the following:
  • the flight time of the signal photons is determined according to the histogram, and the distance between the measuring device and the measured target is determined according to the flight time of the signal photons.
  • the processor 110 executes determining the first matrix based on the timestamps in the plurality of histogram data
  • a histogram is generated based on the second matrix.
  • the processor 110 determines the time stamp corresponding to the maximum number of photon events in the histogram as the reception time of the signal photon;
  • the distance between the measurement device and the measured target is determined.
  • Embodiments of the present application also provide a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the computer or processor is run on a computer or a processor, the computer or the processor is made to execute the above-mentioned FIG. 2 , FIG. 5 , One or more steps in the embodiment shown in FIG. 9 . If each constituent module of the above-mentioned distance measuring device is realized in the form of software functional unit and sold or used as an independent product, it can be stored in the computer-readable storage medium.
  • the above-mentioned embodiments it may be implemented in whole or in part by software, hardware, firmware or any combination thereof.
  • software it can be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated.
  • the computer may be a general purpose computer, special purpose computer, computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted over a computer-readable storage medium.
  • the computer instructions can be sent from a website site, computer, server, or data center via wired (eg, coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.) another website site, computer, server or data center for transmission.
  • the computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media.
  • the available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, Digital Versatile Disc (DVD)), or semiconductor media (eg, Solid State Disk, SSD)) etc.
  • the aforementioned storage medium includes: a system memory (Read Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk and other media that can store program codes.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • magnetic disk or an optical disk and other media that can store program codes.

Abstract

一种距离测量方法和装置、电子设备和存储介质，该方法包括：获取多个直方图数据（S201）；对多个直方图数据进行平滑插值处理生成直方图（S202）；根据直方图确定信号光子的飞行时间，并根据信号光子的飞行时间，确定测量设备到被测目标之间的距离（S203）。由此，上述距离测量方法可通过平滑插值对多个直方图数据进行处理，以滤除噪声光子事件，提升信号光子检测的准确度。此外，所述方法在固有的光电传感器和时间数字转换器的基础上进行优化提升，不需要更改现有的硬件结构，节省了设计成本。

Description

距离测量方法和装置、电子设备和存储介质 技术领域
本申请涉及测量领域，具体涉及一种距离测量方法和装置、电子设备和存储介质。
背景技术
飞行时间(Time of flight，TOF)测量系统在各种三维测距和三维成像领域有着重要的应用，例如自动驾驶、人脸识别、3D游戏、以及虚拟现实等。具体的，飞行时间测量(TOF)技术是光源发射连续或脉冲的出射光束，遇被测目标反射后返回，光电传感器接收返回的回波光束，通过计算发射出射光束和接收回波光束的时间差，或计算出射光束和回波光束的相位差，来换算被测目标的距离，即深度信息。
在飞行时间的实际测量过程中，环境光的干扰以及光电传感器本身的暗噪声等会导致测量系统产生大量的干扰信息，即噪声信号。因此，如何避免噪声信号的影响以提升飞行时间测距的精准度是本领域技术人员亟待解决的技术难题。
发明内容
本申请实施例提供了一种距离测量方法和装置、电子设备和存储介质。
第一方面，本申请实施例提供了距离测量方法，所述方法包括：
获取多个直方图数据；
对所述多个直方图数据进行平滑插值处理生成直方图；
根据所述直方图确定信号光子的飞行时间，并根据所述信号光子的飞行时间，确定测量设备到被测目标之间的距离。
第二方面，本申请实施例提供了一种距离测量装置，所述装置包括：
获取模块，用于获取多个直方图数据；
生成模块，用于对所述多个直方图数据进行平滑插值处理生成直方图；
确定模块，用于根据所述直方图确定信号光子的飞行时间，并根据所述信 号光子的飞行时间，确定测量设备到被测目标之间的距离。
第三方面，本申请实施例提供一种计算机存储介质，所述计算机存储介质存储有多条指令，所述指令适于由处理器加载并执行上述的方法步骤。
第四方面，本申请实施例提供一种电子设备，可包括：处理器和存储器；
其中，所述存储器存储有计算机程序，所述计算机程序适于由所述处理器加载并执行上述的方法步骤。
本申请一些实施例提供的技术方案带来的有益效果至少包括：
在本申请实施例中，获取多个直方图数据；对多个直方图数据进行平滑插值处理生成直方图；根据直方图确定信号光子的飞行时间，并根据信号光子的飞行时间，确定测量设备到被测目标之间的距离。由此，本申请的距离测量方法可通过平滑插值对多个直方图数据进行处理，以滤除噪声光子事件，提升信号光子检测的准确度。此外，本申请在固有的光电传感器和时间数字转换器的基础上进行优化提升，不需要更改现有的硬件结构，节省了设计成本。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请提供的一个实施例的距离测量系统的架构示意图；
图2为本申请提供的一个实施例的距离测量方法的流程示意图；
图3为本申请提供的一个实施例中的n个积分周期的时间戳示意图；
图4为本申请提供的一个未经平滑插值的实施例生成的直方图；
图5为本申请提供的另一个实施例的距离测量方法的流程示意图；
图6为本申请提供的距离测量方法中对第一矩阵进行卷积和处理过程示意图；
图7a为本申请提供的一个经平滑插值的实施例生成的直方图；
图7b为本申请提供的另一个经平滑插值的实施例生成的直方图；
图8a-8d为本申请提供的一个实施例的距离测量方法中的平滑插值的具体处理过程示意图；
图9为本申请提供的再一个实施例的距离测量方法的流程示意图；
图10是本申请提供的一个实施例的距离测量装置的结构示意图；
图11是本申请提供的另一个实施例的距离测量装置的结构示意图；
图12是本申请提供的再一个实施例的距离测量装置的结构示意图；
图13是本申请提供的电子设备的结构图。
具体实施方式
下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请的描述中，需要理解的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。此外，在本申请的描述中，除非另有说明，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
请参见图1，图1是本申请实施例提供的一种距离测量系统的架构示意图。
如图1所示，该距离测量系统可以包括光电传感器、时间数字转换器(Time to Digital Convert,TDC)、随机存取存储器(Random Access Memory，RAM)、以及处理器。其中，光电传感器可以采用光电二极管(PD)和单光子雪崩二极管(SPAD)等接收光子事件的器件，时间数字转换器(TDC)将光电传感器接收到的光子事件进行采样输出，处理器用于根据接收到的光子事件生成直方图，并对该直方图进行平滑插值等操作以确定用于计算测量设备到被测目标之间距离的信号光子。
具体的，在三维测距场景中单光子雪崩二极管(SPAD)接收被测目标反射的回波光子触发产生雪崩脉冲电信号，将该雪崩脉冲电信号传递给时间数字转换器(TDC)以记录的时间，随机存取存储器(RAM)对接收到的回波光子的时间进行存储，处理器对随机存取存储器中存储的数据进行平滑插值等处理，以过滤测量过程中接收到的噪声信号，并获取距离测量系统的发射端发射的出射光子的时间，计算得到发射出射光子和接收回波光子的时间差，即为探测光子的飞行时间，最后根据该飞行时间计算距离测量系统到被测目标之间的距离。
接下来接合图1介绍的距离测量系统，来介绍本申请实施例提供的距离测量方法。
在一个实施例中，图2所示提供了一种距离测量方法流程图。该距离测量方法包括如下步骤：
S201，获取多个直方图数据。
其中，直方图数据可以包括一个帧周期内的每个光子事件的时间戳，一个帧周期包括n个积分周期，该时间戳用于表示一个积分周期内接收到光子事件的时刻。光子事件可以包括噪声光子事件和信号光子事件。
具体地，如图3所示的一个帧周期的n个积分周期T0内，各积分周期接收到噪声光子事件和信号光子事件的时间戳。
进一步地，参见图4，在一个帧周期内接收到的多个光子事件的时间戳t1、t2、…、t(n)，各时间戳对应的光子事件的数量t1→bin1、t2→bin2、...、t(n)→bin(n)。
S202，对多个直方图数据进行平滑插值处理生成直方图。
S203，根据直方图确定信号光子的飞行时间，并根据信号光子的飞行时间，确定测量设备到被测目标之间的距离。
在本申请实施例中，获取多个直方图数据；对多个直方图数据进行平滑插值处理生成直方图；根据直方图确定信号光子的飞行时间，并根据信号光子的飞行时间，确定测量设备到被测目标之间的距离。由此，本申请的距离测量方法可通过平滑插值对多个直方图数据进行处理，以滤除噪声光子事件，提升信号光子检测的准确度。此外，本申请在固有的光电传感器和时间数字转换器的 基础上进行优化提升，不需要更改现有的硬件结构，节省了设计成本。
本申请实施例提供的任一种距离测量方法可以由任意适当的具有数据处理能力的设备执行，包括但不限于：终端设备和服务器等。或者，本申请实施例提供的任一种距离测量方法可以由处理器执行，如处理器通过调用存储器存储的相应指令来执行本申请实施例提及的任一种距离测量方法。下文不再赘述。
如图5所示，本申请上述实施例中步骤S202具体可以包括以下步骤：
S501，基于多个直方图数据中的时间戳确定第一矩阵。
其中，第一矩阵用于表示将直方图数据中的时间戳转化为一个一维矩阵，例如，在直方图数据中存在时间戳t 1的光子事件2个、时间戳t 2的光子事件1个、时间戳t 3的光子事件3个，则第一矩阵可以表示为：[t 1,t 1,t 2,t 3,t 3,t 3]。
S502，基于预设的窗函数系数矩阵对第一矩阵进行平滑插值处理，获得第二矩阵。
其中，预设的窗函数可以为矩形窗函数。
具体地，窗函数系数矩阵中的数值可以由多个直方图数据中的每个时间戳对应的光子事件的数量和光子事件的强度确定。
此外，本申请还可以采用汉明窗函数或凯撒窗函数等窗函数的系数矩阵对第一矩阵进行平滑插值处理，获得第二矩阵。
进一步地，上述步骤S502可以包括：基于矩形窗函数的系数矩阵对第一矩阵进行卷积和操作，获得第二矩阵。
如图6所示的由第一矩阵转换为第二矩阵的过程，将第一矩阵和窗函数系数矩阵进行卷积和处理，例如，将第一矩阵中的数据3,6,6,6,6,7,8,8,8,8,9与窗函数系数矩阵中的0.073,0.075,0.077,0.078,0.079,0.079,0.079,0.079,0.079,0.078,0.077进行卷积和操作，即可获得如下所示的第二矩阵中的数据：
3*0.073≈0.2,
6*0.075+3*0.073≈0.7,
6*0.077+6*0.075+3*0.073≈1.1,
6*0.078+6*0.077+6*0.075+3*0.073≈1.6,
6*0.079+6*0.078+6*0.077+6*0.075+3*0.073≈2.1,
7*0.079+6*0.079+6*0.078+6*0.077+6*0.075+3*0.073≈2.6,
8*0.079+7*0.079+6*0.079+6*0.078+6*0.077+6*0.075+3*0.073≈3.2,
8*0.079+8*0.079+7*0.079+6*0.079+6*0.078+6*0.077+6*0.075+3*0.073≈3.8,
8*0.079+8*0.079+8*0.079+7*0.079+6*0.079+6*0.078+6*0.077+6*0.075+3*0.073≈4.4,
8*0.078+8*0.079+8*0.079+8*0.079+7*0.079+6*0.079+6*0.078+6*0.077+6*0.075+3*0.073≈5.1,
9*0.077+8*0.078+8*0.079+8*0.079+8*0.079+7*0.079+6*0.079+6*0.078+6*0.077+6*0.075+3*0.073≈5.8。
S503，基于第二矩阵生成直方图。
进一步地，本申请可以基于第二矩阵中的每个时间戳对应的光子事件进行数量累积生成直方图。其中，直方图的横坐标数据根据第二矩阵中各数据所在的时间范围确定，直方图的纵坐标数据根据各时间范围内数据的数量确定。
例如，若第二矩阵为[t0.3，t1.2，t2.1，t2.3，t2.8，t3.1，t3.4]，则直方图的横坐标数据包括0-t1、t1-t2、t2-t3、t3-t4四个时间范围，且由于0-t1时间范围内的数据为1个(t0.3)、t1-t2时间范围内的数据为1个(t1.2)、t2-t3时间范围内的数据为3个(t2.1，t2.3，t2.8)、t3-t4时间范围内的数据为2个(t3.1，t3.4)，因此，直方图的纵坐标数据分别为1、1、3、2，这样根据该第二矩阵生成如图7a所示的直方图。由图7a可以看出，时间范围t2-t3内累积的光子事件数量最多，信号光子事件的接收时间在时间范围t2-t3内。基于预设的规则获得时间戳即为信号光子事件的接收时间，例如，可以为时间范围t2-t3中的最大值、最小值或者中间值。
此外，本申请也可以将第二矩阵中的时间戳四舍五入成整数，再进行数量累积。一个较佳的实施例可以为，将7a实施例中第二矩阵中的时间戳四舍五入成整数后，得到整数化的第二矩阵[t0，t1，t2，t2，t3，t3，t3]，再进一步对该整数化的第二矩阵中各时间戳对应的光子事件数量进行累积后，即可生成如图7b所示的直方图。由图7b可以看出，时间戳t3累积的光子事件数量最多，即为信号光子事件的接收时间。
如图8a-8c所示给出了平滑插值处理过程的一个具体实施方式。如图8a所示一个由未经平滑插值的直方图数据组成的直方图，由时间数字转换器在一个帧周期内的多个积分周期测量得到的时间戳分布在0～T0范围内。信号光子事件的时间戳具有相干性，噪声光子事件的时间戳具有随机性，因此经历多个积分周期后，信号光子事件累积的数量大于噪声光子事件累积的数量，在直方图中形成峰尖，进而被后端处理电路识别。其中，在时间戳tk为被测目标对应的信号光子的飞行时间(TOF)。从图8a中观察到在tk-1，tk+1，tn-2的时间戳对应的噪声光子事件的数量也比较高，容易造成对信号光子事件的飞行时间的识别错误。如图8b展示了一个具体的对该光子时间数据的第一矩阵[t1,t1,t2,t2,t3,t4，…,tn-2,tn-1,tn]进行卷积和处理的过程。在该过程采用的窗函数{a1,a2,a3,a4,a5}具体可以是一个5阶的低通FIR滤波器，对第一矩阵位置上的每个数据进行一次运算，运算的结果被存储到对应的相同的位置坐标的另一个存储器中；当前位置的计算完成后，窗函数向右移动一位，对下一个位置的数据进行计算，例如：
a1*t1＝t1,
a2*t1+a1*t1＝t1.5,
a3*t2+a2*t1+a1*t1＝t2.2,
a4*t2+a3*t2+a2*t1+a1*t1＝t2.9,
a5*t3+a4*t2+a3*t2+a2*t1+a1*t1＝t3.6，
…tn.k；
按照上述计算过程，窗函数系数矩阵不断的对第一矩阵进行移动的卷积和操作，直到对整个的第一矩阵进行了一次完整的卷积和操作，得到的第二矩阵[t1,t1.5,t2.2,t2.9,t3.6,…,tn-1.k1,tn-2.k2,tn.k]，对第二矩阵进行直方图分布计算，可以得到：t 1-t 2之间存在t 1和t 1.5，因此，时间戳t 1对应的数量为2；t 2-t 3之间存在t 2.2和t 2.9，因此，时间戳t 2对应的数量为2；t 3-t 4之间存在t 3.6，因此，时间戳t 3对应的数量为1；t 4-t 5之间存在t 4.3，因此，时间戳t 4对应的数量为1，…，t k-t k+1之间存在t k.1、t k.2、t k.4、t k.7，因此，时间戳t k对应的数量为4，…，如此类推，得到图8c所示的经过处理后的直方图。对比图8a和图8c，可以看到原来在t k+1-t k+2和t n-2-t n-1等时间范围附近的噪声光子对应的尖峰被“削平”了， 而t k-t k+1对应的数据得到了保留。
进一步地，本申请上述实施例还可以采用将第二矩阵中的时间戳四舍五入成整数再进行数量累积的方式获取直方图。例如，对图8b中的的第二矩阵的时间戳四舍五入得到整数化的第二矩阵为[t1,t2,t2,t3,t4,…,tn-1,tn-2,tn]，对该整数化的第二矩阵中的各时间戳对应的光子事件数量进行累积，可以得到图8d所示的直方图。相似地，对比图8a和图8d，也可以看到原来在t k+1和t n-2等时间戳附近的噪声光子对应的尖峰被“削平”了，而t k对应的数据得到了保留。
由此，本申请经过平滑插值处理后的直方图能更加正确地识别信号光子事件的飞行时间所对应的峰值。因此，经过平滑插值计算后的时间数据提高了信噪比，进而提高了飞行时间检测的准确性。
如图9所示，本申请上述实施例中步骤S203具体可以包括以下步骤：
S901，将直方图中光子事件数量最大值对应的时间戳确定为信号光子的接收时间。
S902，根据预设的信号光子的发射时间和所述接收时间确定所述信号光子的飞行时间。
S903，根据信号光子的飞行时间和信号光子的速度，确定测量设备到被测目标之间的距离。
假设，预设的发射时间t1为14ns，信号光子的接收时间为80ns，则可以确定信号光子的飞行时间为66ns，当信号光子的速度为300000km/s，可以确定测量设备到被测目标之间的距离约为10m。
图10是本申请一示例性实施例提供的距离测量装置10的结构示意图。该距离测量装置10可以设置于终端设备、服务器等电子设备中，执行本申请上述任一实施例的距离测量方法。如图10所示，该距离测量装置10包括：
获取模块11，用于获取多个直方图数据；
生成模块12，用于对所述多个直方图数据进行平滑插值处理生成直方图；
确定模块13，用于根据所述直方图确定信号光子的飞行时间，并根据 所述信号光子的飞行时间，确定测量设备到被测目标之间的距离。
在本申请实施例中，获取多个直方图数据；对多个直方图数据进行平滑插值处理生成直方图；根据直方图确定信号光子的飞行时间，并根据信号光子的飞行时间，确定测量设备到被测目标之间的距离。由此，本申请的距离测量方法可通过平滑插值对多个直方图数据进行处理，以滤除噪声光子事件，提升信号光子检测的准确度。此外，本申请在固有的光电传感器和时间数字转换器的基础上进行优化提升，不需要更改现有的硬件结构，节省了设计成本。
可选的，所述直方图数据包括每个光子事件的时间戳。
可选的，如图11所示，所述生成模块12，包括：
第一确定单元21，用于基于所述多个直方图数据中的时间戳确定第一矩阵；
获得单元22，用于基于预设的窗函数系数矩阵对所述第一矩阵进行平滑插值处理，获得第二矩阵；
生成单元23，用于基于所述第二矩阵生成直方图。
可选的，所述预设的窗函数系数矩阵中的各项数据由所述直方图数据中的每个所述时间戳对应的光子事件的数量和所述光子事件的强度确定。
可选的，所述获得单元22，具体用于基于所述矩形窗函数的系数矩阵对所述第一矩阵进行卷积和操作，获得第二矩阵。
可选的，所述生成单元23，具体用于基于所述第二频域矩阵中的每个时间戳对应的光子事件进行数量累积生成所述直方图。
可选的，如图12所示，所述确定模块13，包括：
第二确定单元31，用于将所述直方图中光子事件数量最大值对应的时间戳确定为信号光子的接收时间；
第三确定单元32，根据预设的信号光子的发射时间和所述接收时间确定所述信号光子的飞行时间；
第四确定单元32，根据所述信号光子的飞行时间和所述信号光子的速度，确定所述测量设备到所述被测目标之间的距离。
需要说明的是，上述实施例提供的距离测量装置在执行距离测量方法时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上 述功能分配由不同的功能模块完成，即将设备的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的距离测量装置与距离测量方法实施例属于同一构思，其体现实现过程详见方法实施例，这里不再赘述。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
请参见图13，为本申请实施例提供了一种电子设备的结构示意图。如图13所示，所述电子设备20可以包括：至少一个处理器131，至少一个网络接口134，用户接口133，存储器135，至少一个通信总线1003。
其中，通信总线132用于实现这些组件之间的连接通信。
其中，用户接口133可以包括显示屏(Display)、摄像头(Camera)，可选用户接口133还可以包括标准的有线接口、无线接口。
其中，网络接口134可选的可以包括标准的有线接口、无线接口(如WI-FI接口)。
其中，处理器131可以包括一个或者多个处理核心。处理器131利用各种借口和线路连接整个电子设备20内的各个部分，通过运行或执行存储在存储器135内的指令、程序、代码集或指令集，以及调用存储在存储器135内的数据，执行电子设备20的各种功能和处理数据。可选的，处理器131可以采用数字信号处理(Digital Signal Processing，DSP)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)、可编程逻辑阵列(Programmable Logic Array，PLA)中的至少一种硬件形式来实现。处理器131可集成中央处理器(Central Processing Unit，CPU)、图像处理器(Graphics Processing Unit，GPU)和调制解调器等中的一种或几种的组合。其中，CPU主要处理操作系统、用户界面和应用程序等；GPU用于负责显示屏所需要显示的内容的渲染和绘制；调制解调器用于处理无线通信。可以理解的是，上述调制解调器也可以不集成到处理器131中，单独通过一块芯片进行实现。
其中，存储器135可以包括随机存储器(Random Access Memory，RAM)，也可以包括只读存储器(Read-Only Memory)。可选的，该存储器135包括非瞬时性计算机可读介质(non-transitory computer-readable storage medium)。存 储器135可用于存储指令、程序、代码、代码集或指令集。存储器135可包括存储程序区和存储数据区，其中，存储程序区可存储用于实现操作系统的指令、用于至少一个功能的指令(比如触控功能、声音播放功能、图像播放功能等)、用于实现上述各个方法实施例的指令等；存储数据区可存储上面各个方法实施例中涉及到的数据等。存储器135可选的还可以是至少一个位于远离前述处理器131的存储装置。如图13所示，作为一种计算机存储介质的存储器135中可以包括操作系统、网络通信模块、用户接口模块以及距离测量应用程序。
在图13所示的电子设备20中，用户接口133主要用于为用户提供输入的接口，获取用户输入的数据；而处理器131可以用于调用存储器135中存储的距离测量应用程序，并具体执行以下操作：
获取多个直方图数据；
对所述多个直方图数据进行平滑插值处理生成直方图；
根据所述直方图确定信号光子的飞行时间，并根据所述信号光子的飞行时间，确定测量设备到被测目标之间的距离。
在一种可能的实施例中，所述处理器110执行基于所述多个直方图数据中的时间戳确定第一矩阵；
基于预设的窗函数系数矩阵对所述第一矩阵进行平滑插值处理，获得第二矩阵；
基于所述第二矩阵生成直方图。
在一种可能的实施例中，所述处理器110执行将所述直方图中光子事件数量最大值对应的时间戳确定为信号光子的接收时间；
根据预设的信号光子的发射时间和所述接收时间确定所述信号光子的飞行时间；
根据所述信号光子的飞行时间和所述信号光子的速度，确定所述测量设备到所述被测目标之间的距离。
本申请实施例还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有指令，当其在计算机或处理器上运行时，使得计算机或处理器执行上述图2、图5、图9所示实施例中的一个或多个步骤。上述距离测量装置的各组成模块如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可 以存储在所述计算机可读取存储介质中。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者通过所述计算机可读存储介质进行传输。所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(Digital Subscriber Line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，数字多功能光盘(Digital Versatile Disc，DVD))、或者半导体介质(例如，固态硬盘(Solid State Disk，SSD))等。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，可以通过计算机程序来指令相关的硬件来完成，该程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。而前述的存储介质包括：制度存储器(Read Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可存储程序代码的介质。在不冲突的情况下，本实施例和实施方案中的技术特征可以任意组合。
以上所述的实施例仅仅是本申请的优选实施例方式进行描述，并非对本申请的范围进行限定，在不脱离本申请的设计精神的前提下，本领域普通技术人员对本申请的技术方案作出的各种变形及改进，均应落入本申请的权利要求书确定的保护范围内。

Claims (10)

  1. 一种距离测量方法，其特征在于，所述方法包括：
    获取多个直方图数据；
    对所述多个直方图数据进行平滑插值处理生成直方图；
    根据所述直方图确定信号光子的飞行时间，并根据所述信号光子的飞行时间，确定测量设备到被测目标之间的距离。
  2. 根据权利要求1所述的距离测量方法，其特征在于，所述直方图数据包括每个光子事件的时间戳。
  3. 根据权利要求2所述的距离测量方法，其特征在于，所述对所述多个直方图数据进行平滑插值处理生成直方图，包括：
    基于所述多个直方图数据中的时间戳确定第一矩阵；
    基于预设的窗函数系数矩阵对所述第一矩阵进行平滑插值处理，获得第二矩阵；
    基于所述第二矩阵生成直方图。
  4. 根据权利要求3所述的距离测量方法，其特征在于，所述预设的窗函数系数矩阵中的各项数据由所述直方图数据中的每个所述时间戳对应的光子事件的数量和所述光子事件的强度确定。
  5. 根据权利要求4所述的距离测量方法，其特征在于，所述基于预设的窗函数系数矩阵对所述第一矩阵进行平滑插值处理，获得第二矩阵，包括：
    基于所述矩形窗函数的系数矩阵对所述第一矩阵进行卷积和操作，获得第二矩阵。
  6. 根据权利要求3-5任一所述的距离测量方法，其特征在于，所述基于所述第二矩阵生成直方图，包括：
    基于所述第二矩阵中的每个时间戳对应的光子事件进行数量累积生成所述直方图。
  7. 根据权利要求6所述的距离测量方法，其特征在于，所述根据所述直方图确定信号光子的飞行时间，并根据所述信号光子的飞行时间，确定测量设备到被测目标之间的距离，包括：
    将所述直方图中光子事件数量最大值对应的时间戳确定为信号光子的接收时间；
    根据预设的信号光子的发射时间和所述接收时间确定所述信号光子的飞行时间；
    根据所述信号光子的飞行时间和所述信号光子的速度，确定所述测量设备到所述被测目标之间的距离。
  8. 一种距离测量装置，其特征在于，所述装置包括：
    获取模块，用于获取多个直方图数据；
    生成模块，用于对所述多个直方图数据进行平滑插值处理生成直方图；
    确定模块，用于根据所述直方图确定信号光子的飞行时间，并根据所述信号光子的飞行时间，确定测量设备到被测目标之间的距离。
  9. 一种计算机存储介质，其特征在于，所述计算机存储介质存储有多条指令，所述指令适于由处理器加载并执行如权利要求1-7任一项的方法步骤。
  10. 一种电子设备，其特征在于，包括：处理器和存储器；其中，所述存储器存储有计算机程序，所述计算机程序适于由处理器加载并执行如权利要求1-7任一项的方法步骤。
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