WO2022126582A1 - Capteur de temps de vol et système et procédé associés - Google Patents

Capteur de temps de vol et système et procédé associés Download PDF

Info

Publication number
WO2022126582A1
WO2022126582A1 PCT/CN2020/137544 CN2020137544W WO2022126582A1 WO 2022126582 A1 WO2022126582 A1 WO 2022126582A1 CN 2020137544 W CN2020137544 W CN 2020137544W WO 2022126582 A1 WO2022126582 A1 WO 2022126582A1
Authority
WO
WIPO (PCT)
Prior art keywords
time
flight
light pulses
light
sensing
Prior art date
Application number
PCT/CN2020/137544
Other languages
English (en)
Chinese (zh)
Inventor
范铨奇
林奇青
杨富强
杨孟达
Original Assignee
深圳市汇顶科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市汇顶科技股份有限公司 filed Critical 深圳市汇顶科技股份有限公司
Priority to PCT/CN2020/137544 priority Critical patent/WO2022126582A1/fr
Priority to CN202080003913.2A priority patent/CN112703422B/zh
Publication of WO2022126582A1 publication Critical patent/WO2022126582A1/fr

Links

Images

Classifications

    • 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
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means

Definitions

  • the present application relates to sensor technology, and more particularly, to a time-of-flight sensor and related systems and methods.
  • the time-of-flight measurement technology includes direct time-of-flight measurement technology and indirect time-of-flight measurement technology.
  • the direct time-of-flight measurement technology is to transmit a light pulse to the target, and then measure the reflected light pulse reflected from the target.
  • the time interval between the reception time and the transmission time of the light pulse can be used to obtain the flight time of the light, and then use the measured flight time to calculate the depth information.
  • An embodiment of the present application discloses a time-of-flight sensor, which is used to control a light-emitting module to continuously emit a plurality of light pulses, and the plurality of light pulses are reflected by a target to generate a plurality of reflected light pulses.
  • the time-of-flight sensor It includes: a control circuit, coupled to the light-emitting module, the pixel array and the time-to-digital conversion unit, the control circuit generates a light-emitting control signal to control the light-emitting module to send the plurality of light pulses based on a time-varying frequency, and the control The circuit also generates a sensing control signal to control the pixel array to sense the multiple reflected light pulses based on the time-varying frequency; the pixel array generates multiple sensing based on the sensed multiple reflected light pulses output; the time-to-digital conversion unit generates a plurality of conversion outputs according to the light-emitting control signal and the plurality of sensing outputs; and a processing circuit is used for obtaining statistical results according to the plurality of conversion outputs, and based on the The statistical result obtains the flight time from the light-emitting module to the target and back to the pixel array.
  • a control circuit coupled to the light-emitting module, the
  • Another embodiment of the present application discloses a time-of-flight sensing system, including: the above-mentioned time-of-flight sensor; and the light-emitting module.
  • a time-of-flight sensing method comprising: generating a light-emitting control signal to control a light-emitting module to send the plurality of light pulses from a reference position based on a time-varying frequency, the plurality of light pulses being targeted by a target to generate a plurality of reflected light pulses by reflecting from an object; to sense the plurality of reflected light pulses at the reference position based on the time-varying frequency; to generate a plurality of sensing outputs according to the sensed plurality of reflected light pulses; generating a plurality of conversion outputs according to the light-emitting control signal and the plurality of sensing outputs; obtaining statistical results according to the plurality of conversion outputs; and obtaining from the reference position to the target object based on the statistical results Time of flight back to the reference position.
  • a time-of-flight sensor comprising: a pixel array that generates a plurality of sensing outputs according to a plurality of sensed reflected light pulses, wherein the plurality of reflected light pulses are generated by the light-emitting module according to the light-emitting
  • the control signal sends a plurality of light pulses to the target object based on the time-varying frequency and is formed by the reflection of the target object; the time-to-digital conversion unit generates a plurality of conversion outputs according to the light-emitting control signal and the plurality of sensing outputs; and a processing circuit for obtaining statistical results according to the plurality of conversion outputs, and obtaining the flight time from the light-emitting module to the target and back to the pixel array based on the statistical results.
  • time-of-flight sensors and related systems and methods disclosed herein can reduce mutual interference between time-of-flight sensors by emitting multiple light pulses with time-varying frequencies.
  • FIG. 1 is a functional block diagram of an embodiment of the time-of-flight sensing system of the present application.
  • FIG. 2 is a waveform diagram of a time-of-flight sensing system with another time-of-flight sensing system nearby, and the multiple light pulses emitted by the two time-of-flight sensing systems have the same and fixed frequency.
  • FIG. 3 is a histogram statistical result obtained by accumulating multiple converted outputs received by the time-of-flight sensing system in the context of FIG. 2 .
  • FIG. 4 is a waveform diagram of another time-of-flight sensing system that emits light pulses of a fixed frequency in the vicinity of the time-of-flight sensing system of the present application.
  • FIG. 5 is a histogram statistical result obtained by accumulating multiple converted outputs received by the time-of-flight sensing system of the present application under the situation of FIG. 4 .
  • first and second features are in direct contact with each other; and may also include Certain embodiments may have additional components/components formed between the first and second features described above, such that the first and second features may not be in direct contact.
  • present disclosure may reuse reference numerals and/or reference numerals in various embodiments. Such reuse is for brevity and clarity, and does not in itself represent a relationship between the different embodiments and/or configurations discussed.
  • spatially relative terms such as “below”, “below”, “below”, “above”, “above” and the like, may be used to facilitate the description of the drawings. relationship between one component or feature shown with respect to another component or feature.
  • These spatially relative terms are intended to encompass many different orientations of the device in use or operation in addition to the orientation depicted in the figures.
  • the device may be positioned in other orientations (e.g., rotated 90 degrees or at other orientations) and these spatially relative descriptors should be interpreted accordingly.
  • each measuring device When there are multiple measurement devices using the direct time-of-flight measurement technology for simultaneous measurement on the same occasion, they may receive reflected light pulses from each other's light pulses, thus causing interference.
  • each measuring device if the optical pulses emitted by multiple measuring devices have the same period, each measuring device cannot distinguish the reflected light pulses reflected from the light pulses emitted by itself and the reflected light pulses reflected from the non-self-generated light pulses.
  • the present application avoids this problem by changing the frequency of the optical pulse from a fixed frequency to a non-fixed frequency, the details of which are described below.
  • FIG. 1 is a functional block diagram of an embodiment of the time-of-flight sensing system of the present application.
  • the time-of-flight sensing system 100 can be used to measure the time of flight from the time-of-flight sensing system 100 to the target 114 and back to the time-of-flight sensing system 100 , and to estimate the target object 114 and the time-of-flight sensing system 100 accordingly the distance between. It should be noted that the distance between the target 114 and the time-of-flight sensing system 100 should be less than or equal to the maximum measurement distance of the time-of-flight sensing system 100 . In this embodiment, the time-of-flight sensing system 100 uses a direct time-of-flight measurement technique.
  • time-of-flight sensing system 100 may be implemented as a number of different types of time-of-flight ranging systems, such as time-of-flight-based optical ranging systems, time-of-flight-based acoustic ranging systems, time-of-flight-based radar ranging systems. range systems, or other types of time-of-flight ranging systems.
  • time-of-flight ranging solution of the present application is described below by taking the embodiment of the time-of-flight sensing system 100 implemented as an optical ranging system.
  • Time-of-flight sensing system 100 may include, but is not limited to, light-emitting module 112 and time-of-flight sensor 102 .
  • the light-emitting module 112 may include (but not limited to) a driving circuit and a light-emitting unit (not shown in FIG. 1 ).
  • the driving circuit is used for driving the light-emitting unit, so that the light-emitting unit emits light pulses.
  • the light-emitting unit may be (but not limited to) a semiconductor laser (also referred to as a laser diode), a light-emitting diode, or other light-emitting units that can generate light pulses.
  • the time-of-flight sensor 102 includes a control circuit 104 , a pixel array 106 , a time-to-digital conversion unit 108 and a processing circuit 110 .
  • the control circuit 104 is coupled to the light-emitting module 112, the pixel array 106 and the time-to-digital conversion unit 108.
  • the control circuit 104 generates a light-emitting control signal Se to control the light-emitting module 112 to continuously emit a plurality of light pulses LT ( Including LT1, LT2, .
  • a plurality of reflected light pulses LR (including LR1, LR2, . . . ) are generated.
  • the control circuit 104 also generates the sensing control signal Ss to control the pixel array 106 to sense a plurality of reflected light pulses LR based on the time-varying frequency Fv, that is, the control circuit 104 generates the sensing control signal Ss to control the pixel array 106 to detect multiple reflected light pulses LR based on the time-varying frequency Fv.
  • the sensing period senses a plurality of reflected light pulses LR.
  • the pixel array 106 generates a plurality of sensing outputs Spxo (including Spxo1, Spxo2, . . . ) according to the sensed reflected light pulses LR.
  • the time-to-digital conversion unit 108 generates a plurality of conversion outputs Stdc (including Stdc1 , Stdc2 , . . . ) according to the lighting control signal Se and the plurality of sensing outputs Spxo.
  • the processing circuit 10 is used to obtain statistical results according to the plurality of conversion outputs Stdc. In this embodiment, the processing circuit 10 counts the data distribution of the plurality of conversion outputs Stdc.
  • the numerical values of ⁇ are grouped into a group, and a histogram (histogram) statistical result, or mass distribution diagram, is obtained, and based on the histogram statistical result, the flight time from the light-emitting module 112 to the target 114 and back to the pixel array 106 is obtained. Sr.
  • FIG. 2 and FIG. 3 use the time-of-flight sensing system to transmit fixed-frequency optical pulses as a comparative example to illustrate the problem to be solved by the present application.
  • FIG. 2 is a timing diagram when another time-of-flight sensing system TOF2 is located near the time-of-flight sensing system TOF1, and the multiple light pulses emitted by the two time-of-flight sensing systems have the same and fixed frequency.
  • the time-of-flight sensing system TOF1 sends out multiple light pulses LT (including LT1, LT2, . . . ) with a fixed frequency F, that is, there is a fixed time interval between the multiple light pulses LT1, LT2, . . .
  • LT including LT1, LT2, . . .
  • the time interval between T1 and T4, the time interval between T4 and T7, and the time interval between T7 and T10 are all the same. Therefore, the multiple reflected light pulses LR (including LR1, LR2, .
  • the time interval between T2 and T5, the time interval between T5 and T8, and the time interval between T8 and T11 are all the same.
  • the multiple light pulses emitted by the other time-of-flight sensing system TOF2 also have a frequency F, which is the same as the multiple light pulses LT, so the multiple reflected light pulses LR' (including LR1', LR2) reflected from the target ', .
  • the flight The pixel array of the time sensing system TOF1 generates multiple sensing outputs Spxo (including Spxo1, Spxo1', Spxo2, Spxo2', Spxo3, Spxo3', Spxo4, Spxo4 according to the sensed multiple reflected light pulses LR and LR' ',).
  • the time-of-flight sensing system correspondingly receives two sensing outputs Spxo1 and Spxo1'; for the light pulse LT2, the time-of-flight sensing system corresponds to a total of Two sensing outputs Spxo2 and Spxo2' are received; for the light pulse LT3, the time-of-flight sensing system correspondingly receives two sensing outputs Spxo3 and Spxo3'; for the light pulse LT4, the time-of-flight sensing system corresponds to The ground receives two sense outputs Spxo4 and Spxo4'.
  • the time-of-flight sensing system TOF2 and the time-of-flight sensing system TOF1 are shown as an example that is farther from the target (that is, the return time of LR′ is later than that of LR).
  • the time-to-digital conversion unit of the time-of-flight sensing system will obtain a plurality of conversion outputs Stdc (including Stdc1 , Stdc1 ′, Stdc2 , Stdc2 ′, Stdc3 , Stdc3 ′, Stdc4 , Stdc4 ′, . . . ).
  • the time-to-digital conversion unit of the time-of-flight sensing system can know the emission time points of the plurality of light pulses LT according to the light-emitting control signal Se, and then according to the plurality of sensing outputs Spxo, it can generate the converted output accordingly:
  • Stdc1 represents the time interval from the sending of the optical pulse LT1 to the reception of the sensing output Spxo1 (the value is 13 time units);
  • the conversion output Stdc1' represents the time interval from the sending of the optical pulse LT1 to the receipt of the sensing output Spxo1' (the value is 24 time units) );
  • the conversion output Stdc2 represents the time interval from the sending of the optical pulse LT2 to the receipt of the sensing output Spxo2 (the value is 13 time units);
  • the conversion output Stdc2' represents the time interval from the sending of the optical pulse LT2 to the receipt of the sensing output Spxo2' (the value is The value is 24 time units);
  • the processing circuit of the time-of-flight sensing system then generates the histogram statistics of FIG. 3 according to the plurality of converted outputs Stdc (including Stdc1 , Stdc1 ′, Stdc2 , Stdc2 ′, Stdc3 , Stdc3 ′, Stdc4 , Stdc4 ′, . . . ) As a result, a total of 36 conversion output values (1 to 36 time units) are obtained. It can be seen that the cumulative amount of conversion output values of 13 time units and 24 time units is generally high, both of which are 80 times.
  • the processing circuit of the time-of-flight sensing system cannot distinguish between 13 time units and 24 time units which should be regarded as the time of flight from the time-of-flight sensing system to the target and then reflected back to the time-of-flight sensing system.
  • the values in the other conversion outputs only have a relatively very small amount of accumulation, and the causes of these conversion output values may be other sources of interference (such as reflections caused by dust, or random errors from hardware, such as pixel array 106, etc.), but such random errors do not cause a particularly significant amount of accumulation.
  • the reason why the conversion output relative to the maximum cumulant cannot be judged from the statistical results of the histograms in Fig. 3 is that it is disturbed by the other time-of-flight sensing system TOF2, more precisely, by the other time-of-flight sensing system TOF2. It is caused by the frequency synchronization of the plurality of light pulses emitted by the sensing system TOF2 and the plurality of light pulses emitted by the time-of-flight sensing system TOF1.
  • FIGS. 4 and 5 the time-of-flight sensing system 100 of the present application transmits a light pulse LT of a time-varying frequency for comparison with the comparative embodiment of FIGS. 4 and 5 .
  • FIG. 4 is a waveform diagram of another time-of-flight sensing system that emits light pulses of a fixed frequency in the vicinity of the time-of-flight sensing system 100 of the present application.
  • the time-of-flight sensing system 100 sends out a plurality of light pulses LT (including LT1, LT2, .
  • the time intervals are not identical to each other, that is, the plurality of light pulses LT1, LT2, . . . have variable time intervals. Referring to FIG.
  • the time interval between T1 and T4, the time interval between T4 and T7, and the time interval between T7 and T10 are all different. Therefore, the multiple reflected light pulses LR (including LR1, LR2, .
  • the time interval between T5 and T5, the time interval between T5 and T8, and the time interval between T8 and T11 are all different.
  • the plurality of light pulses emitted by the other time-of-flight sensing system have a fixed frequency F, so the plurality of reflected light pulses LR' (including LR1', LR2', . . . ) reflected from the target 114 also have For a fixed frequency F, as shown in FIG. 4, the time interval between T3 and T6, the time interval between T6 and T9, and the time interval between T9 and T12 are all the same.
  • the time-of-flight sensing system 100 if multiple reflected light pulses LR and multiple reflected light pulses LR' (including LR1', LR2', . . . ) are received by the time-of-flight sensing system 100, the time-of-flight sensing system The pixel array 106 of 100 generates a plurality of sensing outputs Spxo (including Spxo1, Spxo1', Spxo2, Spxo2', Spxo3, Spxo3', Spxo4, Spxo4', . .. ).
  • the time-of-flight sensing system 100 correspondingly receives two sensing outputs Spxo1 and Spxo1'; for the light pulse LT2, the time-of-flight sensing system 100 receives a total of correspondingly Two sensing outputs Spxo2 and Spxo2'; for the light pulse LT3, the time-of-flight sensing system 100 correspondingly receives the two sensing outputs Spxo3 and Spxo3'; for the light pulse LT4, the time-of-flight sensing system 100 correspondingly receives a total of Two sense outputs Spxo4 and Spxo4'.
  • the time-to-digital conversion unit 108 of the time-of-flight sensing system 100 will obtain a plurality of conversion outputs Stdc (including Stdc1 , Stdc1 ′, Stdc2 , Stdc2 ′, Stdc3 , Stdc3 ′, Stdc4 , Stdc4 ′, . . . ).
  • the time-to-digital conversion unit 108 of the time-of-flight sensing system 100 can know the emission time points of the plurality of light pulses LT according to the light emission control signal Se, and then according to the plurality of sensing outputs Spxo, it can generate the converted output accordingly: Stdc1 represents the time interval from the sending of the optical pulse LT1 to the reception of the sensing output Spxo1 (the value is 13 time units); the conversion output Stdc1' represents the time interval from the sending of the optical pulse LT1 to the receipt of the sensing output Spxo1' (the value is 24 time units) ); the conversion output Stdc2 represents the time interval from the sending of the optical pulse LT2 to the receipt of the sensing output Spxo2 (the value is 13 time units); the conversion output Stdc2' represents the time interval from the sending of the optical pulse LT2 to the receipt of the sensing output Spxo2' (the value is The value is 20 time units); the conversion output Stdc3 represents the time interval from
  • the processing circuit 110 of the time-of-flight sensing system 100 then generates the histogram statistics of FIG. 5 according to the plurality of converted outputs Stdc (including Stdc1 , Stdc1 ′, Stdc2 , Stdc2 ′, Stdc3 , Stdc3 ′, Stdc4 , Stdc4 ′, . . . ) As a result, a total of 36 kinds of converted output values (1 to 36 time units) are obtained. Compared with FIG. 2 , the sending time of the optical pulse LT in this embodiment is no longer synchronized with the receiving time of the multiple sensing outputs Spxo, so in the statistical result of the histogram in FIG.
  • the value of the converted output is 24 times There is no longer a relatively high accumulation at the unit, and only the value of the conversion output is 13.
  • the time unit has the highest accumulation, which is 80 times. Therefore, the processing circuit 110 of the time-of-flight sensing system 100 takes the value of the highest number of 13.
  • the time unit is the flight time from the light-emitting module 112 to the target 114 and back to the pixel array 106 .
  • the embodiments of the present application can disperse the non-random interference (ie, synchronous interference) caused by the other time-of-flight sensing system into pseudo-random interference by sending out optical pulses with a time-varying frequency Fv, that is, to avoid the aforementioned
  • the optical pulse frequency of the other time-of-flight sensing system happens to be synchronized with the optical pulse frequency Fv of the time-of-flight sensing system 100 . Therefore, in the statistical results of the histogram in Fig. 5, there is only one prominent cumulant, and the corresponding converted output value represents the real flight time. Even if another time-of-flight sensing system uses the time-varying frequency technique as in the present application, it is almost impossible to completely Synchronization, so still does not cause the situation of Figure 2 and Figure 3.
  • the above-mentioned actual method of generating the time-varying frequency Fv in a pseudo-random manner can have many different means. For example, in some embodiments, switching between multiple predetermined frequencies in a pseudo-random manner can be used, such as Vary between 6 predetermined frequencies in a pseudo-random fashion to obtain a time-varying frequency Fv.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un capteur de temps de vol et un système et un procédé associés. Le capteur de temps de vol sert à commander un module d'émission de lumière pour émettre en continu une pluralité d'impulsions lumineuses, la pluralité d'impulsions lumineuses étant réfléchies par une cible pour générer ensuite une pluralité d'impulsions lumineuses réfléchies. Le capteur de temps de vol comprend : un circuit de commande qui produit un signal de commande d'émission de lumière pour commander le module d'émission de lumière afin d'envoyer la pluralité d'impulsions lumineuses sur la base d'une fréquence variant dans le temps, le circuit de commande produisant en outre un signal de commande de détection pour commander un réseau de pixels afin de détecter la pluralité d'impulsions lumineuses réfléchies sur la base de la fréquence variant dans le temps ; le réseau de pixels qui produit une pluralité de sorties de détection en fonction de la pluralité d'impulsions lumineuses réfléchies détectées ; une unité de conversion temps-numérique qui produit une pluralité de sorties de conversion en fonction du signal de commande d'émission de lumière et de la pluralité de sorties de détection ; et un circuit de traitement qui obtient des résultats statistiques en fonction de la pluralité de sorties de conversion et, sur la base des résultats statistiques, obtient le temps de vol émis par le module d'émission de lumière vers la cible et revenant vers le réseau de pixels.
PCT/CN2020/137544 2020-12-18 2020-12-18 Capteur de temps de vol et système et procédé associés WO2022126582A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2020/137544 WO2022126582A1 (fr) 2020-12-18 2020-12-18 Capteur de temps de vol et système et procédé associés
CN202080003913.2A CN112703422B (zh) 2020-12-18 2020-12-18 飞行时间传感器和相关系统及方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/137544 WO2022126582A1 (fr) 2020-12-18 2020-12-18 Capteur de temps de vol et système et procédé associés

Publications (1)

Publication Number Publication Date
WO2022126582A1 true WO2022126582A1 (fr) 2022-06-23

Family

ID=75514812

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/137544 WO2022126582A1 (fr) 2020-12-18 2020-12-18 Capteur de temps de vol et système et procédé associés

Country Status (2)

Country Link
CN (1) CN112703422B (fr)
WO (1) WO2022126582A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7532311B2 (en) * 2005-04-06 2009-05-12 Lockheed Martin Coherent Technologies, Inc. Efficient lidar with flexible target interrogation pattern
CN108351418A (zh) * 2015-09-28 2018-07-31 博莱佳私人有限公司 空间分析测量系统和方法
CN109313264A (zh) * 2018-08-31 2019-02-05 深圳市汇顶科技股份有限公司 基于飞行时间的测距方法和测距系统
CN110609293A (zh) * 2019-09-19 2019-12-24 深圳奥锐达科技有限公司 一种基于飞行时间的距离探测系统和方法
CN111366945A (zh) * 2020-05-27 2020-07-03 深圳市汇顶科技股份有限公司 基于飞行时间的测距方法和相关测距系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9945936B2 (en) * 2015-05-27 2018-04-17 Microsoft Technology Licensing, Llc Reduction in camera to camera interference in depth measurements using spread spectrum
CN109031336B (zh) * 2017-06-09 2023-01-17 中国航空工业集团公司洛阳电光设备研究所 一种去测距模糊的单光子激光测距方法及装置
US11333760B2 (en) * 2017-07-13 2022-05-17 Texas Instruments Incorporated Frequency modulation for interference free optical time of flight system
CN110609267B (zh) * 2019-09-19 2022-07-08 深圳奥锐达科技有限公司 一种激光雷达系统及其抗干扰方法
CN111856485B (zh) * 2020-06-12 2022-04-26 深圳奥锐达科技有限公司 一种距离测量系统及测量方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7532311B2 (en) * 2005-04-06 2009-05-12 Lockheed Martin Coherent Technologies, Inc. Efficient lidar with flexible target interrogation pattern
CN108351418A (zh) * 2015-09-28 2018-07-31 博莱佳私人有限公司 空间分析测量系统和方法
CN109313264A (zh) * 2018-08-31 2019-02-05 深圳市汇顶科技股份有限公司 基于飞行时间的测距方法和测距系统
CN110609293A (zh) * 2019-09-19 2019-12-24 深圳奥锐达科技有限公司 一种基于飞行时间的距离探测系统和方法
CN111366945A (zh) * 2020-05-27 2020-07-03 深圳市汇顶科技股份有限公司 基于飞行时间的测距方法和相关测距系统

Also Published As

Publication number Publication date
CN112703422B (zh) 2024-05-03
CN112703422A (zh) 2021-04-23

Similar Documents

Publication Publication Date Title
TWI745998B (zh) 用於感測之方法及設備
JP2024010030A (ja) Ｌｉｄａｒデータ収集及び制御
US12055629B2 (en) Adaptive multiple-pulse LIDAR system
US20090212998A1 (en) Object Detection
TW201840150A (zh) 用於透過脈衝寫碼及頻率移位而減輕光偵測及測距干擾之裝置及方法
WO2022011974A1 (fr) Système et procédé de mesure de distance et support d'enregistrement lisible par ordinateur
US20210333375A1 (en) Time measurement correction method and device
US10641870B1 (en) LIDAR system that is resistant to noise caused by nearby LIDAR systems
CN114185057A (zh) 一种探测方法、装置和终端
WO2022126582A1 (fr) Capteur de temps de vol et système et procédé associés
US20220171038A1 (en) Multichannel time-of-flight measurement device with time-to-digital converters in a programmable integrated circuit
CN107817501B (zh) 一种可变扫描频率的点云数据处理方法
US20210389458A1 (en) Sensor device and detection method
US20230273304A1 (en) Efficient Fault Detection For Lidar Sensors
WO2022160622A1 (fr) Procédé, dispositif et système de mesure de distance
CN111366945B (zh) 基于飞行时间的测距方法和相关测距系统
CN111758045B (zh) 用于测量两个事件之间信号传输时间的装置和方法
CN107817499B (zh) 一种基于双雷达的点云数据处理方法
WO2022099594A1 (fr) Circuit de mesure de temps de vol, système, procédé et dispositif électronique
CN221224899U (zh) 一种多线激光测距装置
US20220350026A1 (en) Selection of pulse repetition intervals for sensing time of flight
US11275176B2 (en) Phase emulator for a time-of-flight (ToF) device
CN114924256A (zh) 光学感测设备、电子设备及光学感测设备的干扰抑制方法
US20210405192A1 (en) Time-of-flight based distance measuring method and related distance measuring system
WO2023120139A1 (fr) Circuit de mesure de temps, capteur de mesure de distance et procédé de mesure de temps

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20965598

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20965598

Country of ref document: EP

Kind code of ref document: A1