WO2023000756A1 - Ranging method and apparatus, terminal, and non-volatile computer-readable storage medium - Google Patents

Ranging method and apparatus, terminal, and non-volatile computer-readable storage medium Download PDF

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Publication number
WO2023000756A1
WO2023000756A1 PCT/CN2022/090969 CN2022090969W WO2023000756A1 WO 2023000756 A1 WO2023000756 A1 WO 2023000756A1 CN 2022090969 W CN2022090969 W CN 2022090969W WO 2023000756 A1 WO2023000756 A1 WO 2023000756A1
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time
unit
peak
count value
flight
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PCT/CN2022/090969
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French (fr)
Chinese (zh)
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戴阳
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Oppo广东移动通信有限公司
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Publication of WO2023000756A1 publication Critical patent/WO2023000756A1/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/46Indirect determination of position data
    • G01S17/48Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves

Definitions

  • the present application relates to the technical field of distance measurement, and in particular to a distance measurement method, a distance measurement device, a terminal and a non-volatile computer-readable storage medium.
  • Direct Time of Flight is a ranging technology that calculates the distance between the object and the sensor by measuring the time difference between the transmitted signal and the signal reflected by the object. The moment at which the sensor receives the signal reflected back by the object is usually determined by means of a histogram.
  • Embodiments of the present application provide a ranging method, a ranging device, a terminal, and a non-volatile computer-readable storage medium.
  • the ranging method in the embodiment of the present application includes: obtaining a time-of-flight histogram; determining a peak unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram; determining the time of flight; and calculating the distance between the sensor and the object based on the time of flight and the speed of light.
  • the ranging device in the embodiment of the present application includes an acquisition module, a retrieval module, a determination module, and a calculation module.
  • the acquisition module can be used to acquire time-of-flight histograms.
  • the retrieval module can be used to determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram.
  • the determination module can be used to determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units.
  • the calculation module can be used to calculate the distance between the sensor and the object according to the time of flight and the speed of light.
  • the terminal in the embodiments of the present application includes one or more processors, memories, and one or more programs.
  • the one or more programs are stored in the memory and executed by the one or more processors, and the programs include instructions for executing the ranging method described in the embodiments of the present application.
  • the ranging method includes: obtaining a time-of-flight histogram; determining a peak unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram; determining the flight time according to the parameter value of the peak unit and the parameter values of the plurality of neighboring units; and Calculate the distance between the sensor and the object based on the time of flight and the speed of light.
  • the processors can implement the test described in the embodiment of the present application.
  • distance method includes: obtaining a time-of-flight histogram; determining a peak unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram; determining the flight time according to the parameter value of the peak unit and the parameter values of the plurality of neighboring units; and Calculate the distance between the sensor and the object based on the time of flight and the speed of light.
  • the ranging method, ranging device, terminal, and non-volatile computer-readable storage medium in the embodiments of the present application can determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units, so as to obtain more accurate flight time time, thereby improving the ranging accuracy.
  • FIG. 1 is a schematic flowchart of a ranging method in some embodiments of the present application
  • FIG. 2 is a schematic structural diagram of a terminal in some embodiments of the present application.
  • Fig. 3 is a schematic structural diagram of a ranging device in some embodiments of the present application.
  • FIG. 4 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application.
  • FIG. 5 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application.
  • FIG. 6 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application.
  • Figure 7 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application.
  • FIG. 8 is a schematic flowchart of a ranging method in some embodiments of the present application.
  • FIG. 9 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application.
  • FIG. 10 is a schematic flowchart of a ranging method in some embodiments of the present application.
  • FIG. 11 is a schematic flowchart of a ranging method in some embodiments of the present application.
  • FIG. 12 is a schematic flowchart of a ranging method in some embodiments of the present application.
  • FIG. 13 is a schematic flowchart of a ranging method in some embodiments of the present application.
  • FIG. 14 is a schematic flowchart of a ranging method in some embodiments of the present application.
  • FIG. 15 is a schematic flowchart of a ranging method in some embodiments of the present application.
  • Fig. 16 is a schematic diagram of a connection relationship between a computer-readable storage medium and a processor in some embodiments of the present application.
  • Embodiments of the present application provide a ranging method, a ranging device 10 , a terminal 100 and a non-volatile computer-readable storage medium 300 .
  • the distance measuring method in the embodiment of the present application includes: obtaining a time-of-flight histogram, which represents the number of photons received by the sensor in each time unit; domain unit; determine the time of flight according to the parameter value of the peak unit and the parameter values of multiple neighboring units; and calculate the distance between the sensor and the object according to the time of flight and the speed of light.
  • obtaining the time-of-flight histogram includes: obtaining a preset time period and a preset time resolution; determining a plurality of time units according to the time period and time resolution, and the time units are arranged sequentially on the time axis; The arrival time of each photon arriving at the sensor is obtained; the time unit corresponding to each photon is determined according to the arrival time; and the number of photons corresponding to each time unit is counted to establish a time-of-flight histogram.
  • the resolution of each time unit in the time-of-flight histogram is the same.
  • the time-of-flight histogram includes a region of interest and a region of non-interest, and the resolution of the time units of the region of interest is smaller than the resolution of the time units of the region of non-interest.
  • determining the peak value unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram includes: obtaining the photon count value corresponding to each time unit; determining the time unit corresponding to the maximum photon count value as a peak unit; and determining at least one time unit adjacent to the left side of the peak unit and at least one time unit adjacent to the right side of the peak unit in the time-of-flight histogram as neighborhood units.
  • the neighborhood unit includes a left neighborhood unit located on the left side of the peak unit and a right neighborhood unit located on the right side of the peak unit
  • the parameter value includes the resolution of the time unit, the photon count value corresponding to the time unit, and the sequence number in which the time unit appears in chronological order.
  • determining the flight time according to the peak unit and a plurality of neighboring units includes: obtaining the peak count value corresponding to the peak unit, the left count value corresponding to the left neighboring unit, and the right counting value corresponding to the right neighboring unit ; Determine the correction value according to the peak count value, left count value, right count value and preset correction parameters; and determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value.
  • the correction parameters include a first parameter, a second parameter and a third parameter, and determining the correction value according to the peak count value, the left count value, the right count value and preset correction parameters includes: according to the peak count value and the first parameter to obtain the weighted peak count value; obtain the weighted right count value according to the right count value and the second parameter; obtain the weighted left count value according to the left count value and the third parameter; obtain the first value between the right count value and the left count value A difference value; obtain a second difference value obtained after the weighted peak count value is sequentially differenced from the weighted right count value and the weighted left count value; and obtain a ratio between the first difference value and the second difference value, and determine the ratio as a correction value.
  • determining the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value includes: determining the corrected serial number of the peak unit according to the serial number of the peak unit and the corrected value, and determining the corrected serial number of the peak unit according to the corrected serial number and the corrected value of the peak unit.
  • the corrected serial number of the unit, and the moment corresponding to the corrected serial number on the time-of-flight histogram is taken as the flight time.
  • the distance measuring device 10 of the embodiment of the present application includes: an acquisition module 11, the acquisition module 11 is used to acquire a time-of-flight histogram, and the time-of-flight histogram represents the number of photons received by the sensor in each time unit; a retrieval module 12, a retrieval module 12 is used for determining the peak unit and a plurality of neighborhood units from the time unit according to the time-of-flight histogram; Determination module 13, the determination module 13 is used for determining the flight time according to the parameter value of the peak unit and the parameter value of a plurality of neighborhood units; And a calculation module 14, the calculation module 14 is used to calculate the distance between the sensor and the object according to the time of flight and the speed of light.
  • the terminal 100 of the embodiment of the present application includes: one or more processors 30, a memory 20; and one or more programs, wherein one or more programs are stored in the memory 20 and executed by the one or more processors 30 , the program includes instructions for executing the ranging method in any one of the above-mentioned embodiments.
  • the processor 30 is configured to: obtain a preset time period and a preset time resolution; determine multiple time units according to the time period and time resolution, and the time units are arranged in sequence on the time axis; obtain each The arrival time of photons arriving at the sensor; determining the time unit corresponding to each photon according to the arrival time; and counting the number of photons corresponding to each time unit to establish a time-of-flight histogram.
  • the processor 30 is configured to: obtain the photon count value corresponding to each time unit; determine the time unit corresponding to the maximum photon count value as the peak unit; At least one adjacent time unit and at least one adjacent time unit on the right side of the peak unit are determined as neighborhood units.
  • the processor 30 is configured to: obtain the peak count value corresponding to the peak value unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit; , the right count value and the preset correction parameters to determine the correction value; and determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value.
  • the processor 30 is configured to: obtain the weighted peak count value according to the peak count value and the first parameter; obtain the weighted right count value according to the right count value and the second parameter; obtain the weighted right count value according to the left count value and the third parameter Weighting the left count value; obtaining the first difference between the right count value and the left count value; obtaining the second difference between the weighted peak count value and the weighted right count value and the weighted left count value; and obtaining the first A ratio of the difference to the second difference is determined as the correction value.
  • the processor 30 is used to: determine the correction serial number of the peak unit according to the serial number of the peak unit and the correction value, and determine the flight time according to the correction serial number and the resolution of the peak unit; or determine the time of flight according to the serial number and resolution of the peak unit determine the peak time according to the correction value and resolution, determine the flight time according to the peak time and correction time; or determine the correction number of the peak unit according to the number of the peak unit and the correction value, and put the correction number on the time-of-flight histogram The corresponding moment is taken as the flight time.
  • the non-volatile computer-readable storage medium 300 of the computer program 301 in the embodiment of the present application when the computer program 301 is executed by one or more processors 30, makes the processor 30 implement the distance measuring method in any one of the above-mentioned embodiments .
  • An embodiment of the present application provides a ranging method. Please refer to Fig. 1, the ranging method of the embodiment of the present application includes:
  • Terminal 100 includes one or more processors 30, memory 20, and one or more programs.
  • One or more programs are stored in the memory 20 and executed by one or more processors 30, and the programs include instructions for executing the ranging method of the embodiment of the present application. That is, when the processor 30 executes the program, the processor 30 can implement the methods in steps 01, 02, 03, and 04.
  • the processor 30 can be used to: obtain the time-of-flight histogram; determine the peak unit and multiple neighborhood units from the time unit according to the time-of-flight histogram; time of flight; and calculating the distance between the sensor and the object based on the time of flight and the speed of light.
  • the terminal 100 further includes a transmitting end 40 and a sensor 50 .
  • the emitting end 40 is used to emit light beams, and the light beams contain multiple photons.
  • the sensor 50 is used to receive photons reflected back from the object. Thus, the time-of-flight can be determined from the moment the light beam is emitted and the moment the sensor 50 receives the photon reflected back from the object.
  • the embodiment of the present application further provides a distance measuring device 10 , and the distance measuring device 10 may be applied to a terminal 100 .
  • the distance measuring device 10 includes an acquisition module 11 , a retrieval module 12 , a determination module 13 , and a calculation module 14 .
  • the acquisition module 11 can be used to implement the method in 01
  • the retrieval module 12 can be used to implement the method in 02
  • the determination module 13 can be used to implement the method in 03
  • the calculation module 14 can be used to implement the method in 04. That is, the acquiring module 11 can be used to acquire the time-of-flight histogram.
  • the retrieval module 12 can be used to determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram.
  • the determination module 13 can be used to determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units.
  • the calculation module 14 can be used to calculate the distance between the sensor 50 and the object according to the time of flight and the speed of light.
  • the time-of-flight is the time experienced by the photon from being emitted, reflected by the object, and received by the sensor 50.
  • the distance between the sensor 50 and the object can be calculated by using the time-of-flight ranging method, namely Where, d is the distance between the sensor 50 and the object, c is the speed of light, and t is the time of flight.
  • the distance between the emitting end 40 of the photon and the sensor 50 is as close as possible to ensure the round-trip distance of the photon, that is, the distance from the emitting end 40 of the photon to the object and the reflection of the photon from the object back to the sensor 50 as close as possible to ensure accurate ranging results.
  • the time-of-flight histogram represents the number of photons received by the sensor 50 in each time unit.
  • the time-of-flight histogram represents the number of photons received by the sensor 50 (as shown in FIG. 2 ) in each time unit after m times of statistics. For example, the number of photons is counted every time a preset measurement cycle is passed. In one count, if the sensor 50 receives a photon, the photon of the time unit at which the sensor 50 receives the photon (can be determined by a time stamp) is made The count value is increased by 1; if the sensor 50 does not receive photons in one count, the photon count value is not increased. In this way, the number of photons received by the sensor 50 in each time unit can be characterized according to the photon count value corresponding to each time unit.
  • the starting point of the time axis is the starting point of a measurement period, which is also the time at which photons are emitted.
  • the time-of-flight can be determined according to the moment when the photon is emitted and the moment when the photon is received by the sensor 50 .
  • the photons received by the sensor 50 are not necessarily photons reflected from objects, but may also be noise signals, such as photons existing in the environment (ambient light). Therefore, only counting the number of photons once cannot determine whether the photons received by the sensor 50 are photons reflected from objects.
  • the number of photons received by the sensor 50 in each time unit can be obtained by counting the number of photons received by the sensor 50 in multiple measurement periods, and the photon count value corresponding to each time unit can reflect this at the same time.
  • the energy value of the photon received by the time unit that is, the light intensity.
  • the light beam emitted by the transmitting end 40 has relatively high energy (light intensity), and the energy of the light beam is much higher than that of the noise signal. Therefore, the light beam reflected back from the object also has higher energy (light intensity).
  • the larger the photon count value corresponding to the time unit the higher the light intensity corresponding to the time unit. There is also a higher probability that the statistical photon is a photon in the beam reflected back from the object.
  • the time-of-flight histogram shown in Fig. 4 is a time-of-flight histogram obtained through 10 statistics
  • the time-of-flight histogram shown in Fig. 5 is obtained through 100 times of statistics Obtained time-of-flight histogram.
  • the horizontal axis of the time-of-flight histogram represents time
  • the vertical axis represents the number of photons received by the sensor 50 .
  • a time unit is a time scale on the abscissa time axis, and each time unit represents a period of time on the time axis.
  • the time-of-flight histogram includes 5 time units, and the two endpoints of the first time unit on the time axis are 0ns and 0.5ns respectively, then the first time unit represents the period between 0ns and 0.5ns on the time axis for a while.
  • the two endpoints of the second time unit on the time axis are 0.5ns and 1.0ns respectively, then the second time unit represents a period of time between 0.5ns and 1.0ns on the time axis.
  • other time units are not listed here.
  • each time unit is a statistical unit, the height of each time unit, that is, the ordinate corresponding to the time unit represents the number of photons received by the sensor 50 in this time unit after m times of statistics .
  • the ordinate corresponding to the third time unit is 5, which means that after 10 statistics, the sensor 50 received 5 photons, the photon count value corresponding to the third time unit is 5.
  • the ordinate corresponding to the fifth time unit is 52, which means that after 100 statistics, the sensor 50 received 52 photons, the photon count corresponding to the third time unit is 52.
  • the peak unit is the time unit with the largest photon count value, that is, the time unit with the highest energy (light intensity).
  • the peak unit represents a time period when the sensor 50 receives the photons reflected back from the object, and it is impossible to determine which moment in the time period is the time when the sensor 50 receives the photons reflected back from the object.
  • the median moment of the time period represented by the peak unit may be determined as the moment when the sensor 50 receives a photon reflected back from the object.
  • the peak unit is the third time unit, which represents a period of time between the 1.0ns and the 1.5ns on the time axis, then the moment of 1.25ns is determined as the sensor 50 receiving the The moment a photon is reflected back by an object to calculate the time-of-flight.
  • the peak unit determines the more precisely the moment when the sensor 50 receives the photon reflected back from the object.
  • this moment is the moment when the sensor 50 receives photons reflected back from the object.
  • the time period represented by the time unit that is, the time resolution of the time unit has a minimum value, thus resulting in the accuracy of the moment when the sensor 50 can receive the photons reflected back from the object according to the peak value unit.
  • the degree is limited by the minimum time resolution of the time unit.
  • the time resolution of the time unit reaches the minimum, the accuracy of the time determined according to the time unit reaches the highest and cannot be further improved.
  • the required photon counting statistics will be greatly increased, which may lead to a decrease in ranging efficiency.
  • the ranging method in the embodiment of the present application can determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram, and determine the flight time according to the parameter value of the peak unit and the parameter values of the multiple neighboring units.
  • the neighborhood unit is at least one time unit adjacent to the peak unit, and the parameter value may include the resolution of the time unit, the photon count value corresponding to the time unit, the serial number of the time unit in chronological order, and the like.
  • the peak unit is the third time unit, then the second time unit and the fourth time unit can be used as the neighbor units corresponding to the peak unit.
  • the peak unit is the time unit with the highest energy (light intensity), and the neighbor unit corresponding to the peak unit is often the time unit with higher energy (light intensity).
  • the moment when the sensor 50 receives the photon reflected back from the object is within the peak unit, combined with the parameter value of the neighborhood unit, it can be further determined that the moment when the sensor 50 receives the photon reflected back from the object is closer to the neighbor on the left side.
  • the domain unit is also the neighbor unit closer to the right.
  • the 41st time unit is the peak unit, and the adjacent units corresponding to the peak unit include the left side of the 41st time unit.
  • the 40th time unit and the 42nd time unit on the right side of the 41st time unit, t0 is the time corresponding to the midpoint of the peak unit along the horizontal axis.
  • the distance corresponding to the left end point of the peak unit is 3.000m
  • the distance corresponding to the right end point of the peak unit is 3.075m. Since the peak unit represents a period of time on the time axis, the midpoint of the period, that is, the median moment of the peak unit, is usually taken to determine the flight time.
  • the flight time t1 is determined only based on the peak unit, then when the value range of the real distance is [3.000m, 3.075m], no matter the real distance is any value within the range of [3.000m, 3.075m], according to the flight time t1 and The distance measurement results d1 calculated by the speed of light are all 3.0375m, and it is difficult to further calculate a more accurate distance when the time resolution of the time unit cannot be reduced.
  • the ranging method in the embodiment of the present application can determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units, so as to determine a more accurate flight time, thereby improving the ranging accuracy.
  • the distance resolution corresponding to the ranging result d2 is at most 0.0375m, which is smaller than the distance resolution corresponding to the ranging result d1 at 0.075m; the corresponding time resolution is at most 0.25ns, which is smaller than the time resolution of the peak unit at 0.5ns.
  • the photon count value corresponding to the 40th time unit is smaller than the photon count value corresponding to the 42nd time unit, then the highest peak of the peak unit has a high probability
  • the distance d3 calculated according to the flight time t3 and the speed of light is within the range ( 3.0375m, 3.0750m], that is, when the real distance is within the range (3.0375m, 3.0750m], output d3 as the ranging result.
  • the distance resolution corresponding to the ranging result d3 is at most 0.0375m, It is smaller than the distance resolution corresponding to the ranging result d1, which is 0.075m; the corresponding time resolution is at most 0.25ns, which is smaller than the time resolution of the peak unit, which is 0.5ns.
  • the distance resolution corresponding to the distance measurement result d2 and the distance measurement result d3 is smaller than the distance resolution corresponding to the distance measurement result d1, that is, the distance measurement result d2 and the distance measurement result d3 have Higher ranging accuracy. Therefore, the ranging accuracy is improved without reducing the actual time resolution of the time unit.
  • the above-mentioned embodiments are only used to illustrate that the ranging method in the embodiments of the present application has the effect of improving the ranging accuracy, and the degree of improvement in the ranging accuracy of the ranging methods in the embodiments of the present application is not limited to the degree of improvement illustrated in the above-mentioned examples . That is, in the above embodiment, in the time-of-flight histograms shown in FIG.
  • the distance measurement accuracy of the distance measurement result d2 and the distance measurement result d3 is at least doubled.
  • the distance measurement method in the embodiment of the present application improves the distance measurement accuracy not limited to 2 times, but may also be 3 times, 4 times, or higher.
  • 01 Obtain a time-of-flight histogram, including:
  • 011 Obtain a preset time period and a preset time resolution
  • 012 Determine multiple time units according to the time period and time resolution, and the time units are arranged in sequence on the time axis;
  • 015 Count the number of photons corresponding to each time unit to create a time-of-flight histogram.
  • the processor 30 may also be used to implement the methods in 011 , 012 , 013 , 014 and 015 . That is, the processor 30 can also be used to: obtain a preset time period and a preset time resolution; determine a plurality of time units according to the time period and time resolution, and the time units are arranged in sequence on the time axis; The arrival time of 50; determine the time unit corresponding to each photon according to the arrival time; and count the number of photons corresponding to each time unit to establish a time-of-flight histogram.
  • the acquisition module 11 can also be used to implement the methods in 011 , 012 , 013 , 014 and 015 . That is, the acquisition module 11 can also be used to: acquire a preset time period and a preset time resolution; determine a plurality of time units according to the time period and time resolution, and the time units are arranged sequentially on the time axis; The arrival time of 50; determine the time unit corresponding to each photon according to the arrival time; and count the number of photons corresponding to each time unit to establish a time-of-flight histogram.
  • the preset time period is the same, the larger the preset time resolution (the wider the width per unit time), the photon count can be clearly seen in the time-of-flight histogram with only a small number of photon counts The peak value of the value, thereby improving the ranging efficiency; the smaller the preset time resolution (the narrower the width per unit time), the more accurate the flight time can be determined through the time-of-flight histogram, and the more accurate the ranging result.
  • sensor 50 when sensor 50 receives a photon, sensor 50 generates a response signal.
  • the processor 30 records a response time stamp when receiving the response signal, and uses the response time stamp as the arrival time of the photon.
  • the time unit corresponding to the arrival time can be found in the time-of-flight histogram, and the photon count value corresponding to the time unit is increased by 1.
  • a certain arrival time is 0.2ns
  • the 0.2ns is within the time period from 0ns to 0.5ns, that is, the time period of the first time unit, so the The photon count value corresponding to 1 time unit is increased by 1.
  • the resolution of each time unit in the time-of-flight histogram is the same. In this way, the difficulty of accumulating photon count values in each time unit is the same, and any distance within the ranging range can be measured with the same ranging accuracy.
  • the time-of-flight histogram includes a region of interest and a region of non-interest, and the resolution of time units in the region of interest is smaller than the resolution of time units in the region of non-interest.
  • the region of interest is the time interval determined according to the distance of interest (the measured subject is within the distance of interest)
  • the region of non-interest is the time interval outside the region of interest in the time-of-flight histogram, that is, according to the non-interest region The time interval determined by the distance of interest (the measured subject is outside the non-interest distance range).
  • the time-of-flight histogram shown in FIG. 9 the time interval from 1 ns to 2 ns is the region of interest, the second and third time units are the time units of the region of interest, and the corresponding time resolution is 0.5 ns.
  • Time intervals other than the time interval from 1 ns to 2 ns are non-interest regions, and the time resolution corresponding to the time unit of the non-interest region is 1 ns.
  • the resolution of the time unit in the region of interest is smaller, and there are more time units divided in the same time interval, and the flight time determined according to the time unit of the region of interest is more accurate.
  • setting the time resolution corresponding to the time unit of the non-interest region to be larger can improve the efficiency of ranging.
  • 02 determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram, including:
  • 023 Determine at least one time unit adjacent to the left of the peak unit and at least one time unit adjacent to the right of the peak unit in the time-of-flight histogram as neighborhood units.
  • the processor 30 may also be used to implement the methods in 021 , 022 and 023 . That is, the processor 30 can also be used to: acquire the photon count value corresponding to each time unit; determine the time unit corresponding to the maximum photon count value as the peak unit; At least one time unit and at least one time unit adjacent to the right side of the peak unit are determined as neighboring units.
  • the retrieval module 12 can also be used to implement the methods in 021 , 022 and 023 . That is, the retrieval module 12 can also be used to: obtain the photon count value corresponding to each time unit; determine the time unit corresponding to the maximum photon count value as the peak unit; At least one time unit and at least one time unit adjacent to the right side of the peak unit are determined as neighboring units.
  • the ordinate of the histogram of each time unit is the photon count value corresponding to the time unit.
  • the ordinate of the highest-height bar along the vertical axis is the maximum photon count value, and the time unit corresponding to the bar is the peak unit.
  • the neighborhood unit is a time unit adjacent to the peak unit, and the neighborhood unit includes at least one left neighbor unit located on the left side of the peak unit and at least one right neighbor unit located on the right side of the peak unit.
  • the number of left neighbor units may be 1, 2, 3 or more, which will not be listed here.
  • the left neighbor unit When the number of left neighbor units is 1, the left neighbor unit is the nearest time unit to the left of the peak unit; when the number of left neighbor units is n (n>1), the left neighbor unit is the self-peak unit
  • the nearest time unit on the left is n time units distributed sequentially along the left side of the horizontal axis.
  • the number of right neighbor units may be 1, 2, 3 or more, which will not be listed here.
  • the neighborhood unit includes 1 left neighborhood unit and 1 right neighborhood unit, for example, in the time-of-flight histogram shown in Figure 5, the 3rd time unit is a peak unit, the 2nd and 4th A time unit is a neighborhood unit. At this time, the number of time units included in the neighborhood unit is the least, and the amount of data processing is less when determining the flight time according to the parameter value of the peak unit and the parameter values of multiple neighbor units, thus having a higher ranging efficiency.
  • the parameter value includes the resolution of the time unit, the photon count value corresponding to the time unit, and the serial number of the time unit in chronological order.
  • 03 Determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units, including:
  • the processor 30 may also be used to implement the methods in 031 , 032 and 033 . That is, the processor 30 can also be used to: obtain the peak count value corresponding to the peak value unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit; value and preset calibration parameters to determine the calibration value; and determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the calibration value.
  • the determining module 13 can also be used to implement the methods in 031 , 032 and 033 . That is, the determination module 13 can also be used to: obtain the peak count value corresponding to the peak value unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit; value and preset calibration parameters to determine the calibration value; and determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the calibration value.
  • the median instant t0 of the peak cell is received as t to determine the time-of-flight t1 based on the peak cell. Since the median time t0 of the peak unit depends on the time resolution corresponding to the peak unit, the smaller the time resolution corresponding to the peak unit, the more accurate the median time t0 can be determined. Therefore, in the case that the resolution of the peak cell is limited and cannot be reduced, the peak cell has a fixed median instant t0, and the accuracy of the time-of-flight t1 determined from the median instant t0 is limited.
  • the ranging method of the embodiment of the present application can determine the correction value according to the peak count value, left count value, right count value and preset correction parameters, so as to determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value, A precisely higher flight time is thereby determined.
  • the peak unit is the nth time unit on the horizontal axis of the time-of-flight histogram
  • the serial number of the peak unit is n.
  • the correction parameter is a preset constant value, which represents the influence of the peak count value, left count value, and right count value on the correction value.
  • the correction value can represent the offset of the sensor 50 receiving the photon reflected back from the object at time t relative to the peak unit.
  • the value of the correction value can be a positive value, a negative value, or 0.
  • the corrected serial number is 40.55, and it can be determined that the time t when the sensor 50 receives the photon reflected from the object is received on the left side of the median time t0 of the peak unit.
  • the serial numbers n of all time units are positive integers, and there is actually no time unit with the serial number 40.55 in the time-of-flight histogram, but it does not affect the time t received based on the time unit with the serial number 40.55 to determine flight duration.
  • the calibration parameters include a first parameter, a second parameter and a third parameter.
  • 032 Determine the correction value according to the peak count value, left count value, right count value and preset correction parameters, including:
  • the processor 30 may also be used to implement the methods in 0321 , 0322 , 0323 , 0324 , 0325 and 0326 . That is, the processor 30 can also be used to: obtain the weighted peak count value according to the peak count value and the first parameter; obtain the weighted right count value according to the right count value and the second parameter; obtain the weighted left count value according to the left count value and the third parameter value; obtain the first difference between the right count value and the left count value; obtain the second difference between the weighted peak count value and the weighted right count value and the weighted left count value; and obtain the first difference and A ratio of the second difference is determined as the correction value.
  • the determining module 13 may also be used to implement the methods in 0321 , 0322 , 0323 , 0324 , 0325 and 0326 . That is, the determination module 13 can also be used to: obtain the weighted peak count value according to the peak count value and the first parameter; obtain the weighted right count value according to the right count value and the second parameter; obtain the weighted left count value according to the left count value and the third parameter value; obtain the first difference between the right count value and the left count value; obtain the second difference between the weighted peak count value and the weighted right count value and the weighted left count value; and obtain the first difference and A ratio of the second difference is determined as the correction value.
  • the first parameter is a
  • the second parameter is b
  • the third parameter is c
  • the peak count value is P1
  • the right count value is P2
  • the left count value is P3.
  • weighted peak count value Pq1 a ⁇ P1
  • weighted right count value Pq2 b ⁇ P2
  • weighted left count value Pq3 c ⁇ P3
  • first difference F1 P2-P3
  • 033 determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value, including:
  • 0331 Determine the correction serial number of the peak unit according to the serial number and correction value of the peak unit, and determine the flight time according to the correction serial number and the resolution of the peak unit.
  • the processor 30 may also be used to implement the method in 0331 . That is, the processor 30 can also be used to: determine the correction serial number of the peak unit according to the serial number of the peak unit and the correction value, and determine the flight time according to the correction serial number and the resolution of the peak unit.
  • the determination module 13 may also be used to implement the method in 0331 . That is, the determination module 13 can also be used to: determine the corrected serial number of the peak unit according to the serial number of the peak unit and the correction value, and determine the flight time according to the corrected serial number and the resolution of the peak unit.
  • the correction sequence number n' n+ ⁇ n.
  • the value of ⁇ n can be positive, negative, or 0.
  • the actual distance between the sensor 50 and the object is 3m
  • t reception n' ⁇ K-(K/2).
  • n' ⁇ K represents the moment corresponding to the right endpoint coordinates of the corrected peak unit on the time axis
  • K/2 is half of the time resolution, that is, n' ⁇ K-(K/2) represents the n'th time The median moment of the cell.
  • the flight time t1 is determined only according to the parameter value of the peak unit, then the actual distance between the sensor 50 and the object is any value within the range of [3.000m, 3.075m], determined according to the parameter value of the peak unit
  • the flight time t1 is both 20.25ns
  • the measurement distance d1 determined according to the flight time t is 3.0375m
  • the maximum error is 0.0375m.
  • the time-of-flight t determined is related to the correction value ⁇ n
  • the correction value is related to the parameter value of the peak unit, the parameter value of the left neighbor unit, and the value of the right field unit.
  • the parameter values are related, and can represent the degree of offset from the peak unit to the left or right neighbor unit at the time t when the sensor 50 receives the photon reflected back from the object.
  • the maximum error is less than 0.0375m; when ⁇ n>0, the value range of flight time t is (20.25ns, 20.50ns], and the range of distance d that can be determined according to the value of flight time t is (3.0375m, 3.0750m], the maximum error is less than 0.0375m. That is, when ⁇ n is not 0, the accuracy of flight time t is improved compared with flight time t1, and the measurement distance d determined by flight time t is compared with that determined by flight time t1 The accuracy of measuring the distance d1 is improved.
  • 033 Determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value, including:
  • 0332 Determine the peak time according to the serial number and resolution of the peak unit, determine the correction time according to the correction value and resolution, and determine the flight time according to the peak time and correction time.
  • the processor 30 may also be used to implement the method in 0332 . That is, the processor 30 can also be used to: determine the peak time according to the serial number and resolution of the peak unit, determine the correction time according to the correction value and resolution, and determine the flight time according to the peak time and correction time.
  • the determination module 13 may also be used to implement the method in 0332 . That is, the determination module 13 can also be used to: determine the peak time according to the serial number and resolution of the peak unit, determine the correction time according to the correction value and resolution, and determine the flight time according to the peak time and correction time.
  • the time-of-flight histogram is established, the corresponding relationship between the sequence number of each time unit and the time corresponding to the time unit has been determined, and the corresponding relationship is stored in the memory 20 .
  • the peak time tn can be determined according to the serial number of the peak unit and the corresponding relationship, thereby simplifying the calculation and improving the ranging efficiency.
  • 033 Determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value, including:
  • 0333 Determine the correction serial number of the peak unit according to the serial number and correction value of the peak unit, and use the time corresponding to the correction serial number on the time-of-flight histogram as the flight time.
  • the processor 30 may also be used to implement the method in 0333 . That is, the processor 30 may also be configured to: determine the correction number of the peak unit according to the number of the peak unit and the correction value, and use the moment corresponding to the correction number on the time-of-flight histogram as the flight time.
  • the determining module 13 may also be used to implement the method in 0333 . That is, the determining module 13 may also be configured to: determine the corrected serial number of the peak unit according to the serial number of the peak unit and the correction value, and use the moment corresponding to the corrected serial number on the time-of-flight histogram as the flight time.
  • the peak time tn' of the corrected peak unit ie, the time unit numbered n'
  • t the time unit numbered n'
  • the peak time tn' of the time unit with the serial number n' is represented as the time corresponding to the time unit with the serial number n' on the time axis of the time-of-flight histogram.
  • the time-of-flight histogram is established, the corresponding relationship between the serial number of each time unit and the time corresponding to the time unit on the time axis has been determined, and the corresponding relationship is stored in the memory 20 .
  • one or more non-transitory computer-readable storage media 300 containing a computer program 301 when the computer program 301 is executed by one or more processors 30, the processors 30 can Execute the ranging method in any of the above embodiments, for example, implement steps 01, 02, 03, 04, 011, 012, 013, 014, 015, 021, 022, 023, 031, 032, 033, 0321, 0322, 0323, One or more steps in 0324, 0325, 0326, 0331, 0332 and 0333.
  • the processors 30 are made to perform the following steps:
  • processors 30 when the computer program 301 is executed by one or more processors 30, the processors 30 are made to perform the following steps:
  • 011 Obtain a preset time period and a preset time resolution
  • 012 Determine multiple time units according to the time period and time resolution, and the time units are arranged in sequence on the time axis;
  • 014 Determine the time unit corresponding to each photon according to the arrival time
  • 015 Count the number of photons corresponding to each time unit to establish a time-of-flight histogram

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Abstract

Disclosed are a ranging method, a ranging apparatus (10), a terminal (100), and a non-volatile computer-readable storage medium (300). The ranging method comprises: acquiring a time of flight histogram; according to the time of flight histogram, determining a peak unit and multiple neighboring units from among time units; determining a time of flight according to a parameter value of the peak unit and parameter values of the multiple neighboring units; and, according to the time of flight and the speed of light, calculating a distance between a sensor and an object.

Description

测距方法与装置、终端及非易失性计算机可读存储介质Distance measuring method and device, terminal and non-volatile computer-readable storage medium
优先权信息priority information
本申请请求2021年7月20日向中国国家知识产权局提交的、专利申请号为202110817226.0的专利申请的优先权和权益,并且通过参照将其全文并入此处。This application claims the priority and benefit of the patent application No. 202110817226.0 filed with the State Intellectual Property Office of China on July 20, 2021, which is hereby incorporated by reference in its entirety.
技术领域technical field
本申请涉及测距技术领域,特别涉及一种测距方法、测距装置、终端及非易失性计算机可读存储介质。The present application relates to the technical field of distance measurement, and in particular to a distance measurement method, a distance measurement device, a terminal and a non-volatile computer-readable storage medium.
背景技术Background technique
直接飞行时间技术(directed Time of flight,dToF)是一种通过测量发射信号和被物体反射回的信号之间的时间差计算出物体和传感器之间的距离的测距技术。通常通过直方图的方式确定传感器接收到被物体反射回的信号的时刻。Direct Time of Flight (dToF) is a ranging technology that calculates the distance between the object and the sensor by measuring the time difference between the transmitted signal and the signal reflected by the object. The moment at which the sensor receives the signal reflected back by the object is usually determined by means of a histogram.
发明内容Contents of the invention
本申请实施方式提供了一种测距方法、测距装置、终端及非易失性计算机可读存储介质。Embodiments of the present application provide a ranging method, a ranging device, a terminal, and a non-volatile computer-readable storage medium.
本申请实施方式的测距方法包括:获取飞行时间直方图;根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元;根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间;及根据飞行时间及光速计算传感器与物体之间的距离。The ranging method in the embodiment of the present application includes: obtaining a time-of-flight histogram; determining a peak unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram; determining the time of flight; and calculating the distance between the sensor and the object based on the time of flight and the speed of light.
本申请实施方式的测距装置包括获取模块、检索模块、确定模块、及计算模块。获取模块可用于获取飞行时间直方图。检索模块可用于根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元。确定模块可用于根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间。计算模块可用于根据飞行时间及光速计算传感器与物体之间的距离。The ranging device in the embodiment of the present application includes an acquisition module, a retrieval module, a determination module, and a calculation module. The acquisition module can be used to acquire time-of-flight histograms. The retrieval module can be used to determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram. The determination module can be used to determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units. The calculation module can be used to calculate the distance between the sensor and the object according to the time of flight and the speed of light.
本申请实施方式的终端包括一个或多个处理器、存储器和一个或多个程序。其中,所述一个或多个程序被存储在所述存储器中,并且被所述一个或多个处理器执行,所述程序包括用于执行本申请实施方式所述的测距方法的指令。测距方法包括:获取飞行时间直方图;根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元;根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间;及根据飞行时间及光速计算传感器与物体之间的距离。The terminal in the embodiments of the present application includes one or more processors, memories, and one or more programs. Wherein, the one or more programs are stored in the memory and executed by the one or more processors, and the programs include instructions for executing the ranging method described in the embodiments of the present application. The ranging method includes: obtaining a time-of-flight histogram; determining a peak unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram; determining the flight time according to the parameter value of the peak unit and the parameter values of the plurality of neighboring units; and Calculate the distance between the sensor and the object based on the time of flight and the speed of light.
本申请实施方式的一种包含计算机程序的非易失性计算机可读存储介质,当所述计算机程序被一个或多个处理器执行时,使得所述处理器实现本申请实施方式所述的测距方法。测距方法包括:获取飞行时间直方图;根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元;根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间;及根据飞行时间及光速计算传感器与物体之间的距离。A non-volatile computer-readable storage medium containing a computer program according to an embodiment of the present application. When the computer program is executed by one or more processors, the processors can implement the test described in the embodiment of the present application. distance method. The ranging method includes: obtaining a time-of-flight histogram; determining a peak unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram; determining the flight time according to the parameter value of the peak unit and the parameter values of the plurality of neighboring units; and Calculate the distance between the sensor and the object based on the time of flight and the speed of light.
本申请实施方式的测距方法、测距装置、终端及非易失性计算机可读存储介质能够根据峰值单元 的参数值及多个邻域单元的参数值确定飞行时间,以获取更精确的飞行时间,从而能够提高测距精度。The ranging method, ranging device, terminal, and non-volatile computer-readable storage medium in the embodiments of the present application can determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units, so as to obtain more accurate flight time time, thereby improving the ranging accuracy.
本申请实施方式的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本申请的实践了解到。Additional aspects and advantages of embodiments of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
附图说明Description of drawings
本申请的上述和/或附加的方面和优点可以从结合下面附图对实施方式的描述中将变得明显和容易理解,其中:The above and/or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, wherein:
图1是本申请某些实施方式的测距方法的流程示意图;FIG. 1 is a schematic flowchart of a ranging method in some embodiments of the present application;
图2是本申请某些实施方式的终端的结构示意图;FIG. 2 is a schematic structural diagram of a terminal in some embodiments of the present application;
图3是本申请某些实施方式的测距装置的结构示意图;Fig. 3 is a schematic structural diagram of a ranging device in some embodiments of the present application;
图4是本申请某些实施方式的飞行时间直方图的示意图;4 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application;
图5是本申请某些实施方式的飞行时间直方图的示意图;5 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application;
图6是本申请某些实施方式的飞行时间直方图的示意图;6 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application;
图7是本申请某些实施方式的飞行时间直方图的示意图;Figure 7 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application;
图8是本申请某些实施方式的测距方法的流程示意图;FIG. 8 is a schematic flowchart of a ranging method in some embodiments of the present application;
图9是本申请某些实施方式的飞行时间直方图的示意图;FIG. 9 is a schematic diagram of a time-of-flight histogram of some embodiments of the present application;
图10是本申请某些实施方式的测距方法的流程示意图;FIG. 10 is a schematic flowchart of a ranging method in some embodiments of the present application;
图11是本申请某些实施方式的测距方法的流程示意图;FIG. 11 is a schematic flowchart of a ranging method in some embodiments of the present application;
图12是本申请某些实施方式的测距方法的流程示意图;FIG. 12 is a schematic flowchart of a ranging method in some embodiments of the present application;
图13是本申请某些实施方式的测距方法的流程示意图;FIG. 13 is a schematic flowchart of a ranging method in some embodiments of the present application;
图14是本申请某些实施方式的测距方法的流程示意图;FIG. 14 is a schematic flowchart of a ranging method in some embodiments of the present application;
图15是本申请某些实施方式的测距方法的流程示意图;FIG. 15 is a schematic flowchart of a ranging method in some embodiments of the present application;
图16是本申请某些实施方式的计算机可读存储介质与处理器的连接关系示意图。Fig. 16 is a schematic diagram of a connection relationship between a computer-readable storage medium and a processor in some embodiments of the present application.
具体实施方式detailed description
下面详细描述本申请的实施方式,所述实施方式的示例在附图中示出,其中,相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的,仅用于解释本申请的实施方式,而不能理解为对本申请的实施方式的限制。Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, are only for explaining the embodiments of the present application, and should not be construed as limiting the embodiments of the present application.
本申请实施方式提供了一种测距方法、测距装置10、终端100及非易失性计算机可读存储介质300。Embodiments of the present application provide a ranging method, a ranging device 10 , a terminal 100 and a non-volatile computer-readable storage medium 300 .
本申请实施方式的测距方法包括:获取飞行时间直方图,飞行时间直方图表征传感器在各时间单元内接收到的光子的数量;根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元;根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间;及根据飞行时间及光速计算传感器与物体之 间的距离。The distance measuring method in the embodiment of the present application includes: obtaining a time-of-flight histogram, which represents the number of photons received by the sensor in each time unit; domain unit; determine the time of flight according to the parameter value of the peak unit and the parameter values of multiple neighboring units; and calculate the distance between the sensor and the object according to the time of flight and the speed of light.
在某些实施方式中,获取飞行时间直方图,包括:获取预设的时间段及预设的时间分辨率;根据时间段及时间分辨率确定多个时间单元,时间单元在时间轴依次排列;获取各光子到达传感器的到达时间;根据到达时间确定各光子对应的时间单元;及统计每个时间单元对应的光子的数量以建立飞行时间直方图。In some embodiments, obtaining the time-of-flight histogram includes: obtaining a preset time period and a preset time resolution; determining a plurality of time units according to the time period and time resolution, and the time units are arranged sequentially on the time axis; The arrival time of each photon arriving at the sensor is obtained; the time unit corresponding to each photon is determined according to the arrival time; and the number of photons corresponding to each time unit is counted to establish a time-of-flight histogram.
在某些实施方式中,飞行时间直方图中每个时间单元的分辨率均相同。In some embodiments, the resolution of each time unit in the time-of-flight histogram is the same.
在某些实施方式中,飞行时间直方图包括感兴趣区域和非感兴趣区域,感兴趣区域的时间单元的分辨率小于非感兴趣区域的时间单元的分辨率。In some embodiments, the time-of-flight histogram includes a region of interest and a region of non-interest, and the resolution of the time units of the region of interest is smaller than the resolution of the time units of the region of non-interest.
在某些实施方式中,根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元,包括:获取每个时间单元对应的光子计数值;将最大光子计数值对应的时间单元确定为峰值单元;及将飞行时间直方图中在峰值单元左侧相邻的至少一个时间单元和在峰值单元右侧相邻的至少一个时间单元确定为邻域单元。In some embodiments, determining the peak value unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram includes: obtaining the photon count value corresponding to each time unit; determining the time unit corresponding to the maximum photon count value as a peak unit; and determining at least one time unit adjacent to the left side of the peak unit and at least one time unit adjacent to the right side of the peak unit in the time-of-flight histogram as neighborhood units.
在某些实施方式中,邻域单元包括位于峰值单元左侧的左邻域单元及位于峰值单元右侧的右邻域单元,参数值包括时间单元的分辨率、时间单元对应的光子计数值、及时间单元按照时间次序出现的序号。In some embodiments, the neighborhood unit includes a left neighborhood unit located on the left side of the peak unit and a right neighborhood unit located on the right side of the peak unit, and the parameter value includes the resolution of the time unit, the photon count value corresponding to the time unit, and the sequence number in which the time unit appears in chronological order.
在某些实施方式中,根据峰值单元及多个邻域单元确定飞行时间,包括:获取峰值单元对应的峰值计数值、左邻域单元对应的左计数值、右邻域单元对应的右计数值;根据峰值计数值、左计数值、右计数值及预设的校正参数确定校正值;及根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间。In some implementations, determining the flight time according to the peak unit and a plurality of neighboring units includes: obtaining the peak count value corresponding to the peak unit, the left count value corresponding to the left neighboring unit, and the right counting value corresponding to the right neighboring unit ; Determine the correction value according to the peak count value, left count value, right count value and preset correction parameters; and determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value.
在某些实施方式中,校正参数包括第一参数、第二参数及第三参数,根据峰值计数值、左计数值、右计数值及预设的校正参数确定校正值,包括:根据峰值计数值及第一参数获取加权峰值计数值;根据右计数值及第二参数获取加权右计数值;根据左计数值及第三参数获取加权左计数值;获取右计数值与左计数值之间的第一差值;获取加权峰值计数值依次与加权右计数值及加权左计数值做差后的第二差值;及获取第一差值与第二差值的比值,将比值确定为校正值。In some embodiments, the correction parameters include a first parameter, a second parameter and a third parameter, and determining the correction value according to the peak count value, the left count value, the right count value and preset correction parameters includes: according to the peak count value and the first parameter to obtain the weighted peak count value; obtain the weighted right count value according to the right count value and the second parameter; obtain the weighted left count value according to the left count value and the third parameter; obtain the first value between the right count value and the left count value A difference value; obtain a second difference value obtained after the weighted peak count value is sequentially differenced from the weighted right count value and the weighted left count value; and obtain a ratio between the first difference value and the second difference value, and determine the ratio as a correction value.
在某些实施方式中,根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间,包括:根据峰值单元的序号及校正值确定峰值单元的修正序号,及根据修正序号及峰值单元的分辨率确定飞行时间;或根据峰值单元的序号及分辨率确定峰值时刻,根据校正值及分辨率确定校正时间,根据峰值时刻及校正时间确定飞行时间;或根据峰值单元的序号及校正值确定峰值单元的修正序号,将修正序号在飞行时间直方图上对应的时刻作为飞行时间。In some embodiments, determining the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value includes: determining the corrected serial number of the peak unit according to the serial number of the peak unit and the corrected value, and determining the corrected serial number of the peak unit according to the corrected serial number and the corrected value of the peak unit. Determine the flight time by resolution; or determine the peak time according to the serial number and resolution of the peak unit, determine the correction time according to the correction value and resolution, and determine the flight time according to the peak time and correction time; or determine the peak value according to the serial number and correction value of the peak unit The corrected serial number of the unit, and the moment corresponding to the corrected serial number on the time-of-flight histogram is taken as the flight time.
本申请实施方式的测距装置10包括:获取模块11,获取模块11用于获取飞行时间直方图,飞行时间直方图表征传感器在各时间单元内接收到的光子的数量;检索模块12,检索模块12用于根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元;确定模块13,确定模块13用于根据峰值单元 的参数值及多个邻域单元的参数值确定飞行时间;及计算模块14,计算模块14用于根据飞行时间及光速计算传感器与物体之间的距离。The distance measuring device 10 of the embodiment of the present application includes: an acquisition module 11, the acquisition module 11 is used to acquire a time-of-flight histogram, and the time-of-flight histogram represents the number of photons received by the sensor in each time unit; a retrieval module 12, a retrieval module 12 is used for determining the peak unit and a plurality of neighborhood units from the time unit according to the time-of-flight histogram; Determination module 13, the determination module 13 is used for determining the flight time according to the parameter value of the peak unit and the parameter value of a plurality of neighborhood units; And a calculation module 14, the calculation module 14 is used to calculate the distance between the sensor and the object according to the time of flight and the speed of light.
本申请实施方式的终端100包括:一个或多个处理器30、存储器20;和一个或多个程序,其中一个或多个程序被存储在存储器20中,并且被一个或多个处理器30执行,程序包括用于执行上述任意一项实施方式的测距方法的指令。The terminal 100 of the embodiment of the present application includes: one or more processors 30, a memory 20; and one or more programs, wherein one or more programs are stored in the memory 20 and executed by the one or more processors 30 , the program includes instructions for executing the ranging method in any one of the above-mentioned embodiments.
在某些实施方式中,处理器30用于:获取预设的时间段及预设的时间分辨率;根据时间段及时间分辨率确定多个时间单元,时间单元在时间轴依次排列;获取各光子到达传感器的到达时间;根据到达时间确定各光子对应的时间单元;及统计每个时间单元对应的光子的数量以建立飞行时间直方图。In some embodiments, the processor 30 is configured to: obtain a preset time period and a preset time resolution; determine multiple time units according to the time period and time resolution, and the time units are arranged in sequence on the time axis; obtain each The arrival time of photons arriving at the sensor; determining the time unit corresponding to each photon according to the arrival time; and counting the number of photons corresponding to each time unit to establish a time-of-flight histogram.
在某些实施方式中,处理器30用于:获取每个时间单元对应的光子计数值;将最大光子计数值对应的时间单元确定为峰值单元;及将飞行时间直方图中在峰值单元左侧相邻的至少一个时间单元和在峰值单元右侧相邻的至少一个时间单元确定为邻域单元。In some embodiments, the processor 30 is configured to: obtain the photon count value corresponding to each time unit; determine the time unit corresponding to the maximum photon count value as the peak unit; At least one adjacent time unit and at least one adjacent time unit on the right side of the peak unit are determined as neighborhood units.
在某些实施方式中,处理器30用于:获取峰值单元对应的峰值计数值、左邻域单元对应的左计数值、右邻域单元对应的右计数值;根据峰值计数值、左计数值、右计数值及预设的校正参数确定校正值;及根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间。In some embodiments, the processor 30 is configured to: obtain the peak count value corresponding to the peak value unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit; , the right count value and the preset correction parameters to determine the correction value; and determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value.
在某些实施方式中,处理器30用于:根据峰值计数值及第一参数获取加权峰值计数值;根据右计数值及第二参数获取加权右计数值;根据左计数值及第三参数获取加权左计数值;获取右计数值与左计数值之间的第一差值;获取加权峰值计数值依次与加权右计数值及加权左计数值做差后的第二差值;及获取第一差值与第二差值的比值,将比值确定为校正值。In some embodiments, the processor 30 is configured to: obtain the weighted peak count value according to the peak count value and the first parameter; obtain the weighted right count value according to the right count value and the second parameter; obtain the weighted right count value according to the left count value and the third parameter Weighting the left count value; obtaining the first difference between the right count value and the left count value; obtaining the second difference between the weighted peak count value and the weighted right count value and the weighted left count value; and obtaining the first A ratio of the difference to the second difference is determined as the correction value.
在某些实施方式中,处理器30用于:根据峰值单元的序号及校正值确定峰值单元的修正序号,及根据修正序号及峰值单元的分辨率确定飞行时间;或根据峰值单元的序号及分辨率确定峰值时刻,根据校正值及分辨率确定校正时间,根据峰值时刻及校正时间确定飞行时间;或根据峰值单元的序号及校正值确定峰值单元的修正序号,将修正序号在飞行时间直方图上对应的时刻作为飞行时间。In some embodiments, the processor 30 is used to: determine the correction serial number of the peak unit according to the serial number of the peak unit and the correction value, and determine the flight time according to the correction serial number and the resolution of the peak unit; or determine the time of flight according to the serial number and resolution of the peak unit determine the peak time according to the correction value and resolution, determine the flight time according to the peak time and correction time; or determine the correction number of the peak unit according to the number of the peak unit and the correction value, and put the correction number on the time-of-flight histogram The corresponding moment is taken as the flight time.
本申请实施方式的计算机程序301的非易失性计算机可读存储介质300,当计算机程序301被一个或多个处理器30执行时,使得处理器30实现上述任意一项实施方式的测距方法。The non-volatile computer-readable storage medium 300 of the computer program 301 in the embodiment of the present application, when the computer program 301 is executed by one or more processors 30, makes the processor 30 implement the distance measuring method in any one of the above-mentioned embodiments .
本申请实施方式提供一种测距方法。请参阅图1,本申请实施方式的测距方法包括:An embodiment of the present application provides a ranging method. Please refer to Fig. 1, the ranging method of the embodiment of the present application includes:
01:获取飞行时间直方图,飞行时间直方图表征传感器在各时间单元内接收到的光子的数量;01: Obtain the time-of-flight histogram, which represents the number of photons received by the sensor in each time unit;
02:根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元;02: Determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram;
03:根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间;及03: Determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units; and
04:根据飞行时间及光速计算传感器与物体之间的距离。04: Calculate the distance between the sensor and the object based on the flight time and the speed of light.
请参阅图2,本申请实施方式还提供一种终端100,本申请实施方式的测距方法可应用于终端100。终端100包括一个或多个处理器30、存储器20、和一个或多个程序。其中一个或多个程序被存储在存储器20中,并且被一个或多个处理器30执行,程序包括用于执行本申请实施方式的测距方法的指令。 即,处理器30执行程序时,处理器30可以实现步骤01、02、03、及04中的方法。即,处理器30可以用于:获取飞行时间直方图;根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元;根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间;及根据飞行时间及光速计算传感器与物体之间的距离。Referring to FIG. 2 , the embodiment of the present application further provides a terminal 100 , and the ranging method in the embodiment of the present application can be applied to the terminal 100 . Terminal 100 includes one or more processors 30, memory 20, and one or more programs. One or more programs are stored in the memory 20 and executed by one or more processors 30, and the programs include instructions for executing the ranging method of the embodiment of the present application. That is, when the processor 30 executes the program, the processor 30 can implement the methods in steps 01, 02, 03, and 04. That is, the processor 30 can be used to: obtain the time-of-flight histogram; determine the peak unit and multiple neighborhood units from the time unit according to the time-of-flight histogram; time of flight; and calculating the distance between the sensor and the object based on the time of flight and the speed of light.
在某些实施方式中,终端100还包括发射端40和传感器50。发射端40用于发射光束,光束包含多个光子。传感器50用于接收自物体反射回的光子。从而,能够根据发射光束的时刻及传感器50接收到自物体反射回的光子的时刻确定飞行时间。In some implementations, the terminal 100 further includes a transmitting end 40 and a sensor 50 . The emitting end 40 is used to emit light beams, and the light beams contain multiple photons. The sensor 50 is used to receive photons reflected back from the object. Thus, the time-of-flight can be determined from the moment the light beam is emitted and the moment the sensor 50 receives the photon reflected back from the object.
请参阅图2及图3,本申请实施方式还提供一种测距装置10,测距装置10可应用于终端100。测距装置10包括获取模块11、检索模块12、确定模块13、及计算模块14。获取模块11可用于实现01中的方法,检索模块12可用于实现02中的方法,确定模块13可用于实现03中的方法,计算模块14可用于实现04中的方法。即,获取模块11可用于获取飞行时间直方图。检索模块12可用于根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元。确定模块13可用于根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间。计算模块14可用于根据飞行时间及光速计算传感器50与物体之间的距离。Please refer to FIG. 2 and FIG. 3 , the embodiment of the present application further provides a distance measuring device 10 , and the distance measuring device 10 may be applied to a terminal 100 . The distance measuring device 10 includes an acquisition module 11 , a retrieval module 12 , a determination module 13 , and a calculation module 14 . The acquisition module 11 can be used to implement the method in 01, the retrieval module 12 can be used to implement the method in 02, the determination module 13 can be used to implement the method in 03, and the calculation module 14 can be used to implement the method in 04. That is, the acquiring module 11 can be used to acquire the time-of-flight histogram. The retrieval module 12 can be used to determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram. The determination module 13 can be used to determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units. The calculation module 14 can be used to calculate the distance between the sensor 50 and the object according to the time of flight and the speed of light.
请参阅图1至图3。其中,飞行时间是光子自出射、被物体反射、至被传感器50接收的过程所经历的时间,根据飞行时间可利用飞行时间测距法计算传感器50与物体之间的距离,即
Figure PCTCN2022090969-appb-000001
其中,d是传感器50与物体之间的距离,c是光速,t是飞行时间。基于飞行时间测距的原理,光子的发射端40与传感器50之间的距离尽量接近,以确保光子的往返距离,也即是光子自发射端40发射至物体的距离和光子自物体反射回传感器50的距离尽量接近,从而确保测距结果准确。
See Figures 1 through 3. Wherein, the time-of-flight is the time experienced by the photon from being emitted, reflected by the object, and received by the sensor 50. According to the time-of-flight, the distance between the sensor 50 and the object can be calculated by using the time-of-flight ranging method, namely
Figure PCTCN2022090969-appb-000001
Where, d is the distance between the sensor 50 and the object, c is the speed of light, and t is the time of flight. Based on the principle of time-of-flight ranging, the distance between the emitting end 40 of the photon and the sensor 50 is as close as possible to ensure the round-trip distance of the photon, that is, the distance from the emitting end 40 of the photon to the object and the reflection of the photon from the object back to the sensor 50 as close as possible to ensure accurate ranging results.
请参阅图4及图5,飞行时间直方图表征传感器50在各时间单元内接收到的光子的数量。具体地,飞行时间直方图表征经过m次统计后,传感器50(如图2所示)在各时间单元内接收到的光子的数量。例如,每经过一个预设的测量周期统计一次光子的数量,在一次统计中,若传感器50接收到光子,则令传感器50接收到光子的时刻(可通过时间戳确定)所在的时间单元的光子计数值增加1;若在一次统计中传感器50没有接收到光子,则不增加光子计数值。如此,根据各时间单元对应的光子计数值能够表征传感器50在各时间单元内接收到的光子的数量。Referring to FIG. 4 and FIG. 5 , the time-of-flight histogram represents the number of photons received by the sensor 50 in each time unit. Specifically, the time-of-flight histogram represents the number of photons received by the sensor 50 (as shown in FIG. 2 ) in each time unit after m times of statistics. For example, the number of photons is counted every time a preset measurement cycle is passed. In one count, if the sensor 50 receives a photon, the photon of the time unit at which the sensor 50 receives the photon (can be determined by a time stamp) is made The count value is increased by 1; if the sensor 50 does not receive photons in one count, the photon count value is not increased. In this way, the number of photons received by the sensor 50 in each time unit can be characterized according to the photon count value corresponding to each time unit.
在飞行时间直方图中,时间轴的起始点是一个测量周期的起始点,同时也是发射光子的时间。根据飞行时间测距原理,飞行时间可根据发射光子的时刻和传感器50接收到光子的时刻确定。然而,传感器50接收到的光子不一定是经自物体反射回的光子,也可能是噪声信号,比如环境中存在的光子(环境光)。因此,仅统计一次光子的数量并不能确定传感器50接收到的光子是否为经自物体反射回的光子。在飞行时间直方图中,通过统计多个测量周期传感器50接收到的光子的数量,可以得到传感器50在各时间单元内接收到的光子的数量,各时间单元对应的光子计数值同时能够反映该时间单元接收到 的光子的能量值,也即是光强。请结合图2,发射端40发射的光束具有较高的能量(光强),光束的能量远高于噪声信号的能量。因此,自物体反射回的光束同样具有较高的能量(光强),在飞行时间直方图中,时间单元对应的光子计数值越大,则该时间单元对应的光强越高,该时间单元统计的光子是自物体反射回的光束中的光子的概率也越高。In a time-of-flight histogram, the starting point of the time axis is the starting point of a measurement period, which is also the time at which photons are emitted. According to the principle of time-of-flight ranging, the time-of-flight can be determined according to the moment when the photon is emitted and the moment when the photon is received by the sensor 50 . However, the photons received by the sensor 50 are not necessarily photons reflected from objects, but may also be noise signals, such as photons existing in the environment (ambient light). Therefore, only counting the number of photons once cannot determine whether the photons received by the sensor 50 are photons reflected from objects. In the time-of-flight histogram, the number of photons received by the sensor 50 in each time unit can be obtained by counting the number of photons received by the sensor 50 in multiple measurement periods, and the photon count value corresponding to each time unit can reflect this at the same time. The energy value of the photon received by the time unit, that is, the light intensity. Please refer to FIG. 2 , the light beam emitted by the transmitting end 40 has relatively high energy (light intensity), and the energy of the light beam is much higher than that of the noise signal. Therefore, the light beam reflected back from the object also has higher energy (light intensity). In the time-of-flight histogram, the larger the photon count value corresponding to the time unit, the higher the light intensity corresponding to the time unit. There is also a higher probability that the statistical photon is a photon in the beam reflected back from the object.
请参阅图4及图5,具体地,在一个实施例中,图4示意的飞行时间直方图是经过10次统计获取的飞行时间直方图,图5示意的飞行时间直方图是经过100次统计获取的飞行时间直方图。飞行时间直方图的横坐表示时间,纵坐标表示传感器50接收到的光子的数量。时间单元是在横坐标时间轴上的时间尺度,每个时间单元表征时间轴上的一段时间。例如,飞行时间直方图包括5个时间单元,第1个时间单元在时间轴上的两个端点分别是0ns和0.5ns,则第1个时间单元表征时间轴上第0ns至第0.5ns之间的一段时间。第2个时间单元在时间轴上的两个端点分别是0.5ns和1.0ns,则第2个时间单元表征时间轴上第0.5ns至第1.0ns之间的一段时间。以此类推,其他时间单元在此不一一列举。在飞行时间直方图中,每个时间单元是一个统计单元,每个时间单元的高度,即该时间单元对应的纵坐标表征在经过m次统计后在这个时间单元内传感器50接收到光子的数量。例如图4所示,经过10次统计后,第3个时间单元对应的纵坐标是5,则表征经过10次统计后在第1.0ns至第1.5ns之间的时间段内传感器50接收到了5个光子,此时第3个时间单元对应的光子计数值为5。例如图5所示,经过100次统计后,第5个时间单元对应的纵坐标是52,则表征经过100次统计后在第1.0ns至第1.5ns之间的时间段内传感器50接收到了52个光子,此时第3个时间单元对应的光子计数值为52。Please refer to Fig. 4 and Fig. 5, specifically, in one embodiment, the time-of-flight histogram shown in Fig. 4 is a time-of-flight histogram obtained through 10 statistics, and the time-of-flight histogram shown in Fig. 5 is obtained through 100 times of statistics Obtained time-of-flight histogram. The horizontal axis of the time-of-flight histogram represents time, and the vertical axis represents the number of photons received by the sensor 50 . A time unit is a time scale on the abscissa time axis, and each time unit represents a period of time on the time axis. For example, the time-of-flight histogram includes 5 time units, and the two endpoints of the first time unit on the time axis are 0ns and 0.5ns respectively, then the first time unit represents the period between 0ns and 0.5ns on the time axis for a while. The two endpoints of the second time unit on the time axis are 0.5ns and 1.0ns respectively, then the second time unit represents a period of time between 0.5ns and 1.0ns on the time axis. By analogy, other time units are not listed here. In the time-of-flight histogram, each time unit is a statistical unit, the height of each time unit, that is, the ordinate corresponding to the time unit represents the number of photons received by the sensor 50 in this time unit after m times of statistics . For example, as shown in Figure 4, after 10 statistics, the ordinate corresponding to the third time unit is 5, which means that after 10 statistics, the sensor 50 received 5 photons, the photon count value corresponding to the third time unit is 5. For example, as shown in Figure 5, after 100 statistics, the ordinate corresponding to the fifth time unit is 52, which means that after 100 statistics, the sensor 50 received 52 photons, the photon count corresponding to the third time unit is 52.
结合前文所述,时间单元对应的光子计数值越大,则该时间单元对应的光强越高,传感器50在该时间单元接收到自物体反射回的光子的概率也越高,基于该时间单元确定的飞行时间所计算的距离是实际测量距离的概率也越大。因此,为获取准确的飞行时间,需要从多个时间单元中确定峰值单元,以基于峰值单元确定飞行时间。其中,峰值单元是光子计数值最大的时间单元,即能量(光强)最高的时间单元。In combination with the foregoing, the larger the photon count value corresponding to a time unit, the higher the light intensity corresponding to the time unit, and the higher the probability that the sensor 50 receives photons reflected back from the object in this time unit, based on the time unit The probability that the distance calculated by the determined flight time is the actual measured distance is also greater. Therefore, in order to obtain accurate flight time, it is necessary to determine the peak unit from multiple time units to determine the flight time based on the peak unit. Wherein, the peak unit is the time unit with the largest photon count value, that is, the time unit with the highest energy (light intensity).
然而,峰值单元表征的是传感器50接收到自物体反射回的光子的一个时间段,无法确定该时间段内的哪个时刻是传感器50接收到自物体反射回的光子的时刻。在一些实施方式中,可将峰值单元所表征的时间段的中值时刻确定为传感器50接收到自物体反射回的光子的时刻。例如图5示意的直方图中,峰值单元是第3个时间单元,表征时间轴上第1.0ns至第1.5ns之间的一段时间,则将第1.25ns这一时刻确定为传感器50接收到自物体反射回的光子的时刻,以计算飞行时间。基于上述原理,在根据峰值单元确定传感器50接收到光子的时刻时,峰值单元所表征的时间段的范围越小,即峰值单元对应的直方柱越细(横轴宽度越窄),则根据该峰值单元确定的传感器50接收到自物体反射回的光子的时刻越精确。理论上,在极限情况下,当一个峰值单元表征某一时刻时,该时刻即为传感器50接收到自物体反射回的光子的时刻。由于硬件电路设计的限制,时间单元所表征的时间段,也即是时间单元的时间分辨率存在最小值,从而导致根据峰值单元能够确定的传感器50接收到自物体反射回的光子的时刻的 精确度受时间单元的最小时间分辨率限制。当时间单元的时间分辨率达到最小时,根据该时间单元所确定的时刻的精确度达到最高,不能进一步提升。此外,若时间单元的时间分辨率太小,则为确保测距准确,需要的光子计数统计量会大大增加,可能导致测距效率降低。However, the peak unit represents a time period when the sensor 50 receives the photons reflected back from the object, and it is impossible to determine which moment in the time period is the time when the sensor 50 receives the photons reflected back from the object. In some embodiments, the median moment of the time period represented by the peak unit may be determined as the moment when the sensor 50 receives a photon reflected back from the object. For example, in the histogram shown in Figure 5, the peak unit is the third time unit, which represents a period of time between the 1.0ns and the 1.5ns on the time axis, then the moment of 1.25ns is determined as the sensor 50 receiving the The moment a photon is reflected back by an object to calculate the time-of-flight. Based on the above-mentioned principle, when the moment when the sensor 50 receives photons is determined according to the peak unit, the smaller the range of the time period represented by the peak unit is, that is, the thinner the corresponding column of the peak unit (the narrower the width of the horizontal axis), then according to the The peak unit determines the more precisely the moment when the sensor 50 receives the photon reflected back from the object. Theoretically, in the limit case, when a peak unit represents a certain moment, this moment is the moment when the sensor 50 receives photons reflected back from the object. Due to the limitation of hardware circuit design, the time period represented by the time unit, that is, the time resolution of the time unit has a minimum value, thus resulting in the accuracy of the moment when the sensor 50 can receive the photons reflected back from the object according to the peak value unit. The degree is limited by the minimum time resolution of the time unit. When the time resolution of the time unit reaches the minimum, the accuracy of the time determined according to the time unit reaches the highest and cannot be further improved. In addition, if the time resolution of the time unit is too small, in order to ensure accurate ranging, the required photon counting statistics will be greatly increased, which may lead to a decrease in ranging efficiency.
本申请实施方式的测距方法能够根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元,以及根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间。其中,邻域单元是与峰值单元相邻的至少一个时间单元,参数值可包括时间单元的分辨率、时间单元对应的光子计数值、时间单元按照时间次序出现的序号等。例如,请参阅图5,峰值单元是第3个时间单元,则第2个时间单元和第4个时间单元可作为峰值单元对应的邻域单元。峰值单元是能量(光强)最高的时间单元,峰值单元对应的邻域单元往往是能量(光强)较高的时间单元。在确定传感器50接收到自物体反射回的光子的时刻在峰值单元内的基础上,结合邻域单元的参数值能够进一步确定传感器50接收到自物体反射回的光子的时刻更靠近左侧的邻域单元还是更靠近右侧的邻域单元。The ranging method in the embodiment of the present application can determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram, and determine the flight time according to the parameter value of the peak unit and the parameter values of the multiple neighboring units. Wherein, the neighborhood unit is at least one time unit adjacent to the peak unit, and the parameter value may include the resolution of the time unit, the photon count value corresponding to the time unit, the serial number of the time unit in chronological order, and the like. For example, please refer to Fig. 5, the peak unit is the third time unit, then the second time unit and the fourth time unit can be used as the neighbor units corresponding to the peak unit. The peak unit is the time unit with the highest energy (light intensity), and the neighbor unit corresponding to the peak unit is often the time unit with higher energy (light intensity). On the basis of determining that the moment when the sensor 50 receives the photon reflected back from the object is within the peak unit, combined with the parameter value of the neighborhood unit, it can be further determined that the moment when the sensor 50 receives the photon reflected back from the object is closer to the neighbor on the left side. The domain unit is also the neighbor unit closer to the right.
例如,请参阅图6及图7,在图6及图7所示的飞行时间直方图中,第41个时间单元是峰值单元,峰值单元对应的邻域单元包括第41个时间单元左侧的第40个时间单元及第41个时间单元右侧的第42个时间单元,t0是峰值单元沿横轴方向的中点对应的时刻。设时间单元的时间分辨率是0.5ns,结合光速,光子在0.5ns能移动0.075m,相当于时间分辨率为0.5ns时对应的距离分辨率是0.075m。由此,可计算出峰值单元的左端点对应的距离是3.000m,峰值单元的右端点对应的距离是3.075m。由于峰值单元表征的是时间轴上的一段时间,通常取该段时间的中点也即是峰值单元的中值时刻确定飞行时间。根据峰值单元的中值时刻确定的飞行时间t1计算出的测距结果d1=3.0375m。若仅基于峰值单元确定飞行时间t1,那么当真实距离的取值范围为[3.000m,3.075m]时,无论真实距离是[3.000m,3.075m]范围内的任何值,根据飞行时间t1及光速计算出的测距结果d1均为3.0375m,在时间单元的时间分辨率无法减小的情况下难以进一步计算出更精确的距离。For example, please refer to Figures 6 and 7. In the time-of-flight histograms shown in Figures 6 and 7, the 41st time unit is the peak unit, and the adjacent units corresponding to the peak unit include the left side of the 41st time unit. The 40th time unit and the 42nd time unit on the right side of the 41st time unit, t0 is the time corresponding to the midpoint of the peak unit along the horizontal axis. Assuming that the time resolution of the time unit is 0.5ns, combined with the speed of light, a photon can move 0.075m at 0.5ns, which is equivalent to a distance resolution of 0.075m when the time resolution is 0.5ns. From this, it can be calculated that the distance corresponding to the left end point of the peak unit is 3.000m, and the distance corresponding to the right end point of the peak unit is 3.075m. Since the peak unit represents a period of time on the time axis, the midpoint of the period, that is, the median moment of the peak unit, is usually taken to determine the flight time. The distance measurement result d1=3.0375m is calculated according to the flight time t1 determined at the median time of the peak unit. If the flight time t1 is determined only based on the peak unit, then when the value range of the real distance is [3.000m, 3.075m], no matter the real distance is any value within the range of [3.000m, 3.075m], according to the flight time t1 and The distance measurement results d1 calculated by the speed of light are all 3.0375m, and it is difficult to further calculate a more accurate distance when the time resolution of the time unit cannot be reduced.
本申请实施方式的测距方法能够根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间,以确定更精确的飞行时间,从而提高测距精度。The ranging method in the embodiment of the present application can determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units, so as to determine a more accurate flight time, thereby improving the ranging accuracy.
具体地,请参阅图6,在图6所示的飞行时间直方图中,第40个时间单元对应的光子计数值大于第42个时间单元对应的光子计数值,则实际飞行时间大概率在峰值单元的中值时刻左侧,在根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间t2后,根据飞行时间t2及光速计算出的距离d2在范围[3.0000m,3.0375m)之内,即当真实距离在范围[3.0000m,3.0375m)之内时,将输出d2作为测距结果。即,测距结果d2对应的距离分辨率最大为0.0375m,小于测距结果d1对应的距离分辨率0.075m;对应的时间分辨率最大为0.25ns,小于峰值单元的时间分辨率0.5ns。Specifically, please refer to Figure 6. In the time-of-flight histogram shown in Figure 6, if the photon count value corresponding to the 40th time unit is greater than the photon count value corresponding to the 42nd time unit, the actual time-of-flight is likely to be at the peak On the left side of the median moment of the unit, after determining the flight time t2 according to the parameter value of the peak unit and the parameter values of multiple neighboring units, the distance d2 calculated according to the flight time t2 and the speed of light is within the range [3.0000m, 3.0375m) Within , that is, when the real distance is within the range [3.0000m, 3.0375m), d2 will be output as the distance measurement result. That is, the distance resolution corresponding to the ranging result d2 is at most 0.0375m, which is smaller than the distance resolution corresponding to the ranging result d1 at 0.075m; the corresponding time resolution is at most 0.25ns, which is smaller than the time resolution of the peak unit at 0.5ns.
类似地,请参阅图7,在图7所示的飞行时间直方图中,第40个时间单元对应的光子计数值小于第42个时间单元对应的光子计数值,则峰值单元的最高峰大概率在峰值单元沿横轴方向的中点的右侧,在根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间t3后,根据飞行时间t3及光速计算出 的距离d3在范围(3.0375m,3.0750m]之内,即当真实距离在范围(3.0375m,3.0750m]之内时,将输出d3作为测距结果。即,测距结果d3对应的距离分辨率最大为0.0375m,小于测距结果d1对应的距离分辨率0.075m;对应的时间分辨率最大为0.25ns,小于峰值单元的时间分辨率0.5ns。Similarly, please refer to Figure 7, in the time-of-flight histogram shown in Figure 7, the photon count value corresponding to the 40th time unit is smaller than the photon count value corresponding to the 42nd time unit, then the highest peak of the peak unit has a high probability On the right side of the midpoint of the peak unit along the horizontal axis, after determining the flight time t3 according to the parameter value of the peak unit and the parameter values of multiple neighboring units, the distance d3 calculated according to the flight time t3 and the speed of light is within the range ( 3.0375m, 3.0750m], that is, when the real distance is within the range (3.0375m, 3.0750m], output d3 as the ranging result. That is, the distance resolution corresponding to the ranging result d3 is at most 0.0375m, It is smaller than the distance resolution corresponding to the ranging result d1, which is 0.075m; the corresponding time resolution is at most 0.25ns, which is smaller than the time resolution of the peak unit, which is 0.5ns.
根据上文所述,测距结果d2和测距结果d3对应的距离分辨率均小于测距结果d1对应的距离分辨率,即测距结果d2和测距结果d3与测距结果d1相比具有更高的测距精度。从而在时间单元的实际时间分辨率并没有减小的情况下提高了测距精度。上述实施例仅用于说明本申请实施方式的测距方法具有提高测距精度的效果,本申请实施方式的测距方法对于测距精度的提升程度并不局限于上述实施例举例说明的提升程度。即,在上述实施例中,在图6及图7所示的飞行时间直方图中,相较于测距结果d1,测距结果d2和测距结果d3的测距精度至少提升了2倍。本申请实施方式的测距方法对于测距精度的提升程度并不局限于2倍,还可能是3倍、4倍、或更高。According to the above, the distance resolution corresponding to the distance measurement result d2 and the distance measurement result d3 is smaller than the distance resolution corresponding to the distance measurement result d1, that is, the distance measurement result d2 and the distance measurement result d3 have Higher ranging accuracy. Therefore, the ranging accuracy is improved without reducing the actual time resolution of the time unit. The above-mentioned embodiments are only used to illustrate that the ranging method in the embodiments of the present application has the effect of improving the ranging accuracy, and the degree of improvement in the ranging accuracy of the ranging methods in the embodiments of the present application is not limited to the degree of improvement illustrated in the above-mentioned examples . That is, in the above embodiment, in the time-of-flight histograms shown in FIG. 6 and FIG. 7 , compared with the distance measurement result d1 , the distance measurement accuracy of the distance measurement result d2 and the distance measurement result d3 is at least doubled. The distance measurement method in the embodiment of the present application improves the distance measurement accuracy not limited to 2 times, but may also be 3 times, 4 times, or higher.
下面结合附图作进一步说明。Further description will be made below in conjunction with the accompanying drawings.
请参阅图8,在某些实施方式中,01:获取飞行时间直方图,包括:Please refer to FIG. 8. In some embodiments, 01: Obtain a time-of-flight histogram, including:
011:获取预设的时间段及预设的时间分辨率;011: Obtain a preset time period and a preset time resolution;
012:根据时间段及时间分辨率确定多个时间单元,时间单元在时间轴依次排列;012: Determine multiple time units according to the time period and time resolution, and the time units are arranged in sequence on the time axis;
013:获取各光子到达传感器50的到达时间;013: Obtain the arrival time of each photon arriving at the sensor 50;
014:根据到达时间确定各光子对应的时间单元;及014: Determine the time unit corresponding to each photon according to the arrival time; and
015:统计每个时间单元对应的光子的数量以建立飞行时间直方图。015: Count the number of photons corresponding to each time unit to create a time-of-flight histogram.
请结合图2,在某些实施方式中,处理器30还可以用于实现011、012、013、014及015中的方法。即,处理器30还可以用于:获取预设的时间段及预设的时间分辨率;根据时间段及时间分辨率确定多个时间单元,时间单元在时间轴依次排列;获取各光子到达传感器50的到达时间;根据到达时间确定各光子对应的时间单元;及统计每个时间单元对应的光子的数量以建立飞行时间直方图。Please refer to FIG. 2 , in some implementation manners, the processor 30 may also be used to implement the methods in 011 , 012 , 013 , 014 and 015 . That is, the processor 30 can also be used to: obtain a preset time period and a preset time resolution; determine a plurality of time units according to the time period and time resolution, and the time units are arranged in sequence on the time axis; The arrival time of 50; determine the time unit corresponding to each photon according to the arrival time; and count the number of photons corresponding to each time unit to establish a time-of-flight histogram.
请结合图3,在某些实施方式中,获取模块11还可以用于实现011、012、013、014及015中的方法。即,获取模块11还可以用于:获取预设的时间段及预设的时间分辨率;根据时间段及时间分辨率确定多个时间单元,时间单元在时间轴依次排列;获取各光子到达传感器50的到达时间;根据到达时间确定各光子对应的时间单元;及统计每个时间单元对应的光子的数量以建立飞行时间直方图。Please refer to FIG. 3 , in some implementation manners, the acquisition module 11 can also be used to implement the methods in 011 , 012 , 013 , 014 and 015 . That is, the acquisition module 11 can also be used to: acquire a preset time period and a preset time resolution; determine a plurality of time units according to the time period and time resolution, and the time units are arranged sequentially on the time axis; The arrival time of 50; determine the time unit corresponding to each photon according to the arrival time; and count the number of photons corresponding to each time unit to establish a time-of-flight histogram.
其中,预设的时间段越长,则根据飞行时间直方图能够确定的飞行时间的最大值越大,测距范围也越大;预设的时间段越短,则测距的效率越高。在预设的时间段相同时,预设的时间分辨率越大(单位时间的宽度越宽),则仅需进行较少次数的光子数量统计即可在飞行时间直方图中明显地出现光子计数值的峰值,从而提高测距效率;预设的时间分辨率越小(单位时间的宽度越窄),则通过飞行时间直方图能够确定的飞行时间越精确,测距结果越精确。Wherein, the longer the preset time period is, the greater the maximum value of the flight time determined according to the time-of-flight histogram is, and the greater the ranging range is; the shorter the preset time period is, the higher the ranging efficiency is. When the preset time period is the same, the larger the preset time resolution (the wider the width per unit time), the photon count can be clearly seen in the time-of-flight histogram with only a small number of photon counts The peak value of the value, thereby improving the ranging efficiency; the smaller the preset time resolution (the narrower the width per unit time), the more accurate the flight time can be determined through the time-of-flight histogram, and the more accurate the ranging result.
在某些实施方式中,当传感器50接收到光子时,传感器50产生响应信号。处理器30在接收到响应信号时记录一个响应时间戳,以响应时间戳作为这个光子的到达时间。当获取一个光子的到达时间 后,即可在飞行时间直方图中找到该到达时间对应的时间单元,并将该时间单元对应的光子计数值增加1。例如,请参阅图4,设某一到达时间为第0.2ns,则根据第0.2ns处于第0ns至第0.5ns的时间段内,也即是第1个时间单元的时间段内,因此将第1个时间单元对应的光子计数值增加1。经过多次光子计数统计后,在各个时间单元统计对应的光子的数量,即统计各个时间单元统计对应的光子计数值,以将光子计数值作为各个时间单元的直方柱的高度,建立最终的飞行时间直方图。In some embodiments, when sensor 50 receives a photon, sensor 50 generates a response signal. The processor 30 records a response time stamp when receiving the response signal, and uses the response time stamp as the arrival time of the photon. After obtaining the arrival time of a photon, the time unit corresponding to the arrival time can be found in the time-of-flight histogram, and the photon count value corresponding to the time unit is increased by 1. For example, please refer to Figure 4, assuming that a certain arrival time is 0.2ns, then according to the 0.2ns is within the time period from 0ns to 0.5ns, that is, the time period of the first time unit, so the The photon count value corresponding to 1 time unit is increased by 1. After several times of photon counting statistics, count the corresponding number of photons in each time unit, that is, count the corresponding photon count value in each time unit, and use the photon count value as the height of the rectangular column of each time unit to establish the final flight time histogram.
请参阅图5,在某些实施方式中,飞行时间直方图中每个时间单元的分辨率均相同。如此,每个时间单元累积光子计数值的难易度相同,能够以相同的测距精度对测距范围内任意距离进行测距。Referring to FIG. 5 , in some implementations, the resolution of each time unit in the time-of-flight histogram is the same. In this way, the difficulty of accumulating photon count values in each time unit is the same, and any distance within the ranging range can be measured with the same ranging accuracy.
请参阅图9,在某些实施方式中,飞行时间直方图包括感兴趣区域和非感兴趣区域,感兴趣区域的时间单元的分辨率小于非感兴趣区域的时间单元的分辨率。其中,感兴趣区域是根据感兴趣距离(被测主体在该感兴趣距离范围内)确定的时间区间,非感兴趣区域是飞行时间直方图中感兴趣区域以外的时间区间,也即为根据非感兴趣距离(被测主体在该非感兴趣距离范围以外)确定的时间区间。时间单元的分辨率越小,根据该时间单元确定的飞行时间越精确,从而能够在感兴趣距离以更高的检测精度进行测距。例如图9示意的飞行时间直方图中,第1ns至第2ns的时间区间是感兴趣区域,第2个和第3个时间单元是感兴趣区域的时间单元,对应的时间分辨率为0.5ns。第1ns至第2ns的时间区间以外的时间区间是非感兴趣区域,非感兴趣区域的时间单元对应的时间分辨率为1ns。相较于非感兴趣区域,在感兴趣区域的时间单元的分辨率更小,在相同的时间区间内划分的时间单元更多,根据感兴趣区域的时间单元确定的飞行时间更精确。而将非感兴趣区域的时间单元对应的时间分辨率设置较大,能够提升测距的效率。Referring to FIG. 9 , in some implementations, the time-of-flight histogram includes a region of interest and a region of non-interest, and the resolution of time units in the region of interest is smaller than the resolution of time units in the region of non-interest. Among them, the region of interest is the time interval determined according to the distance of interest (the measured subject is within the distance of interest), and the region of non-interest is the time interval outside the region of interest in the time-of-flight histogram, that is, according to the non-interest region The time interval determined by the distance of interest (the measured subject is outside the non-interest distance range). The smaller the resolution of the time unit, the more accurate the time-of-flight determined according to the time unit, so that ranging can be performed with higher detection accuracy at the distance of interest. For example, in the time-of-flight histogram shown in FIG. 9 , the time interval from 1 ns to 2 ns is the region of interest, the second and third time units are the time units of the region of interest, and the corresponding time resolution is 0.5 ns. Time intervals other than the time interval from 1 ns to 2 ns are non-interest regions, and the time resolution corresponding to the time unit of the non-interest region is 1 ns. Compared with the non-interest region, the resolution of the time unit in the region of interest is smaller, and there are more time units divided in the same time interval, and the flight time determined according to the time unit of the region of interest is more accurate. However, setting the time resolution corresponding to the time unit of the non-interest region to be larger can improve the efficiency of ranging.
请参阅图10,在某些实施方式中,02:根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元,包括:Please refer to FIG. 10. In some embodiments, 02: determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram, including:
021:获取每个时间单元对应的光子计数值;021: Obtain the photon count value corresponding to each time unit;
022:将最大光子计数值对应的时间单元确定为峰值单元;及022: Determine the time unit corresponding to the maximum photon count value as the peak unit; and
023:将飞行时间直方图中在峰值单元左侧相邻的至少一个时间单元和在峰值单元右侧相邻的至少一个时间单元确定为邻域单元。023: Determine at least one time unit adjacent to the left of the peak unit and at least one time unit adjacent to the right of the peak unit in the time-of-flight histogram as neighborhood units.
请结合图2,在某些实施方式中,处理器30还可以用于实现021、022及023中的方法。即,处理器30还可以用于:获取每个时间单元对应的光子计数值;将最大光子计数值对应的时间单元确定为峰值单元;及将飞行时间直方图中在峰值单元左侧相邻的至少一个时间单元和在峰值单元右侧相邻的至少一个时间单元确定为邻域单元。Please refer to FIG. 2 , in some implementation manners, the processor 30 may also be used to implement the methods in 021 , 022 and 023 . That is, the processor 30 can also be used to: acquire the photon count value corresponding to each time unit; determine the time unit corresponding to the maximum photon count value as the peak unit; At least one time unit and at least one time unit adjacent to the right side of the peak unit are determined as neighboring units.
请结合图3,在某些实施方式中,检索模块12还可以用于实现021、022及023中的方法。即,检索模块12还可以用于:获取每个时间单元对应的光子计数值;将最大光子计数值对应的时间单元确定为峰值单元;及将飞行时间直方图中在峰值单元左侧相邻的至少一个时间单元和在峰值单元右侧相邻的至少一个时间单元确定为邻域单元。Please refer to FIG. 3 , in some embodiments, the retrieval module 12 can also be used to implement the methods in 021 , 022 and 023 . That is, the retrieval module 12 can also be used to: obtain the photon count value corresponding to each time unit; determine the time unit corresponding to the maximum photon count value as the peak unit; At least one time unit and at least one time unit adjacent to the right side of the peak unit are determined as neighboring units.
请参阅图5,每个时间单元的直方柱的纵坐标即为该时间单元对应的光子计数值。沿纵轴方向高度最高的直方柱的纵坐标即为最大光子计数值,该直方柱对应的时间单元即为峰值单元。邻域单元是与峰值单元相邻的时间单元,邻域单元包括至少一个位于峰值单元左侧的左邻域单元和至少一个位于峰值单元右侧的右邻域单元。左邻域单元的数量可以是1个、2个、3个或更多个,在此不一一列举。左邻域单元的数量为1个时,左邻域单元是峰值单元左侧最邻近的时间单元;左邻域单元的数量为n(n>1)个时,左邻域单元是自峰值单元左侧最邻近的时间单元沿横轴左侧依次分布的n个时间单元。右邻域单元的数量可以是1个、2个、3个或更多个,在此不一一列举。在一个实施例中,邻域单元包括1个左邻域单元和1个右邻域单元,例如图5示意的飞行时间直方图中,第3个时间单元是峰值单元,第2个和第4个时间单元是邻域单元。此时邻域单元包括的时间单元数量最少,根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间时的数据处理量较少,从而具有较高的测距效率。Please refer to FIG. 5 , the ordinate of the histogram of each time unit is the photon count value corresponding to the time unit. The ordinate of the highest-height bar along the vertical axis is the maximum photon count value, and the time unit corresponding to the bar is the peak unit. The neighborhood unit is a time unit adjacent to the peak unit, and the neighborhood unit includes at least one left neighbor unit located on the left side of the peak unit and at least one right neighbor unit located on the right side of the peak unit. The number of left neighbor units may be 1, 2, 3 or more, which will not be listed here. When the number of left neighbor units is 1, the left neighbor unit is the nearest time unit to the left of the peak unit; when the number of left neighbor units is n (n>1), the left neighbor unit is the self-peak unit The nearest time unit on the left is n time units distributed sequentially along the left side of the horizontal axis. The number of right neighbor units may be 1, 2, 3 or more, which will not be listed here. In one embodiment, the neighborhood unit includes 1 left neighborhood unit and 1 right neighborhood unit, for example, in the time-of-flight histogram shown in Figure 5, the 3rd time unit is a peak unit, the 2nd and 4th A time unit is a neighborhood unit. At this time, the number of time units included in the neighborhood unit is the least, and the amount of data processing is less when determining the flight time according to the parameter value of the peak unit and the parameter values of multiple neighbor units, thus having a higher ranging efficiency.
请参阅图11,在某些实施方式中,参数值包括时间单元的分辨率、时间单元对应的光子计数值、及时间单元按照时间次序出现的序号。03:根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间,包括:Referring to FIG. 11 , in some embodiments, the parameter value includes the resolution of the time unit, the photon count value corresponding to the time unit, and the serial number of the time unit in chronological order. 03: Determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units, including:
031:获取峰值单元对应的峰值计数值、左邻域单元对应的左计数值、右邻域单元对应的右计数值;031: Obtain the peak count value corresponding to the peak unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit;
032:根据峰值计数值、左计数值、右计数值及预设的校正参数确定校正值;及032: Determine the correction value according to the peak count value, left count value, right count value and preset correction parameters; and
033:根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间。033: Determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value.
请结合图2,在某些实施方式中,处理器30还可以用于实现031、032及033中的方法。即,处理器30还可以用于:获取峰值单元对应的峰值计数值、左邻域单元对应的左计数值、右邻域单元对应的右计数值;根据峰值计数值、左计数值、右计数值及预设的校正参数确定校正值;及根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间。Please refer to FIG. 2 , in some implementation manners, the processor 30 may also be used to implement the methods in 031 , 032 and 033 . That is, the processor 30 can also be used to: obtain the peak count value corresponding to the peak value unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit; value and preset calibration parameters to determine the calibration value; and determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the calibration value.
请结合图3,在某些实施方式中,确定模块13还可以用于实现031、032及033中的方法。即,确定模块13还可以用于:获取峰值单元对应的峰值计数值、左邻域单元对应的左计数值、右邻域单元对应的右计数值;根据峰值计数值、左计数值、右计数值及预设的校正参数确定校正值;及根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间。Please refer to FIG. 3 , in some implementation manners, the determining module 13 can also be used to implement the methods in 031 , 032 and 033 . That is, the determination module 13 can also be used to: obtain the peak count value corresponding to the peak value unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit; value and preset calibration parameters to determine the calibration value; and determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the calibration value.
请参阅图6及图7,结合前文所述,飞行时间可根据发射光子的时刻t 发射和传感器50接收到自物体反射回的光子的时刻t 接收确定,即飞行时间t=t 接收-t 发射。在一些实施方式中,将峰值单元的中值时刻t0作为t 接收,以基于峰值单元确定飞行时间t1。由于峰值单元的中值时刻t0取决于峰值单元对应的时间分辨率,峰值单元对应的时间分辨率越小,则能够确定越精确的中值时刻t0。因此,在峰值单元的分辨率有限而无法减小的情况下,峰值单元具有固定的中值时刻t0,根据中值时刻t0确定的飞行时间t1的精确度有限。 Please refer to Fig. 6 and Fig. 7, in combination with the foregoing, the flight time can be determined according to the moment t emission when the photon is emitted and the moment t reception when the sensor 50 receives the photon reflected back from the object, that is, the flight time t=t receive -t emission . In some embodiments, the median instant t0 of the peak cell is received as t to determine the time-of-flight t1 based on the peak cell. Since the median time t0 of the peak unit depends on the time resolution corresponding to the peak unit, the smaller the time resolution corresponding to the peak unit, the more accurate the median time t0 can be determined. Therefore, in the case that the resolution of the peak cell is limited and cannot be reduced, the peak cell has a fixed median instant t0, and the accuracy of the time-of-flight t1 determined from the median instant t0 is limited.
本申请实施方式的测距方法能够根据峰值计数值、左计数值、右计数值及预设的校正参数确定校正值,以根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间,从而确定精确地更高的飞 行时间。其中,当峰值单元是飞行时间直方图横轴上第n个时间单元时,则峰值单元的序号为n。校正参数是预设的常数值,表征峰值计数值、左计数值、右计数值对校正值的影响力。校正值能够表征传感器50接收到自物体反射回的光子的时刻t 接收相对峰值单元的偏移量。校正值的取值可以为正值、负值、或者为0。当校正值为正值时,表征传感器50接收到自物体反射回的光子的时刻t 接收在峰值单元的中值时刻t0右侧,即t 接收>t0;当校正值为负值时,表征时刻t 接收在时刻t0左侧,即t 接收<t0;当校正值为0时,表征可以将峰值单元的中值时刻t0作为t 接收,即t 接收=t0。 The ranging method of the embodiment of the present application can determine the correction value according to the peak count value, left count value, right count value and preset correction parameters, so as to determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value, A precisely higher flight time is thereby determined. Wherein, when the peak unit is the nth time unit on the horizontal axis of the time-of-flight histogram, the serial number of the peak unit is n. The correction parameter is a preset constant value, which represents the influence of the peak count value, left count value, and right count value on the correction value. The correction value can represent the offset of the sensor 50 receiving the photon reflected back from the object at time t relative to the peak unit. The value of the correction value can be a positive value, a negative value, or 0. When the correction value is positive, it means that the time t when the sensor 50 receives the photons reflected back from the object is on the right side of the median time t0 of the peak unit, that is, t is received >t0; when the correction value is negative, the time t treceived is on the left side of time t0, that is, treceived <t0; when the correction value is 0, the representation can take the median time t0 of the peak unit as treceived , that is, treceived =t0.
例如,峰值单元的序号为41,校正值为-0.45,则校正后的序号为40.55,可以确定传感器50接收到自物体反射回的光子的时刻t 接收在峰值单元的中值时刻t0左侧。在飞行时间直方图中,所有的时间单元的序号n均为正整数,飞行时间直方图中实际不存在序号为40.55的时间单元,但不影响基于序号为40.55的时间单元确定时刻t 接收以确定飞行时间。在一个实施例中,每个时间单元的时间分辨率均相同,可结合时间分辨率确定序号为40.55的时间单元的中值时刻tn’,例如时间分辨率为0.5ns,则tn’=0.5ns×40.55-(0.5ns/2)=20.025ns,将tn’作为传感器50接收到自物体反射回的光子的时刻t 接收以确定飞行时间。 For example, if the serial number of the peak unit is 41 and the correction value is -0.45, then the corrected serial number is 40.55, and it can be determined that the time t when the sensor 50 receives the photon reflected from the object is received on the left side of the median time t0 of the peak unit. In the time-of-flight histogram, the serial numbers n of all time units are positive integers, and there is actually no time unit with the serial number 40.55 in the time-of-flight histogram, but it does not affect the time t received based on the time unit with the serial number 40.55 to determine flight duration. In one embodiment, the time resolution of each time unit is the same, and the median moment tn' of the time unit with the sequence number 40.55 can be determined in combination with the time resolution. For example, if the time resolution is 0.5ns, then tn'=0.5ns × 40.55 - (0.5 ns/2) = 20.025 ns, taking tn' as the instant t when the photon reflected back from the object is received by the sensor 50 to determine the time-of-flight.
请参阅图12,在某些实施方式中,校正参数包括第一参数、第二参数及第三参数。032:根据峰值计数值、左计数值、右计数值及预设的校正参数确定校正值,包括:Please refer to FIG. 12 , in some embodiments, the calibration parameters include a first parameter, a second parameter and a third parameter. 032: Determine the correction value according to the peak count value, left count value, right count value and preset correction parameters, including:
0321:根据峰值计数值及第一参数获取加权峰值计数值;0321: Obtain a weighted peak count value according to the peak count value and the first parameter;
0322:根据右计数值及第二参数获取加权右计数值;0322: Obtain the weighted right count value according to the right count value and the second parameter;
0323:根据左计数值及第三参数获取加权左计数值;0323: Obtain the weighted left count value according to the left count value and the third parameter;
0324:获取右计数值与左计数值之间的第一差值;0324: Obtain the first difference between the right count value and the left count value;
0325:获取加权峰值计数值依次与加权右计数值及加权左计数值做差后的第二差值;及0325: Obtain the second difference between the weighted peak count value, the weighted right count value and the weighted left count value; and
0326:获取第一差值与第二差值的比值,将比值确定为校正值。0326: Obtain the ratio of the first difference to the second difference, and determine the ratio as the correction value.
请结合图2,在某些实施方式中,处理器30还可以用于实现0321、0322、0323、0324、0325及0326中的方法。即,处理器30还可以用于:根据峰值计数值及第一参数获取加权峰值计数值;根据右计数值及第二参数获取加权右计数值;根据左计数值及第三参数获取加权左计数值;获取右计数值与左计数值之间的第一差值;获取加权峰值计数值依次与加权右计数值及加权左计数值做差后的第二差值;及获取第一差值与第二差值的比值,将比值确定为校正值。Please refer to FIG. 2 , in some implementation manners, the processor 30 may also be used to implement the methods in 0321 , 0322 , 0323 , 0324 , 0325 and 0326 . That is, the processor 30 can also be used to: obtain the weighted peak count value according to the peak count value and the first parameter; obtain the weighted right count value according to the right count value and the second parameter; obtain the weighted left count value according to the left count value and the third parameter value; obtain the first difference between the right count value and the left count value; obtain the second difference between the weighted peak count value and the weighted right count value and the weighted left count value; and obtain the first difference and A ratio of the second difference is determined as the correction value.
请结合图3,在某些实施方式中,确定模块13还可以用于实现0321、0322、0323、0324、0325及0326中的方法。即,确定模块13还可以用于:根据峰值计数值及第一参数获取加权峰值计数值;根据右计数值及第二参数获取加权右计数值;根据左计数值及第三参数获取加权左计数值;获取右计数值与左计数值之间的第一差值;获取加权峰值计数值依次与加权右计数值及加权左计数值做差后的第二差值;及获取第一差值与第二差值的比值,将比值确定为校正值。Please refer to FIG. 3 , in some implementation manners, the determining module 13 may also be used to implement the methods in 0321 , 0322 , 0323 , 0324 , 0325 and 0326 . That is, the determination module 13 can also be used to: obtain the weighted peak count value according to the peak count value and the first parameter; obtain the weighted right count value according to the right count value and the second parameter; obtain the weighted left count value according to the left count value and the third parameter value; obtain the first difference between the right count value and the left count value; obtain the second difference between the weighted peak count value and the weighted right count value and the weighted left count value; and obtain the first difference and A ratio of the second difference is determined as the correction value.
例如,第一参数为a,第二参数为b,第三参数为c,峰值计数值为P1,右计数值为P2,左计数值 为P3。由此,可计算出:加权峰值计数值Pq1=a×P1,加权右计数值Pq2=b×P2,加权左计数值Pq3=c×P3,第一差值F1=P2-P3,第二差值F2=Pq1-Pq2-Pq3=a×P1-b×P2-c×P3。设校正值为△n,则
Figure PCTCN2022090969-appb-000002
其中,第一参数a、第二参数b、第三参数c均为预设的常数,可在出厂前根据标定获得。
For example, the first parameter is a, the second parameter is b, the third parameter is c, the peak count value is P1, the right count value is P2, and the left count value is P3. Thus, it can be calculated: weighted peak count value Pq1=a×P1, weighted right count value Pq2=b×P2, weighted left count value Pq3=c×P3, first difference F1=P2-P3, second difference The value F2=Pq1-Pq2-Pq3=a×P1-b×P2-c×P3. If the correction value is △n, then
Figure PCTCN2022090969-appb-000002
Wherein, the first parameter a, the second parameter b, and the third parameter c are all preset constants, which can be obtained according to calibration before leaving the factory.
请参阅图13,在某些实施方式中,033:根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间,包括:Please refer to FIG. 13. In some embodiments, 033: determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value, including:
0331:根据峰值单元的序号及校正值确定峰值单元的修正序号,及根据修正序号及峰值单元的分辨率确定飞行时间。0331: Determine the correction serial number of the peak unit according to the serial number and correction value of the peak unit, and determine the flight time according to the correction serial number and the resolution of the peak unit.
请结合图2,在某些实施方式中,处理器30还可以用于实现0331中的方法。即,处理器30还可以用于:根据峰值单元的序号及校正值确定峰值单元的修正序号,及根据修正序号及峰值单元的分辨率确定飞行时间。Please refer to FIG. 2 , in some implementation manners, the processor 30 may also be used to implement the method in 0331 . That is, the processor 30 can also be used to: determine the correction serial number of the peak unit according to the serial number of the peak unit and the correction value, and determine the flight time according to the correction serial number and the resolution of the peak unit.
请结合图3,在某些实施方式中,确定模块13还可以用于实现0331中的方法。即,确定模块13还可以用于:根据峰值单元的序号及校正值确定峰值单元的修正序号,及根据修正序号及峰值单元的分辨率确定飞行时间。Please refer to FIG. 3 , in some implementation manners, the determination module 13 may also be used to implement the method in 0331 . That is, the determination module 13 can also be used to: determine the corrected serial number of the peak unit according to the serial number of the peak unit and the correction value, and determine the flight time according to the corrected serial number and the resolution of the peak unit.
具体地,设峰值单元的序号为n,校正值为△n,则修正序号n’=n+△n。结合前文所述,△n的取值可以为正值、负值、或者为0。Specifically, assuming that the sequence number of the peak unit is n, and the correction value is Δn, then the correction sequence number n'=n+Δn. In combination with the foregoing, the value of Δn can be positive, negative, or 0.
请参阅图6,在一个实施例中,传感器50与物体之间的实际距离为3m,经过多次统计后得到的飞行时间直方图中:峰值单元的序号n=41,校正值△n=-0.45,峰值单元的时间分辨率K=0.5ns。由此,可计算出:修正序号n’=n+△n=41+(-0.45)=40.55。设飞行时间为t,飞行时间t=t 接收-t 发射,其中,t 发射是发射光子的时刻,t 接收是传感器50接收到自物体反射回的光子的时刻。在本实施例的飞行时间直方图中,从发射光子的时刻起开始统计光子计数值,因此t 发射=0ns,飞行时间t=t 接收。而t 接收可根据下式确定:t 接收=n’×K-(K/2)。其中,n’×K表征修正后的峰值单元在时间轴的右端点坐标对应的时刻,K/2是时间分辨率的一半,即n’×K-(K/2)表征第n’个时间单元的中值时刻。将n’=40.55,K=0.5ns代入t 接收=n’×K-(K/2),可计算出飞行时间t=t 接收=n’×K-(K/2)=40.55×0.5ns-(0.5ns/2)=20.025ns。如此,结合04:根据飞行时间及光速计算传感器50与物体之间的距离,将t=20.025ns=20.025×10 -9s,c=3×10 8m/s代入
Figure PCTCN2022090969-appb-000003
可计算出距离d=(20.025×10 -9s×3×10 8m/s)/2=3.00375m。
Please refer to Fig. 6, in one embodiment, the actual distance between the sensor 50 and the object is 3m, in the time-of-flight histogram obtained after repeated statistics: the serial number n=41 of the peak unit, the correction value Δn=- 0.45, the time resolution of the peak unit K=0.5ns. From this, it can be calculated that the correction number n'=n+Δn=41+(-0.45)=40.55. Let the time-of-flight be t, time-of-flight t= treceive -ttransmission , wherein ttransmission is the moment when photons are emitted , and treception is the moment when the sensor 50 receives photons reflected back from the object. In the time-of-flight histogram of this embodiment, the counting of photon counts starts from the moment when photons are emitted , so ttransmission=Ons, and time-of-flight t= treception . And t reception can be determined according to the following formula: t reception =n'×K-(K/2). Among them, n'×K represents the moment corresponding to the right endpoint coordinates of the corrected peak unit on the time axis, and K/2 is half of the time resolution, that is, n'×K-(K/2) represents the n'th time The median moment of the cell. Substituting n'=40.55, K=0.5ns into t receiving =n'×K-(K/2), the flight time can be calculated t=t receiving =n'×K-(K/2)=40.55×0.5ns -(0.5ns/2)=20.025ns. In this way, combined with 04: Calculate the distance between the sensor 50 and the object according to the time of flight and the speed of light, and substitute t=20.025ns=20.025×10 -9 s, c=3×10 8 m/s into
Figure PCTCN2022090969-appb-000003
It can be calculated that the distance d=(20.025×10 -9 s×3×10 8 m/s)/2=3.00375m.
作为对照,仅根据峰值单元的参数值确定的飞行时间t1=n×K-(K/2)=41×0.5ns-(0.5ns/2)=20.25ns。根据飞行时间t1获取的距离d1=(20.25×10 -9s×3×10 8m/s)/2=3.0375m。可见,根据飞行时间t计算出的d比根据飞行时间t1计算出的d1更接近传感器50与物体之间的实际距离,故根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间,能够确定更精确的飞行时间。 As a comparison, the flight time t1=n×K−(K/2)=41×0.5ns−(0.5ns/2)=20.25ns determined only according to the parameter value of the peak value unit. The distance d1=(20.25×10 −9 s×3×10 8 m/s)/2=3.0375m acquired according to the flight time t1. It can be seen that the d calculated according to the flight time t is closer to the actual distance between the sensor 50 and the object than the d1 calculated according to the flight time t1, so the flight time is determined according to the resolution of the peak unit, the serial number of the peak unit and the correction value, A more precise flight time can be determined.
进一步地,在本实施例(图6示意的实施例)中,当峰值单元的时间分辨率K已经确定为0.5ns 时,峰值单元的距离分辨率H=0.5ns×3×10 8m/s=0.075m,若仅根据峰值单元的参数值确定飞行时间t1,则传感器50与物体之间的实际距离为[3.000m,3.075m]范围内的任意值时,根据峰值单元的参数值确定的飞行时间t1均为20.25ns,根据飞行时间t确定的测量距离d1均为3.0375m,最大误差为0.0375m。而根据峰值单元的分辨率、峰值单元的序号及校正值确定的飞行时间t的大小与校正值△n相关,校正值与峰值单元的参数值、左邻域单元的参数值、右领域单元的参数值相关,能够表征传感器50接收到自物体反射回的光子的时刻t 接收在峰值单元向左邻域单元或右邻域单元的偏移程度。在本实施例中,当△n<0时,飞行时间t的取值范围为[20.00ns,20.25ns),根据飞行时间t的取值能够确定的距离d的范围为[3.0000m,3.0375m),最大误差小于0.0375m;当△n>0时,飞行时间t的取值范围为(20.25ns,20.50ns],根据飞行时间t的取值能够确定的距离d的范围为(3.0375m,3.0750m],最大误差小于0.0375m。即当△n不为0时,飞行时间t的精确度相较于飞行时间t1得以提升,飞行时间t确定的测量距离d相较于飞行时间t1确定的测量距离d1的精确度得以提升。 Further, in this embodiment (the embodiment illustrated in FIG. 6 ), when the time resolution K of the peak unit has been determined to be 0.5 ns, the distance resolution of the peak unit H=0.5 ns×3×10 8 m/s = 0.075m, if the flight time t1 is determined only according to the parameter value of the peak unit, then the actual distance between the sensor 50 and the object is any value within the range of [3.000m, 3.075m], determined according to the parameter value of the peak unit The flight time t1 is both 20.25ns, the measurement distance d1 determined according to the flight time t is 3.0375m, and the maximum error is 0.0375m. According to the resolution of the peak unit, the serial number of the peak unit, and the correction value, the time-of-flight t determined is related to the correction value Δn, and the correction value is related to the parameter value of the peak unit, the parameter value of the left neighbor unit, and the value of the right field unit. The parameter values are related, and can represent the degree of offset from the peak unit to the left or right neighbor unit at the time t when the sensor 50 receives the photon reflected back from the object. In this embodiment, when Δn<0, the value range of flight time t is [20.00ns, 20.25ns), and the range of distance d that can be determined according to the value of flight time t is [3.0000m, 3.0375m ), the maximum error is less than 0.0375m; when △n>0, the value range of flight time t is (20.25ns, 20.50ns], and the range of distance d that can be determined according to the value of flight time t is (3.0375m, 3.0750m], the maximum error is less than 0.0375m. That is, when Δn is not 0, the accuracy of flight time t is improved compared with flight time t1, and the measurement distance d determined by flight time t is compared with that determined by flight time t1 The accuracy of measuring the distance d1 is improved.
请参阅图14,在某些实施方式中,033:根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间,包括:Please refer to FIG. 14. In some implementations, 033: Determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value, including:
0332:根据峰值单元的序号及分辨率确定峰值时刻,根据校正值及分辨率确定校正时间,根据峰值时刻及校正时间确定飞行时间。0332: Determine the peak time according to the serial number and resolution of the peak unit, determine the correction time according to the correction value and resolution, and determine the flight time according to the peak time and correction time.
请结合图2,在某些实施方式中,处理器30还可以用于实现0332中的方法。即,处理器30还可以用于:根据峰值单元的序号及分辨率确定峰值时刻,根据校正值及分辨率确定校正时间,根据峰值时刻及校正时间确定飞行时间。Please refer to FIG. 2 , in some implementation manners, the processor 30 may also be used to implement the method in 0332 . That is, the processor 30 can also be used to: determine the peak time according to the serial number and resolution of the peak unit, determine the correction time according to the correction value and resolution, and determine the flight time according to the peak time and correction time.
请结合图3,在某些实施方式中,确定模块13还可以用于实现0332中的方法。即,确定模块13还可以用于:根据峰值单元的序号及分辨率确定峰值时刻,根据校正值及分辨率确定校正时间,根据峰值时刻及校正时间确定飞行时间。Please refer to FIG. 3 , in some implementation manners, the determination module 13 may also be used to implement the method in 0332 . That is, the determination module 13 can also be used to: determine the peak time according to the serial number and resolution of the peak unit, determine the correction time according to the correction value and resolution, and determine the flight time according to the peak time and correction time.
请结合图6,具体地,设峰值单元的序号为n,每个时间单元的时间分辨率均为K,校正值为△n。若将峰值单元的中值时刻t0作为峰值单元对应的峰值时刻tn,则可以计算出峰值时刻tn=n×K-(K/2)。在某些实施方式中,可以将峰值单元中的任一时刻tr作为峰值单元对应的峰值时刻tn,则可以计算出峰值时刻tn=n×K-(K×u),其中,u是自时刻tr至峰值单元的右端点时刻的时间段与时间分辨率K的比值,例如当时刻tr为峰值单元的中值时刻时,u=1/2。校正时间△t=△n×K,飞行时间t=tn+△t。在某些实施方式中,在飞行时间直方图建立时已经确定每个时间单元的序号与该时间单元对应的时刻之间的对应关系,并将对应关系存储在存储器20。在将某一时间单元确定为峰值单元时即可根据峰值单元的序号及该对应关系确定峰值时刻tn,从而简化计算,提高测距效率。Please refer to Fig. 6, specifically, set the serial number of the peak unit as n, the time resolution of each time unit as K, and the correction value as Δn. If the median time t0 of the peak unit is used as the peak time tn corresponding to the peak unit, then the peak time tn=n×K-(K/2) can be calculated. In some embodiments, any time tr in the peak unit can be used as the peak time tn corresponding to the peak unit, then the peak time tn=n×K-(K×u) can be calculated, where u is the self-time The ratio of the time period from tr to the right end point of the peak unit and the time resolution K, for example, when the time tr is the median time of the peak unit, u=1/2. Correction time Δt=Δn×K, flight time t=tn+Δt. In some implementations, when the time-of-flight histogram is established, the corresponding relationship between the sequence number of each time unit and the time corresponding to the time unit has been determined, and the corresponding relationship is stored in the memory 20 . When a certain time unit is determined as the peak unit, the peak time tn can be determined according to the serial number of the peak unit and the corresponding relationship, thereby simplifying the calculation and improving the ranging efficiency.
请参阅图15,在某些实施方式中,033:根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间,包括:Please refer to FIG. 15. In some implementations, 033: Determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value, including:
0333:根据峰值单元的序号及校正值确定峰值单元的修正序号,将修正序号在飞行时间直方图上 对应的时刻作为飞行时间。0333: Determine the correction serial number of the peak unit according to the serial number and correction value of the peak unit, and use the time corresponding to the correction serial number on the time-of-flight histogram as the flight time.
请结合图2,在某些实施方式中,处理器30还可以用于实现0333中的方法。即,处理器30还可以用于:根据峰值单元的序号及校正值确定峰值单元的修正序号,将修正序号在飞行时间直方图上对应的时刻作为飞行时间。Please refer to FIG. 2 , in some implementation manners, the processor 30 may also be used to implement the method in 0333 . That is, the processor 30 may also be configured to: determine the correction number of the peak unit according to the number of the peak unit and the correction value, and use the moment corresponding to the correction number on the time-of-flight histogram as the flight time.
请结合图3,在某些实施方式中,确定模块13还可以用于实现0333中的方法。即,确定模块13还可以用于:根据峰值单元的序号及校正值确定峰值单元的修正序号,将修正序号在飞行时间直方图上对应的时刻作为飞行时间。Please refer to FIG. 3 , in some implementation manners, the determining module 13 may also be used to implement the method in 0333 . That is, the determining module 13 may also be configured to: determine the corrected serial number of the peak unit according to the serial number of the peak unit and the correction value, and use the moment corresponding to the corrected serial number on the time-of-flight histogram as the flight time.
请结合图6,具体地,设峰值单元的序号为n,校正值为△n。则可计算出修正序号n’=n+△n。结合前文所述,在飞行时间直方图中从发射光子的时刻起开始统计光子计数值,因此t 发射=0ns,飞行时间t=t 接收。在某些实施方式中,将修正后的峰值单元(即序号为的n’的时间单元)的峰值时刻tn’作为t 接收。在飞行时间直方图中,序号为的n’的时间单元的峰值时刻tn’表现为序号为的n’的时间单元在飞行时间直方图的时间轴对应的时刻。在飞行时间直方图建立时已经确定每个时间单元的序号与该时间单元在时间轴对应的时刻之间的对应关系,并将对应关系存储在存储器20。当修正后的峰值单元的序号n’确定后,即可根据序号n’及该对应关系确定峰值时刻tn’,飞行时间t=tn’,从而简化计算,提高测距效率。 Please refer to FIG. 6, specifically, set the serial number of the peak unit as n, and the correction value as Δn. Then the correction number n'=n+Δn can be calculated. In combination with the foregoing description, the counting of photon counts starts from the moment when photons are emitted in the time-of-flight histogram, so t emission =Ons, time-of-flight t=t reception . In some implementations, the peak time tn' of the corrected peak unit (ie, the time unit numbered n') is received as t. In the time-of-flight histogram, the peak time tn' of the time unit with the serial number n' is represented as the time corresponding to the time unit with the serial number n' on the time axis of the time-of-flight histogram. When the time-of-flight histogram is established, the corresponding relationship between the serial number of each time unit and the time corresponding to the time unit on the time axis has been determined, and the corresponding relationship is stored in the memory 20 . After the serial number n' of the corrected peak unit is determined, the peak time tn' can be determined according to the serial number n' and the corresponding relationship, and the flight time t=tn', thereby simplifying the calculation and improving the ranging efficiency.
请参阅图16,本申请实施方式的一个或多个包含计算机程序301的非易失性计算机可读存储介质300,当计算机程序301被一个或多个处理器30执行时,使得处理器30可执行上述任一实施方式的测距方法,例如实现步骤01、02、03、04、011、012、013、014、015、021、022、023、031、032、033、0321、0322、0323、0324、0325、0326、0331、0332及0333中的一项或多项步骤。Referring to FIG. 16 , one or more non-transitory computer-readable storage media 300 containing a computer program 301 according to an embodiment of the present application, when the computer program 301 is executed by one or more processors 30, the processors 30 can Execute the ranging method in any of the above embodiments, for example, implement steps 01, 02, 03, 04, 011, 012, 013, 014, 015, 021, 022, 023, 031, 032, 033, 0321, 0322, 0323, One or more steps in 0324, 0325, 0326, 0331, 0332 and 0333.
例如,当计算机程序301被一个或多个处理器30执行时,使得处理器30执行以下步骤:For example, when the computer program 301 is executed by one or more processors 30, the processors 30 are made to perform the following steps:
01:获取飞行时间直方图,飞行时间直方图表征传感器在各时间单元内接收到的光子的数量;01: Obtain the time-of-flight histogram, which represents the number of photons received by the sensor in each time unit;
02:根据飞行时间直方图从时间单元中确定峰值单元及多个邻域单元;02: Determine the peak unit and multiple neighboring units from the time unit according to the time-of-flight histogram;
03:根据峰值单元的参数值及多个邻域单元的参数值确定飞行时间;及03: Determine the flight time according to the parameter value of the peak unit and the parameter values of multiple neighboring units; and
04:根据飞行时间及光速计算传感器与物体之间的距离。04: Calculate the distance between the sensor and the object based on the flight time and the speed of light.
再例如,在计算机程序301被一个或多个处理器30执行时,使得处理器30执行以下步骤:For another example, when the computer program 301 is executed by one or more processors 30, the processors 30 are made to perform the following steps:
011:获取预设的时间段及预设的时间分辨率;011: Obtain a preset time period and a preset time resolution;
012:根据时间段及时间分辨率确定多个时间单元,时间单元在时间轴依次排列;012: Determine multiple time units according to the time period and time resolution, and the time units are arranged in sequence on the time axis;
013:获取各光子到达传感器的到达时间;013: Obtain the arrival time of each photon arriving at the sensor;
014:根据到达时间确定各光子对应的时间单元;014: Determine the time unit corresponding to each photon according to the arrival time;
015:统计每个时间单元对应的光子的数量以建立飞行时间直方图;015: Count the number of photons corresponding to each time unit to establish a time-of-flight histogram;
021:获取每个时间单元对应的光子计数值;021: Obtain the photon count value corresponding to each time unit;
022:将最大光子计数值对应的时间单元确定为峰值单元;022: Determine the time unit corresponding to the maximum photon count value as the peak unit;
023:将飞行时间直方图中在峰值单元左侧相邻的至少一个时间单元和在峰值单元右侧相邻的至少一个时间单元确定为邻域单元;023: Determine at least one time unit adjacent to the left side of the peak unit and at least one time unit adjacent to the right side of the peak unit in the time-of-flight histogram as neighborhood units;
031:获取峰值单元对应的峰值计数值、左邻域单元对应的左计数值、右邻域单元对应的右计数值;031: Obtain the peak count value corresponding to the peak unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit;
032:根据峰值计数值、左计数值、右计数值及预设的校正参数确定校正值;及032: Determine the correction value according to the peak count value, left count value, right count value and preset correction parameters; and
033:根据峰值单元的分辨率、峰值单元的序号及校正值确定飞行时间;033: Determine the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value;
04:根据飞行时间及光速计算传感器50与物体之间的距离。04: Calculate the distance between the sensor 50 and the object according to the flight time and the speed of light.
在本说明书的描述中,参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。此外,在不相互矛盾的情况下,本邻域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific examples" or "some examples" etc. The specific features, structures, materials or features described in the manner or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为,表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分,并且本申请的优选实施方式的范围包括另外的实现,其中可以不按所示出或讨论的顺序,包括根据所涉及的功能按基本同时的方式或按相反的顺序,来执行功能,这应被本申请的实施例所属技术邻域的技术人员所理解。Any process or method descriptions in flowcharts or otherwise described herein may be understood to represent modules, segments or portions of code comprising one or more executable instructions for implementing specific logical functions or steps of the process , and the scope of preferred embodiments of the present application includes additional implementations in which functions may be performed out of the order shown or discussed, including in substantially simultaneous fashion or in reverse order depending on the functions involved, which shall It is understood by those skilled in the art neighborhood to which the embodiments of the present application belong.
尽管上面已经示出和描述了本申请的实施方式,可以理解的是,上述实施方式是示例性的,不能理解为对本申请的限制,本邻域的普通技术人员在本申请的范围内可以对上述实施方式进行变化、修改、替换和变型。Although the implementation of the present application has been shown and described above, it can be understood that the above-mentioned implementation is exemplary and should not be construed as a limitation of the application, and those skilled in the art within the scope of the application can Variations, modifications, substitutions and variations of the above described embodiments.

Claims (20)

  1. 一种测距方法,其中,包括:A ranging method, including:
    获取飞行时间直方图,所述飞行时间直方图表征传感器在各时间单元内接收到的光子的数量;Obtaining a time-of-flight histogram, the time-of-flight histogram representing the number of photons received by the sensor in each time unit;
    根据所述飞行时间直方图从所述时间单元中确定峰值单元及多个邻域单元;determining a peak unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram;
    根据所述峰值单元的参数值及多个所述邻域单元的参数值确定飞行时间;及determining a time-of-flight based on the parameter value of the peak cell and the parameter values of a plurality of the neighboring cells; and
    根据所述飞行时间及光速计算所述传感器与物体之间的距离。The distance between the sensor and the object is calculated according to the time-of-flight and the speed of light.
  2. 根据权利要求1所述的测距方法,其中,所述获取飞行时间直方图,包括:The ranging method according to claim 1, wherein said obtaining the time-of-flight histogram comprises:
    获取预设的时间段及预设的时间分辨率;Obtain a preset time period and a preset time resolution;
    根据所述时间段及所述时间分辨率确定多个时间单元,所述时间单元在时间轴依次排列;A plurality of time units are determined according to the time period and the time resolution, and the time units are arranged sequentially on the time axis;
    获取各光子到达传感器的到达时间;Obtain the arrival time of each photon arriving at the sensor;
    根据所述到达时间确定各所述光子对应的时间单元;及determining a time unit corresponding to each of the photons according to the arrival time; and
    统计每个所述时间单元对应的光子的数量以建立所述飞行时间直方图。The number of photons corresponding to each time unit is counted to establish the time-of-flight histogram.
  3. 根据权利要求1所述的测距方法,其中,所述飞行时间直方图中每个所述时间单元的分辨率均相同。The ranging method according to claim 1, wherein the resolution of each time unit in the time-of-flight histogram is the same.
  4. 根据权利要求1所述的测距方法,其中,所述飞行时间直方图包括感兴趣区域和非感兴趣区域,所述感兴趣区域的时间单元的分辨率小于所述非感兴趣区域的时间单元的分辨率。The ranging method according to claim 1, wherein the time-of-flight histogram includes an area of interest and an area of non-interest, and the resolution of the time unit of the area of interest is smaller than the time unit of the area of non-interest resolution.
  5. 根据权利要求1所述的测距方法,其中,所述根据所述飞行时间直方图从所述时间单元中确定峰值单元及多个邻域单元,包括:The ranging method according to claim 1, wherein said determining a peak unit and a plurality of neighboring units from said time unit according to said time-of-flight histogram comprises:
    获取每个所述时间单元对应的光子计数值;Acquiring the photon count value corresponding to each time unit;
    将最大所述光子计数值对应的时间单元确定为所述峰值单元;及determining the time unit corresponding to the maximum photon count value as the peak unit; and
    将所述飞行时间直方图中在所述峰值单元左侧相邻的至少一个时间单元和在所述峰值单元右侧相邻的至少一个时间单元确定为所述邻域单元。Determining at least one time unit adjacent to the left of the peak unit and at least one time unit adjacent to the right of the peak unit in the time-of-flight histogram as the neighborhood units.
  6. 根据权利要求1所述的测距方法,其中,所述邻域单元包括位于所述峰值单元左侧的左邻域单元及位于所述峰值单元右侧的右邻域单元,所述参数值包括所述时间单元的分辨率、所述时间单元对应的光子计数值、及所述时间单元按照时间次序出现的序号。The ranging method according to claim 1, wherein the neighborhood unit includes a left neighborhood unit located on the left side of the peak unit and a right neighborhood unit located on the right side of the peak unit, and the parameter value includes The resolution of the time unit, the photon count value corresponding to the time unit, and the sequence number of the time unit appearing in time order.
  7. 根据权利要求6所述的测距方法,其中,所述根据所述峰值单元及多个所述邻域单元确定飞行 时间,包括:The ranging method according to claim 6, wherein said determining time-of-flight according to said peak unit and a plurality of said neighborhood units comprises:
    获取所述峰值单元对应的峰值计数值、所述左邻域单元对应的左计数值、所述右邻域单元对应的右计数值;Obtain the peak count value corresponding to the peak value unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit;
    根据所述峰值计数值、所述左计数值、所述右计数值及预设的校正参数确定校正值;及determining a correction value according to the peak count value, the left count value, the right count value and a preset correction parameter; and
    根据所述峰值单元的分辨率、所述峰值单元的序号及所述校正值确定所述飞行时间。The time of flight is determined according to the resolution of the peak unit, the serial number of the peak unit and the correction value.
  8. 根据权利要求7所述的测距方法,其中,所述校正参数包括第一参数、第二参数及第三参数,所述根据所述峰值计数值、所述左计数值、所述右计数值及预设的校正参数确定校正值,包括:The distance measuring method according to claim 7, wherein the correction parameters include a first parameter, a second parameter and a third parameter, and the said peak count value, the left count value, and the right count value and preset calibration parameters to determine the calibration value, including:
    根据所述峰值计数值及所述第一参数获取加权峰值计数值;Obtaining a weighted peak count value according to the peak count value and the first parameter;
    根据所述右计数值及所述第二参数获取加权右计数值;Obtaining a weighted right count value according to the right count value and the second parameter;
    根据所述左计数值及所述第三参数获取加权左计数值;Obtaining a weighted left count value according to the left count value and the third parameter;
    获取所述右计数值与所述左计数值之间的第一差值;obtaining a first difference between the right count value and the left count value;
    获取所述加权峰值计数值依次与所述加权右计数值及所述加权左计数值做差后的第二差值;及Obtaining a second difference between the weighted peak count value and the weighted right count value and the weighted left count value in turn; and
    获取所述第一差值与所述第二差值的比值,将所述比值确定为所述校正值。A ratio of the first difference to the second difference is obtained, and the ratio is determined as the correction value.
  9. 根据权利要求7所述的测距方法,其中,所述根据所述峰值单元的分辨率、所述峰值单元的序号及所述校正值确定所述飞行时间,包括:The ranging method according to claim 7, wherein said determining the flight time according to the resolution of the peak unit, the serial number of the peak unit and the correction value comprises:
    根据所述峰值单元的序号及所述校正值确定所述峰值单元的修正序号,及根据所述修正序号及所述峰值单元的分辨率确定所述飞行时间;或determining the corrected serial number of the peak unit according to the serial number of the peak unit and the correction value, and determining the time-of-flight according to the corrected serial number and the resolution of the peak unit; or
    根据所述峰值单元的序号及所述分辨率确定峰值时刻,根据所述校正值及所述分辨率确定校正时间,根据所述峰值时刻及所述校正时间确定所述飞行时间;或determining the peak moment according to the serial number of the peak unit and the resolution, determining the correction time according to the correction value and the resolution, and determining the flight time according to the peak moment and the correction time; or
    根据所述峰值单元的序号及所述校正值确定所述峰值单元的修正序号,将所述修正序号在所述飞行时间直方图上对应的时刻作为所述飞行时间。The corrected serial number of the peak unit is determined according to the serial number of the peak unit and the correction value, and the time corresponding to the corrected serial number on the time-of-flight histogram is taken as the time of flight.
  10. 一种测距装置,其中,包括:A distance measuring device, including:
    获取模块,所述获取模块用于获取飞行时间直方图,所述飞行时间直方图表征传感器在各时间单元内接收到的光子的数量;An acquisition module, the acquisition module is used to acquire a time-of-flight histogram, the time-of-flight histogram characterizes the quantity of photons received by the sensor in each time unit;
    检索模块,所述检索模块用于根据所述飞行时间直方图从所述时间单元中确定峰值单元及多个邻域单元;A retrieval module, configured to determine a peak unit and a plurality of neighboring units from the time unit according to the time-of-flight histogram;
    确定模块,所述确定模块用于根据所述峰值单元的参数值及多个所述邻域单元的参数值确定飞行时间;及A determining module, the determining module is used to determine the flight time according to the parameter value of the peak unit and the parameter values of a plurality of the neighboring units; and
    计算模块,所述计算模块用于根据所述飞行时间及光速计算所述传感器与物体之间的距离。A calculation module, the calculation module is used to calculate the distance between the sensor and the object according to the time-of-flight and the speed of light.
  11. 一种终端,其中,所述终端包括:A terminal, wherein the terminal includes:
    一个或多个处理器、存储器;和one or more processors, memory; and
    一个或多个程序,其中所述一个或多个程序被存储在所述存储器中,并且被所述一个或多个处理器执行,所述程序包括用于执行权利要求1所述的测距方法的指令。One or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs include a method for performing the ranging method according to claim 1 instructions.
  12. 根据权利要求11所述的终端,其中,所述处理器还用于:The terminal according to claim 11, wherein the processor is further configured to:
    获取预设的时间段及预设的时间分辨率;Obtain a preset time period and a preset time resolution;
    根据所述时间段及所述时间分辨率确定多个时间单元,所述时间单元在时间轴依次排列;A plurality of time units are determined according to the time period and the time resolution, and the time units are arranged sequentially on the time axis;
    获取各光子到达传感器的到达时间;Obtain the arrival time of each photon arriving at the sensor;
    根据所述到达时间确定各所述光子对应的时间单元;及determining a time unit corresponding to each of the photons according to the arrival time; and
    统计每个所述时间单元对应的光子的数量以建立所述飞行时间直方图。The number of photons corresponding to each time unit is counted to establish the time-of-flight histogram.
  13. 根据权利要求12所述的终端,其中,所述飞行时间直方图中每个所述时间单元的分辨率均相同。The terminal according to claim 12, wherein the resolution of each of the time units in the time-of-flight histogram is the same.
  14. 根据权利要求12所述的终端,其中,所述飞行时间直方图包括感兴趣区域和非感兴趣区域,所述感兴趣区域的时间单元的分辨率小于所述非感兴趣区域的时间单元的分辨率。The terminal according to claim 12, wherein the time-of-flight histogram includes a region of interest and a region of non-interest, and the resolution of the time unit of the region of interest is smaller than the resolution of the time unit of the region of non-interest Rate.
  15. 根据权利要求12所述的终端,其中,所述处理器还用于:The terminal according to claim 12, wherein the processor is further configured to:
    获取每个所述时间单元对应的光子计数值;Acquiring the photon count value corresponding to each time unit;
    将最大所述光子计数值对应的时间单元确定为所述峰值单元;及determining the time unit corresponding to the maximum photon count value as the peak unit; and
    将所述飞行时间直方图中在所述峰值单元左侧相邻的至少一个时间单元和在所述峰值单元右侧相邻的至少一个时间单元确定为所述邻域单元。Determining at least one time unit adjacent to the left of the peak unit and at least one time unit adjacent to the right of the peak unit in the time-of-flight histogram as the neighborhood units.
  16. 根据权利要求12所述的终端,其中,所述邻域单元包括位于所述峰值单元左侧的左邻域单元及位于所述峰值单元右侧的右邻域单元,所述参数值包括所述时间单元的分辨率、所述时间单元对应的光子计数值、及所述时间单元按照时间次序出现的序号。The terminal according to claim 12, wherein the neighborhood unit includes a left neighborhood unit located on the left side of the peak unit and a right neighborhood unit located on the right side of the peak unit, and the parameter value includes the The resolution of the time unit, the photon count value corresponding to the time unit, and the serial number of the time unit appearing in time order.
  17. 根据权利要求16所述的终端,其中,所述处理器还用于:The terminal according to claim 16, wherein the processor is further configured to:
    获取所述峰值单元对应的峰值计数值、所述左邻域单元对应的左计数值、所述右邻域单元对应的右计数值;Obtain the peak count value corresponding to the peak value unit, the left count value corresponding to the left neighbor unit, and the right count value corresponding to the right neighbor unit;
    根据所述峰值计数值、所述左计数值、所述右计数值及预设的校正参数确定校正值;及determining a correction value according to the peak count value, the left count value, the right count value and a preset correction parameter; and
    根据所述峰值单元的分辨率、所述峰值单元的序号及所述校正值确定所述飞行时间。The time of flight is determined according to the resolution of the peak unit, the serial number of the peak unit and the correction value.
  18. 根据权利要求17所述的终端,其中,所述处理器还用于:The terminal according to claim 17, wherein the processor is further configured to:
    根据所述峰值计数值及所述第一参数获取加权峰值计数值;Obtaining a weighted peak count value according to the peak count value and the first parameter;
    根据所述右计数值及所述第二参数获取加权右计数值;Obtaining a weighted right count value according to the right count value and the second parameter;
    根据所述左计数值及所述第三参数获取加权左计数值;Obtaining a weighted left count value according to the left count value and the third parameter;
    获取所述右计数值与所述左计数值之间的第一差值;obtaining a first difference between the right count value and the left count value;
    获取所述加权峰值计数值依次与所述加权右计数值及所述加权左计数值做差后的第二差值;及Obtaining a second difference between the weighted peak count value and the weighted right count value and the weighted left count value in turn; and
    获取所述第一差值与所述第二差值的比值,将所述比值确定为所述校正值。A ratio of the first difference to the second difference is obtained, and the ratio is determined as the correction value.
  19. 根据权利要求17所述的终端,其中,所述处理器还用于:The terminal according to claim 17, wherein the processor is further configured to:
    根据所述峰值单元的序号及所述校正值确定所述峰值单元的修正序号,及根据所述修正序号及所述峰值单元的分辨率确定所述飞行时间;或determining the corrected serial number of the peak unit according to the serial number of the peak unit and the correction value, and determining the time-of-flight according to the corrected serial number and the resolution of the peak unit; or
    根据所述峰值单元的序号及所述分辨率确定峰值时刻,根据所述校正值及所述分辨率确定校正时间,根据所述峰值时刻及所述校正时间确定所述飞行时间;或determining the peak moment according to the serial number of the peak unit and the resolution, determining the correction time according to the correction value and the resolution, and determining the flight time according to the peak moment and the correction time; or
    根据所述峰值单元的序号及所述校正值确定所述峰值单元的修正序号,将所述修正序号在所述飞行时间直方图上对应的时刻作为所述飞行时间。The corrected serial number of the peak unit is determined according to the serial number of the peak unit and the correction value, and the time corresponding to the corrected serial number on the time-of-flight histogram is taken as the time of flight.
  20. 一种包含计算机程序的非易失性计算机可读存储介质,当所述计算机程序被一个或多个处理器执行时,使得所述处理器实现权利要求1至9中任意一项所述的测距方法。A non-transitory computer-readable storage medium containing a computer program that, when executed by one or more processors, causes the processors to implement the measurement method described in any one of claims 1 to 9 distance method.
PCT/CN2022/090969 2021-07-20 2022-05-05 Ranging method and apparatus, terminal, and non-volatile computer-readable storage medium WO2023000756A1 (en)

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