WO2023198043A1 - Procédé et dispositif de télémétrie laser - Google Patents

Procédé et dispositif de télémétrie laser Download PDF

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Publication number
WO2023198043A1
WO2023198043A1 PCT/CN2023/087577 CN2023087577W WO2023198043A1 WO 2023198043 A1 WO2023198043 A1 WO 2023198043A1 CN 2023087577 W CN2023087577 W CN 2023087577W WO 2023198043 A1 WO2023198043 A1 WO 2023198043A1
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Prior art keywords
data
storage space
value
tdc
adjustment difference
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PCT/CN2023/087577
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English (en)
Chinese (zh)
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唐佳捷
贾捷阳
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深圳市灵明光子科技有限公司
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Publication of WO2023198043A1 publication Critical patent/WO2023198043A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar

Definitions

  • the present application relates to the technical field of optical distance measurement, and in particular to a laser distance measurement method and device.
  • lidar measurement systems based on dTOF (Directtimeofflight, direct time of flight) measurements usually include a transmitter and a receiver.
  • the receiver usually uses a SPAD (Single Photon Avalanche Diode) array to receive the return
  • SPAD Single Photon Avalanche Diode
  • TDC Time-to-Digital Converter
  • Statistical histogram so as to obtain the distance information of the object based on the statistical histogram.
  • this laser ranging method generally requires a complete statistical histogram for one pixel.
  • the post-processing TDC array and memory such as SRAM (static random access memory)
  • SRAM static random access memory
  • embodiments of the present application provide a laser ranging method and device to solve the problem of excessive chip area in the traditional statistical histogram-based laser ranging method.
  • embodiments of the present application provide a laser ranging method, which method includes:
  • a first storage space is provided, and an adjustment difference value is provided, and the first storage space is used to store a piece of data;
  • the real-time output data of the TDC is compared with the first data in the first storage space. According to the comparison result, the first data plus or minus the adjustment difference is saved as updated data in the first storage space.
  • the first data is preset with an initial value, and the comparison step is stopped until the exposure is completed;
  • an object distance measurement is determined.
  • an implementation is further provided, and the method further includes:
  • a second storage space is provided, and the storage capacity of the second storage space is greater than that of the first storage space
  • the first data plus or minus the adjustment difference is saved in the first storage space as updated data, and is simultaneously saved in the second storage space.
  • the storage capacity of the second storage space N historical values of the first data are stored, where N is a positive integer, and the value of N is less than the maximum range of the TDC;
  • the object distance measurement value is determined based on the average of the N historical values of the first data.
  • the first storage space is a part of the second storage space
  • the second storage space is a storage space capable of storing N pieces of data.
  • a shift register the first storage space occupies the first position or the last position of the second storage space.
  • an implementation in which the data output by TDC in real time is compared with the first data in the first storage space, and according to the comparison result, the The first data plus or minus the adjustment difference is stored in the first storage space as updated data, including:
  • the first data is added to the adjustment difference to obtain updated data, which is stored in the first storage space;
  • the adjusted difference is subtracted from the first data to obtain the updated data, which is stored in the first storage space;
  • the first data is equal to the data output by the TDC in real time, the first data is still stored in the first storage space.
  • an implementation is further provided, in which the initial value preset by the first data is the middle value of the measurement range of the TDC.
  • the adjustment difference includes a first adjustment difference and a second adjustment difference, and the first adjustment difference has a value greater than the The value of the second adjustment difference.
  • the adjustment difference is changed according to the number of times the TDC is received. When the number of comparisons reaches a preset threshold, the first adjustment difference is changed to the second adjustment difference. .
  • an implementation is further provided to improve the accuracy of the object distance measurement value by increasing the number of N or reducing the adjustment difference.
  • the number of N ranges from 2 to 30, and the adjustment difference ranges from 0.5 to 10.
  • a laser ranging device which includes:
  • Laser transmitter used to emit laser
  • SPAD array used to receive optical signals
  • TDC array used to convert the flight time value of the optical signal into a digital signal
  • a comparator used to compare the real-time output data of one of the TDCs with the first data in the first storage space
  • An up/down counter used to save the first data addition and subtraction adjustment difference as updated data in the first storage space according to the comparison result, wherein the adjustment difference is preset;
  • the first storage space is used to save the first data, and the first data is preset with an initial value
  • a processing circuit configured to determine an object distance measurement value based on the first data.
  • the device further includes a second storage space and a computing unit, wherein the second storage space has a greater storage capacity than the first storage space;
  • the up/down counter is also used to add and subtract the adjustment difference to the first data and save it in the first storage space as updated data, and simultaneously save it in the second storage space.
  • the storage capacity of the second storage space stores N historical values of the first data, where N is a positive integer, and the value of N is less than the maximum range of the TDC;
  • the calculation unit is used to calculate an average of N historical values of the first data
  • the processing circuit is also configured to determine the object distance measurement value based on the average of the N historical values of the first data.
  • the first storage space is used to store a piece of data.
  • the adjustment difference value can be used to perform convergent adjustment and update on the data in the first storage space, so that the third
  • the first data in a storage space is closer to the actual object distance measurement value; specifically, when the laser exposure starts, the data output by the TDC in real time is The data is compared with the first data in the first storage space, and according to the comparison result, the plus or minus adjustment difference of the first data is saved in the first storage space as updated data, wherein the first data is preset with an initial value, Until the end of the exposure, the comparison step is stopped, and the data output in real time by each TDC is compared with the first data in the first storage space.
  • the data output by the TDC can be used to conform to the characteristics of the Poisson distribution, and the data can be continuously compared through each numerical comparison.
  • the first data is updated and adjusted accordingly, so that the first data quickly converges to the vicinity of the actual object distance measurement value through numerical comparison at the initial value; finally, the object distance measurement value is determined based on the value of the first data.
  • the TDC real-time output data and After the number of comparisons of the first data in the first storage space is sufficient, the error between the finally obtained first data and the actual object distance measurement value is small, and is basically equal to the actual object distance measurement value.
  • SRAM can be reduced or not used to save data, and the area of the ranging chip is significantly reduced.
  • Figure 1 is a schematic structural diagram of optical ranging in the prior art
  • Figure 2 is a schematic flow chart of using optical ranging methods to achieve histogram statistics in the prior art
  • Figure 3 is a flow chart of a laser ranging method in an embodiment of the present application.
  • Figure 4 is a schematic structural diagram of optical ranging in an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of realizing optical ranging in an embodiment of the present application.
  • first, second, third, etc. may be used to describe the preset range and the like in the embodiments of the present application, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other.
  • the first preset range may also be called the second preset range, and similarly, the second preset range may also be called the first preset range.
  • the word “if” as used herein may be interpreted as “when” or “when” or “in response to determination” or “in response to detection.”
  • the phrase “if determined” or “if detected (stated condition or event)” may be interpreted as “when determined” or “in response to determination” or “when (stated condition or event) is detected” or “in response to detection (stated condition or event).”
  • FIG. 1 is a schematic structural diagram of optical ranging in the prior art.
  • the lidar device 100 includes a laser emitting device 110 , a control module 120 , a SPAD module 140 , a TDC module 150 and a memory 160 .
  • the laser emitting device 110 emits laser light to illuminate the target object 130 with photons through the lens, and the target object 130 is continuously exposed. During exposure of target object 130, photons are illuminated through the lens back to lidar device 100 by reflection.
  • the lidar device 100 receives the returned optical signal through the SPAD module 140, and converts the time information into a quantized multi-bit digital signal through the TDC module 150, and then draws a distance-based dynamic histogram based on the long-term exposure and TDC trigger accumulation value. Figure, thereby obtaining the distance information of the target object 130.
  • the control module 120 is used to control the SPAD module 140, the TDC module 150 and the memory 160 to complete the storage of statistical histogram data.
  • the SPAD module 140 includes many SPAD units, and each SPAD unit can realize the induction detection of photons.
  • the size of the SPAD array in the SPAD module 140 (the number of SPAD units included) characterizes the ranging chip.
  • the resolution is, for example, 320*240, or 640*480.
  • the TDC module 150 and the memory 160 that complete histogram statistics at the subsequent stage require higher scale and storage capacity.
  • one SPAD unit corresponds to a complete statistical histogram.
  • the memory depth is required to be large enough (can store a sufficient number of timebins); to achieve a high signal-to-noise ratio, the memory is required The bits are wide enough (can store larger accumulated count values).
  • the TDC data bit width is 10 bits
  • the minimum accuracy is 0.1ns (corresponding to a distance of 1.5cm)
  • each time bin is represented by an 8-bit count value (maximum count value is 255)
  • FIG. 2 is a schematic flowchart of using optical ranging methods to implement histogram statistics in the prior art.
  • SPAD unit 1
  • TDC unit 1
  • Memory1 can specifically include 1024 timebins with a width of 10 bits.
  • Memory1 will count the light signals received on SPAD1, and finally output the statistical data as the actual result, with timebin as the abscissa.
  • a statistical histogram is generated with the ordinate as the cumulative count value of each timebin within a period of exposure.
  • Memoryn (nth storage unit) can include 1024 10-bit wide timebins.
  • Memory1 will count the light signals received on SPADn (nth SPAD unit) and store the SPADn The corresponding statistical histogram output.
  • the ranging method adopts histogram statistics, when long-distance laser ranging or high resolution is achieved, the size of the memory 160 of the lidar device 100 will become very large, which is detrimental to the lidar.
  • the device 100 has high storage requirements, which will result in an excessively large chip area for the ranging chip.
  • this application Please propose a laser ranging method and laser ranging device.
  • FIG 3 is a flow chart of a laser ranging method in an embodiment of the present application. As shown in Figure 3, the laser ranging method includes the following steps:
  • the first storage space is used to store one piece of data.
  • the unit of data stored in the first storage space is one, and the storage capacity occupied by one piece of data should be understood as a capacity that at least includes the bit width of one TDC. For example, if the bit width of one TDC is 10, then this The bit width of the data stored in the first storage space in the application is at least 10.
  • a first storage space is provided, and the first data stored in the first storage space is used for numerical comparison.
  • the data for numerical comparison also includes real-time input and TDC-converted data that changes with time.
  • This application also provides an adjustment difference value, which is used in the first storage space to adjust the comparison result after numerical comparison, so that the value obtained after multiple adjustments is closer to the actual object distance measurement value.
  • S20 The laser exposure starts, and the data output by the TDC in real time is compared with the first data in the first storage space. According to the comparison result, the addition and subtraction adjustment difference of the first data is saved in the first storage space as updated data. Among them, the first data is preset with an initial value, and the comparison step is stopped until the exposure ends.
  • the first data in the first storage space will be updated according to the comparison result and the adjustment difference.
  • the numerical value of the first storage space will be compensated accordingly according to the numerical difference between the data output by the TDC in real time and the first data of the first storage space, and the compensated numerical value is the adjustment difference, wherein the compensation can be It is positive compensation or negative compensation, that is, the adjustment difference can be added or subtracted when the first data is updated.
  • the first data is preset with an initial value, which will converge to near the actual object distance measurement value after comparing the data output by the TDC in real time multiple times with the first data in the first storage space.
  • the The output data is compared with the first data in the first storage space.
  • the real-time output data of TDC is compared with the first data in the first storage space.
  • the first data is compensated by adjusting the difference, so that the value of the updated first data obtained after the comparison is closer and closer to the timebin value corresponding to the peak value in the statistical histogram. In this way, After multiple times of TDC real-time output data and the first data value in the first storage space are compared, the first data in the first storage space will be updated to be closer and closer to the actual object distance measurement value.
  • the step of comparing the data output by the TDC in real time with the first data in the first storage space will also stop.
  • the last updated data stored in the first storage space can be A data as an object distance measurement.
  • the first data finally obtained will be very close to the actual object distance measurement value.
  • the laser ranging method adopted in the embodiment does not need to be equipped with a memory to store the statistical histogram of each SPAD unit. It only uses the first storage space as the storage unit of the first data, which can save a large amount of TDC real-time output that needs to be stored in the middle.
  • the storage capacity of the photon count value corresponding to the data can reduce the use of memory (such as a large amount of SRAM) and significantly reduce the area of the ranging chip.
  • a first storage space and an adjustment difference are provided.
  • the adjustment difference is used to compare the data in the first storage space.
  • the object distance measurement value can be determined based on the finally obtained first data, which is finally obtained
  • the error between the first data and the actual object distance measurement value is small, and is basically the same as the actual object distance measurement value.
  • the laser ranging method of the present application does not need to save statistical histogram data inside the ranging chip, which can effectively reduce storage requirements and significantly reduce the area of the ranging chip.
  • step S20 the data output by the TDC in real time is compared with the first data in the first storage space, and based on the comparison result, the first data plus or minus adjustment difference is saved in the first storage space as updated data.
  • the first data in the first storage space may be called PEAK_BIN, which represents the timebin (value) corresponding to the peak value in the histogram corresponding to the first data. It is understandable that in the initial stage when the data output by TDC in real time is compared with the first data in the first storage space, PEAK_BIN has not completely converged, and PEAK_BIN is not actually close to the peak value in the histogram. However, with the number of comparisons, increase until the end, and eventually PEAK_BIN will be infinitely close to the actual object distance measurement value.
  • the initial value preset by the first data may be an intermediate value of the TDC measurement range.
  • the 512th timebin can be taken as the middle value.
  • the initial value of the first data is preset to the middle value of the TDC range, so that the first data can converge to the time bin corresponding to the peak value in the statistical histogram as quickly as possible.
  • the object distance measurement value is the distance corresponding to the 150th timebin unit
  • the initial value preset for the first data is the middle value of the TDC range (such as 512 timebin units)
  • the first data will be processed multiple times after After the update, it will converge from the middle value of the TDC range to around 150 timebin units.
  • the user can update PEAK_BIN according to the comparison result between TDCdata and PEAK_BIN by adjusting the difference delta, so that after multiple updates, PEAK_BIN is closer to the timebin corresponding to the peak value in the statistical histogram, that is, closer to the actual value. object detection distance.
  • the adjustment difference value includes a first adjustment difference value and a second adjustment difference value.
  • the value of the first adjustment difference value is greater than the value of the second adjustment difference value.
  • the adjustment difference value changes according to the number of TDC receptions, wherein, when compared When the number of times reaches the preset threshold, the first adjustment difference value is changed to the second adjustment difference value.
  • delta1 and delta2 are provided, where the value of delta1 is greater than the value of delta2.
  • delta1 with a larger value can be used to make the first data converge quickly.
  • a smaller delta2 value can be used in order for the first data to converge more stably and close to the actual object detection distance. In this way, the efficiency of the first data update can be further improved, and the first data can be closer to the actual object detection distance. The gap between them is smaller.
  • the preset threshold can be determined according to the number of comparisons.
  • the preset threshold takes 1/5 or 1/4 of the total number of comparisons, that is, in the first 1/5 or 1/4 stage of comparison, the larger value delta1 is used. In later stages, delta2 with a smaller value is used. Further, the range of the adjustment difference is 0.5-10. For example, delta1 is specifically set to 5, and delta2 is specifically set to 1.
  • the laser ranging method also includes the following steps:
  • S40 There is a second storage space, and the storage capacity of the second storage space is greater than that of the first storage space.
  • the first storage space in order to further improve the accuracy of the final object distance measurement value, can be expanded into a second storage space.
  • the storage capacity of the second storage space may be N times the storage capacity of the first storage space.
  • the second storage space can store some of the newer PEAK_BINs that have just been updated and replaced. That is, it can be understood that the second storage space can store PEAK_BINs of N historical records.
  • the first storage space is part of the second storage space
  • the second storage space is a shift register capable of storing N pieces of data
  • the first storage space occupies the first position or the last position of the second storage space.
  • the first storage space is part of the second storage space and is provided at one of two ends of the second storage space. In this way, the characteristics of the shift register can be used.
  • the second storage space When the second storage space is full, the earliest stored N+1 PEAK_BIN will be removed, and That is to say, it is understood that the second storage space can store up to N latest PEAK_BINs, and the first storage space stores PEAK_BINs updated in the recent numerical comparison history.
  • S50 Save the first data addition and subtraction adjustment difference as updated data in the first storage space and simultaneously in the second storage space.
  • the storage capacity of the second storage space holds N first The historical value of the data, where N is a positive integer and the value of N is less than the maximum range of TDC.
  • the updated data (that is, the updated PEAK_BIN by comparison) will be stored in the first storage space and simultaneously stored in the second storage space.
  • the first storage space can be set as a part of the second storage space, or the second storage space includes the same storage space as the first storage space.
  • the second storage space is updated and saved.
  • the second storage space can store N values with the same size as the first data. At the end of the exposure, the second storage space saves the N latest PEAK_BIN, that is, the historical values of the N first data in the recent numerical comparison. Understandably, since the distance range of optical measurement is limited, the value of N should be limited to a maximum range smaller than TDC.
  • S60 Calculate the average of the historical values of the N first data.
  • S70 Determine the object distance measurement value based on the average of the historical values of the N first data.
  • steps S40-S70 expand the first storage space based on the first storage space.
  • a second storage space is displayed, which can store the latest N historical values of the first data, that is, the value stored in the second storage space is the first data updated after the last N comparisons.
  • the average value can be rounded to determine the object distance measurement value.
  • the last first data is used to determine The object distance measurement value is more error-tolerant, making the object distance measurement value closer to the actual object distance measurement value.
  • FIG. 4 is a schematic structural diagram for realizing optical ranging in an embodiment of the present application.
  • the lidar device 100 includes a laser emitting device 110 , a control module 120 , a SPAD module 140 , a TDC module 150 , a comparator 160 , an up/down counter 170 , a register 180 , and an averaging circuit 190 .
  • the laser emitting device 110 emits laser light to illuminate the target object 130 with photons through the lens, and the target object 130 is continuously exposed. During exposure of target object 130, photons are illuminated through the lens back to lidar device 100 by reflection.
  • the lidar device 100 receives the returned optical signal through the SPAD module 140 and converts the time information into a quantized multi-bit digital signal through the TDC module 150 and outputs it to the comparator 160 in real time.
  • the comparator 160 compares the data transmitted in real time by the TDC with the first data stored in the register 180, changes the comparison result by adjusting the difference through the up/down counter 170, and stores the modified first data in the register 180 , wherein the register 180 may include a second storage space including the first storage space.
  • the averaging circuit 190 performs averaging calculation on the N historical first data to obtain the distance information of the object.
  • the control module 120 is used to control the SPAD module 140 and the TDC module 150, so that the data on the TDC module 150 can be fed back to the comparator 160 in real time according to the SPAD received optical signal.
  • FIG. 5 is a schematic flowchart of realizing optical ranging in an embodiment of the present application.
  • SPAD (unit) 1 sends the signal to TDC (unit) 1 for conversion and sends the converted data to comparator 1 in real time for comparison and passes through the up/down counter circuit 1
  • the numerical update is completed, in which another data used for comparison is searched from the register, and what is searched is the first data in the first storage space in the register.
  • N multiple historical data of the first data stored in the register, that is, multiple historical data that have just been updated recently.
  • These historical data of the first data will be sent to the average In circuit 1, the timebin value M1 will be obtained.
  • SPADn represents the nth SPAD unit in the SPAD module. Its optical ranging process is similar to SPAD1 and will not be described again here.
  • SRAM memory can no longer be used to save data.
  • a very small register can be used.
  • the chip area is significantly reduced. While the chip area is reduced, the chip power consumption and cost are significantly reduced. Compared with SRAM The memory needs at least 2 beats to complete a data accumulation (one beat for reading, one beat for writing).
  • the addition and subtraction counter circuit can realize data addition or subtraction calculation in one beat, thus doubling the data processing speed of the entire TDC module, that is, the entire
  • the chip data throughput is doubled; since the statistical histogram is no longer used to calculate the depth value, but the chip directly outputs the depth data (timebin value), the data output volume of the chip, as well as the post-level calculation amount of the statistical histogram ( For example, matched filtering + peak-finding algorithm, etc.) will be significantly reduced, which can improve the processing efficiency of the chip.
  • the number of N can be specifically set to 2-30.
  • the accuracy of the object distance measurement value can be effectively improved.
  • the number of N can be set to a high point in advance, so that the average value of the historical values of the N first data is closer to the actual object distance. Measurement value, or the adjustment difference can be reduced, so that the first data converges with higher accuracy and a more accurate object can be obtained Distance measurement.
  • the first storage space is used to store a piece of data.
  • the adjustment difference value can be used to perform convergent adjustment and update on the data in the first storage space, so that the third
  • the first data in a storage space is closer to the actual object distance measurement value; specifically, when the laser exposure starts, the data output by the TDC in real time is compared with the first data in the first storage space, and according to the comparison result, the first data is The addition and subtraction adjustment difference values are stored in the first storage space as updated data.
  • the first data is preset with an initial value until the exposure is completed and the comparison step is stopped.
  • the data output by TDC conforms to the characteristics of Poisson distribution, and the first data is continuously updated and adjusted through each numerical comparison, so that the first data quickly converges to the actual value through numerical comparison at the initial value. near the object distance measurement value; finally, determine the object distance measurement value based on the value of the first data.
  • the data output by the TDC in real time and the first data in the first storage space are compared a sufficient number of times, the finally obtained first data will be compared with the actual
  • the object distance measurement value has a small error and is basically equivalent to the actual object distance measurement value.
  • sequence number of each step in the above embodiment does not mean the order of execution.
  • the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.
  • the laser ranging device includes:
  • Laser transmitter used to emit laser
  • SPAD array used to receive optical signals
  • TDC array used to convert the flight time value of the optical signal into a digital signal
  • a comparator used to compare the real-time output data of one of the TDCs with the first data in the first storage space
  • An up/down counter used to store the addition and subtraction adjustment difference of the first data as updated data in the first storage space according to the comparison result, where the adjustment difference is preset;
  • the first storage space is used to save the first data, and the first data is preset with an initial value
  • a processing circuit configured to determine an object distance measurement value based on the first data.
  • the laser ranging device also includes:
  • the second storage space has a greater storage capacity than the first storage space
  • the plus/minus counter is also used to save the plus/minus adjustment difference of the first data as updated data in the first storage space and at the same time in the second storage space.
  • the storage capacity of the second storage space Stores N historical values of the first data, where N is a positive integer and the value of N is less than the maximum range of TDC;
  • the calculation unit is used to calculate the average of the historical values of the N first data
  • the processing circuit is also used to determine the object distance measurement value based on the average of the historical values of the N first data.
  • the first storage space is used to store a piece of data.
  • the adjustment difference value can be used to perform convergent adjustment and update on the data in the first storage space, so that the third
  • the first data in a storage space is closer to the actual object distance measurement value; specifically, when the laser exposure starts, the data output by the TDC in real time is compared with the first data in the first storage space, and according to the comparison result, the first data is The addition and subtraction adjustment difference values are stored in the first storage space as updated data.
  • the first data is preset with an initial value until the exposure is completed and the comparison step is stopped.
  • the first data within the comparison can be utilized
  • the data output by TDC conforms to the characteristics of Poisson distribution.
  • the first data is continuously updated and adjusted through each numerical comparison, so that the first data quickly converges to the actual object distance measurement value through numerical comparison at the initial value; finally, according to the The value of a data determines the object distance measurement value.
  • the error between the finally obtained first data and the actual object distance measurement value is small, basically Equivalent to actual object distance measurement.
  • SRAM can be reduced or not used to save data, and the area of the ranging chip is significantly reduced.
  • a second storage space can be expanded based on the first storage space.
  • the second storage space can store the latest N historical values of the first data, that is, the second storage space stores The value of is the first data updated after the last N comparisons.
  • the average value can be rounded to determine the object distance measurement value. In this way, compared with steps S10-S30, the last first data is used to determine The object distance measurement value is more error-tolerant, making the object distance measurement value closer to the actual object distance measurement value.
  • Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above.

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  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un procédé et un dispositif de télémétrie laser. Le procédé de télémétrie laser consiste à : fournir un premier espace de mémoire et définir une valeur de différence de réglage, le premier espace de mémoire étant utilisé pour mémoriser des premières données ; démarrer une exposition laser, comparer les données délivrées par un TDC en temps réel avec des premières données dans le premier espace de mémoire, en fonction du résultat de comparaison, ajouter/soustraire les premières données à/de la valeur de différence de réglage, considérer le résultat comme des données mises à jour et les mémoriser dans le premier espace de mémoire, une valeur initiale étant prédéfinie pour les premières données et l'exécution de l'étape de comparaison s'arrêtant jusqu'à la fin de l'exposition ; et déterminer une valeur mesurée de distance d'objet en fonction de la valeur des premières données. Selon le procédé de télémétrie laser, l'utilisation d'une mémoire peut être réduite, de sorte que la surface d'une puce de télémétrie est remarquablement réduite.
PCT/CN2023/087577 2022-04-13 2023-04-11 Procédé et dispositif de télémétrie laser WO2023198043A1 (fr)

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