TOF ranging method and apparatus

Abstract

The embodiment of the invention provides a time-of-flight (TOF) ranging method and apparatus. The method comprises the following steps that: a modulated optical signal within unit time is received, wherein the modulated optical signal is transmitted by a transmitting end according to a first modulation sequence and the first modulation sequence includes a preset number of modulation commands; according to the optical energy of the modulated optical signal as well as a second modulation sequence, an anti-interference energy value corresponding to the unit time is obtained, wherein the second modulation sequence is consistent with a first modulation sequence of a target transmitting end; and according to the preset number of consecutive anti-interference energy values, a measured distance isobtained. According to the provided method and apparatus, the receiving end is able to filter the modulated optical signal received within each unit time based on the second modulation sequence, thereby filtering the interference on the modulated optical signal sent by the target transmitting end by optical signals sent by other transmitting ends in a multi-TOF system scene and improving the accuracy of the TOF ranging. The method and apparatus are implemented simply; and lots of TOF systems can be accommodated for simultaneous working.

Description

technical field [0001] Embodiments of the present invention relate to the field of time-of-flight technology, and in particular, to a TOF ranging method and device. Background technique [0002] The basic principle of TOF (Time of Flight) is to continuously emit light pulses to the object to be observed, and then use the sensor to receive the light returned from the object, and obtain the distance of the target by detecting the time of flight of the light pulse. [0003] When there are multiple TOF systems in the scene and multiple TOF systems work at the same time, the modulated light signal emitted by each TOF system will affect the modulated light signals of other TOF systems, resulting in the energy received by the sensor chips of other TOF systems are disturbed, resulting in measurement errors. [0004] In response to this problem, technicians avoid interference signals generated by other TOF systems through adaptive frequency modulation, reducing the measurement error...

AI Technical Summary

Problems solved by technology

[0006] Embodiments of the present invention provide a TOF ranging method and device to solve the problem of cross interference when multiple TOF systems work simultaneously

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