Dual TOF module drive control system

Abstract

A dual TOF module drive control system, comprising: a first TOF module unit, comprising a first drive port; a second TOF module unit, comprising a second drive port; and a circuit control system, comprising: a control unit and an inverter unit, the control unit comprising a drive control port; wherein the first drive port of the first TOF module unit and the second drive port of the second TOF module unit are electrically connected to the drive control port of the control unit; the first drive port of the first TOF module unit is electrically connected to the second drive port of the second TOF module unit through a connecting circuit; the inverter unit is arranged on the connecting circuit between the first drive port of the first TOF module unit and the second drive port of the second TOF module unit, and is used to control the electrical signals acting on the first drive port and the second drive port to be always opposite.

Description

Technical Field

[0001] The present application relates to the field of terminal equipment with a TOF module, and in particular to a dual TOF module drive control system for a sweeping robot. Background Art

[0002] TOF is the abbreviation of Time of Flight technology, that is, the sensor emits modulated near-infrared light, which is reflected after encountering an object. The sensor calculates the time difference or phase difference between light emission and reflection to convert the distance of the photographed scene to generate depth information.

[0003] At present, the field of view of TOF modules with relatively mature TOF technology is usually small. For terminal products such as sweeping robots that require a larger field of view in the horizontal direction to measure obstacle information in a larger range, the field of view is usually expanded by installing two TOF cameras at different angles and positions on the sweeping robots. However, the simultaneous operation of two TOF cameras will encounter various new problems. For example, the two TOF cameras will interfere with each other when working at the same time, resulting in the inability to accurately calculate the distance; the connection of two TOF cameras to the system and simultaneous operation requires the back-end CPU to support at least two data transmission and control lines, and the CPU needs to have strong data processing performance, which greatly increases the power consumption and cost of the entire system.

[0004] Therefore, an improved dual TOF module system is needed. Summary of the invention

[0005] One advantage of the present application is that it provides a dual TOF module drive control system, which can effectively overcome the mutual interference problem caused by the simultaneous operation of the dual TOFs to improve the measurement accuracy.

[0006] Another advantage of the present application is that it provides a dual TOF module drive control system, in which, during the control of the dual TOF modules, only one data transmission interface and one control signal transmission interface are used to effectively reduce the performance requirements of the back-end CPU for processing data, thereby reducing system power consumption and cost.

[0007] Another advantage of the present application is that it provides a dual TOF module drive control system, which can complete the switching of the dual TOF module working state using only one data port, has a simple circuit design, and is easy to implement software control logic.

[0008] In order to achieve at least one of the above-mentioned invention purposes, the present application provides a dual TOF module drive control system, which includes:

[0009] A first TOF module unit, comprising a first driving port;

[0010] A second TOF module unit, comprising a second driving port; and

[0011] A circuit control system, comprising: a control unit and an inverter unit, wherein the control unit comprises a drive control port;

[0012] Wherein, the first drive port of the first TOF module unit and the second drive port of the second TOF module unit are electrically connected to the drive control port of the control unit; the first drive port of the first TOF module unit is electrically connected to the second drive port of the second TOF module unit through a connecting circuit; the inverter unit is arranged on the connecting circuit between the first drive port of the first TOF module unit and the second drive port of the second TOF module unit, and is used to control the electrical signals acting on the first drive port and the second drive port to be always opposite;

[0013] When the driving control port of the control unit outputs a high level, the high level is transmitted to the first driving port of the first module unit, so that the first TOF module unit is in an on state; the high level is inverted by the inverter unit to be converted into a low level during the process of being transmitted to the second driving port of the second TOF module unit, so that the second TOF module unit is in an off state;

[0014] Among them, when the driving control port of the control unit outputs a low level, the low level is transmitted to the first driving port of the first TOF module unit, so that the first TOF module unit is in a closed state; the low level is reversed by the inverter unit to be converted into a high level during the process of being transmitted to the second driving port of the second TOF module unit, so that the second TOF module unit is in an open state.

[0015] In the above dual TOF module drive control system, the circuit control system further includes: a data port switching unit; the control unit further includes a data port;

[0016] Wherein, the data port of the control unit is electrically connected to the data port switching unit; the first data transmission port of the first TOF module unit and the second data transmission port of the second TOF module unit are electrically connected to the data port switching unit;

[0017] Wherein, when the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in a off state, the data port switching unit is switched to be connected to the first data transmission port of the first TOF module unit, so that the data collected by the first TOF module unit is suitable for being transmitted to the data port of the control unit through the data port switching unit;

[0018] Among them, when the driving control port of the control unit outputs a low level so that the first TOF module unit is in a closed state and the second TOF module unit is in an open state, the data port switching unit is switched to be connected to the second data transmission port of the second TOF module unit, so that the data collected by the second TOF module unit is suitable for transmission to the data port of the control unit through the data port switching unit.

[0019] In the above dual TOF module drive control system, the data port switching unit includes: a data switching control port, a first data receiving port, a second data receiving port and a data output port;

[0020] Wherein, the data output port is electrically connected to the data port of the control unit; the first data receiving port is electrically connected to the first data transmission port of the first TOF module unit, and the second data receiving port is electrically connected to the second data transmission port of the second TOF module unit; the data switching control port is electrically connected to the driving control port of the control unit, and is used to control the data output port to be switchably connected to the first data receiving port and the second data receiving port;

[0021] When the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in a off state, the data switching control port switches the data output port to be connected to the first data receiving port under the action of the high level;

[0022] When the driving control port of the control unit outputs a low level to turn off the first TOF module unit and turn on the second TOF module unit, the data switching control port switches the data output port and the second data receiving port to be connected under the action of the low level.

[0023] In the above dual TOF module drive control system, the number of the data port of the control unit is 1.

[0024] In the above-mentioned dual TOF module drive control system, the data port is a MIPI port.

[0025] In the above dual TOF module drive control system, the circuit control system further includes: a control port switching unit; the control unit further includes a control port;

[0026] Wherein, the control port of the control unit is electrically connected to the control port switching unit; the first instruction receiving port of the first TOF module unit and the second instruction receiving port of the second TOF module unit are electrically connected to the control port switching unit;

[0027] Wherein, when the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in an off state, the control port switching unit is switched to be connected to the first instruction receiving port of the first TOF module unit, so that the instruction sent from the control port of the control unit is suitable for being transmitted to the first instruction receiving port of the first TOF module unit through the control port switching unit;

[0028] Among them, when the driving control port of the control unit outputs a low level so that the first TOF module unit is in a closed state and the second TOF module unit is in an open state, the control port switching unit is switched to be connected to the second instruction receiving port of the second TOF module unit, so that the instruction sent from the control port of the control unit is suitable for being transmitted to the second instruction receiving port of the second TOF module unit through the control port switching unit.

[0029] In the above dual TOF module drive control system, the control port switching unit includes: a control switching control port, a first control transmission port, a second control transmission port and a control receiving port;

[0030] Wherein, the control receiving port is electrically connected to the control port of the control unit; the first control transmission port is electrically connected to the first instruction receiving port of the first TOF module unit, and the second control transmission port is electrically connected to the second instruction receiving port of the second TOF module unit; the control switching control port is electrically connected to the driving control port of the control unit, and is used to control the control receiving port to be switchably connected to the first control transmission port and the second control transmission port;

[0031] When the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in an off state, the control switching control port switches the control receiving port to be connected to the first control transmission port under the action of the high level;

[0032] When the driving control port of the control unit outputs a low level to make the first TOF module unit in a closed state and the second TOF module unit in an open state, the control switching control port switches the control receiving port and the second control transmission port to be connected under the action of the low level.

[0033] In the above dual TOF module drive control system, the number of the control ports of the control unit is 1.

[0034] In the above dual TOF module drive control system, the control port is an I2C port.

[0035] In the above-mentioned dual TOF module drive control system, the first TOF module unit has a first frame rate, and the second TOF module unit has a second frame rate, wherein the control unit is used to control the drive control port to switchably output high level and low level based on the first frame rate and the second frame rate.

[0036] In the above dual TOF module drive control system, the circuit control system further includes: a control port switching unit; the control unit further includes a control port;

[0037] Wherein, the control port of the control unit is electrically connected to the control port switching unit; the first instruction receiving port of the first TOF module unit and the second instruction receiving port of the second TOF module unit are electrically connected to the control port switching unit;

[0038] Wherein, when the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in an off state, the control port switching unit is switched to be connected to the first instruction receiving port of the first TOF module unit, so that the instruction sent from the control port of the control unit is suitable for being transmitted to the first instruction receiving port of the first TOF module unit through the control port switching unit;

[0039] Among them, when the driving control port of the control unit outputs a low level so that the first TOF module unit is in a closed state and the second TOF module unit is in an open state, the control port switching unit is switched to be connected to the second instruction receiving port of the second TOF module unit, so that the instruction sent from the control port of the control unit is suitable for being transmitted to the second instruction receiving port of the second TOF module unit through the control port switching unit.

[0040] In the above-mentioned dual TOF module drive control system, the number of the control port of the control unit is 1, and the number of the data port of the control unit is 1.

[0041] In the above-mentioned dual TOF module drive control system, the control port is an I2C port and the data port is a MIPI port.

[0042] Further objectives and advantages of the present application will be fully reflected through understanding of the following description and drawings.

[0043] These and other objects, features and advantages of the present application are fully reflected in the following detailed description, drawings and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] These and / or other aspects and advantages of the present application will become more clear and easier to understand from the following detailed description of the embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0045] Figure 1 The figure shows a schematic diagram of a dual TOF module drive control system according to an embodiment of the present application.

[0046] Figure 2 The figure illustrates an architecture diagram of a dual TOF module drive control system according to an embodiment of the present application.

[0047] Figure 3 The figure shows a schematic diagram of another dual TOF module drive control system according to an embodiment of the present application.

[0048] Figure 4 The figure shows a schematic diagram of another dual TOF module drive control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] The terms and words used in the following specification and claims are not limited to the literal meanings, but are merely used by the inventor to enable a clear and consistent understanding of the present application. Therefore, it will be apparent to those skilled in the art that the following description of various embodiments of the present application is provided for illustrative purposes only and not for the purpose of limiting the present application as defined by the appended claims and their equivalents.

[0050] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0051] Although ordinals such as "first," "second," and the like will be used to describe various components, those components are not limited herein. The term is used only to distinguish one component from another. For example, a first component may be referred to as a second component, and likewise, a second component may be referred to as a first component without departing from the teachings of the inventive concept. The term "and / or" as used herein includes any and all combinations of one or more associated listed items.

[0052] The terms used herein are only used for the purpose of describing various embodiments and are not intended to be limiting. As used herein, singular forms are intended to also include plural forms, unless the context clearly indicates an exception. In addition, it will be understood that the terms "including" and / or "having" when used in this specification specify the presence of the described features, numbers, steps, operations, components, elements or combinations thereof, without excluding the presence or addition of one or more other features, numbers, steps, operations, components, elements or groups thereof.

[0053] Application Overview

[0054] As mentioned above, the field of view of the more mature TOF modules in TOF technology is usually small. In practical applications, products such as sweeping robots require a larger field of view in the horizontal direction in order to measure obstacle information in a larger range. To address this problem, two TOF cameras are usually installed at different angles and positions on the sweeping robot to expand the field of view of the sweeping robot. However, when two TOFs work at the same time, there are many technical problems.

[0055] First, when there are two TOF cameras working simultaneously in the scene, interference problems will occur between different cameras. For example, the light emitted by camera A is received by camera B, causing camera B to be unable to normally calculate the distance from the object to camera B; similarly, the light emitted by camera B will also be received by camera A, causing camera A to be unable to accurately calculate the distance from the object to camera A.

[0056] In addition to the mutual interference problem when two TOF cameras work at the same time, there are also some problems with the overall system support. For example, when two TOF cameras are connected to the system and work at the same time, the back-end CPU is required to support at least two MIPI and I2C data accesses at the same time, which makes the circuit complex and increases the cost. In addition, when two TOFs work at the same time, a large amount of data will be output, and the back-end CPU needs to process all the data in time. Therefore, the back-end CPU needs to have strong data processing performance, which will increase the power consumption and cost of the entire system.

[0057] In response to the above technical problems, the basic idea of ​​the present application is to introduce an inverter unit to adjust the high and low level signals, and combine the existing TOF module unit, control unit, data port switching unit and control port switching unit to improve the wide field of view of the sweeping robot while reducing the system power consumption through a dual TOF module. In this way, the wide field of view requirements of terminal devices such as sweeping robots can be achieved while reducing the number of interfaces and wiring of the control unit, and the CPU computing power can be efficiently allocated to realize the operation of the equipment with simpler circuit design and control logic.

[0058] Based on this, the present application proposes a dual TOF module drive control system, which includes: a first TOF module unit, including a first drive port; a second TOF module unit, including a second drive port; and a circuit control system, including: a control unit and an inverter unit, wherein the control unit includes a drive control port; the first drive port of the first TOF module unit and the second drive port of the second TOF module unit are electrically connected to the drive control port of the control unit; the first drive port of the first TOF module unit is electrically connected to the second drive port of the second TOF module unit through a connecting circuit; the inverter unit is arranged on the connecting circuit between the first drive port of the first TOF module unit and the second drive port of the second TOF module unit, and is used to control the electrical signals acting on the first drive port and the second drive port to always be opposite. In this way, the dual TOF modules can be effectively controlled to work together to avoid mutual interference when using a simple circuit design and a weak performance CPU, so as to achieve the requirements of a large field of view and efficient calculation.

[0059] Schematic diagram of dual TOF module drive control system

[0060] Figure 1 FIG. 1 is a schematic diagram of a dual TOF module drive control system according to an embodiment of the present application. Figure 1 , Figure 2As shown, the dual TOF module drive control system 100 includes: a first TOF module unit 110, including a first drive port 111; a second TOF module unit 120, including a second drive port 121; and a circuit control system, including: a control unit 140 and an inverter unit 150, the control unit 140 includes a drive control port 141; wherein the first drive port 111 of the first TOF module unit 110 and the second drive port 121 of the second TOF module unit 120 are electrically connected to the drive control port 141 of the control unit 140; the first drive port 111 of the first TOF module unit 110 is electrically connected to the second drive port 121 of the second TOF module unit 120 through a connecting circuit 160; the inverter unit 150 is arranged at the first TOF The connection circuit 160 between the first driving port 111 of the module unit 110 and the second driving port 121 of the second TOF module unit 120 is used to control the electrical signals acting on the first driving port 111 and the second driving port 121 to always be opposite;

[0061] When the driving control port 141 of the control unit 140 outputs a high level, the high level is transmitted to the first driving port 111 of the first TOF module unit 110, so that the first TOF module unit 110 is in an on state; the high level is inverted by the inverter unit 150 to be converted into a low level during the process of being transmitted to the second driving port 121 of the second TOF module unit 120, so that the second TOF module unit 120 is in an off state;

[0062] When the drive control port 141 of the control unit 140 outputs a low level, the low level is transmitted to the first drive port 111 of the first TOF module unit 110, so that the first TOF module unit 110 is in a closed state; the low level is reversed by the inverter unit 150 to be converted into a high level during the process of being transmitted to the second drive port 121 of the second TOF module unit 120, so that the second TOF module unit 120 is in an open state.

[0063] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the circuit control system further includes: a data port switching unit 170; the control unit 140 further includes a data port 142; wherein the data port 142 of the control unit 140 is electrically connected to the data port switching unit 170; the first data transmission port 111 of the first TOF module unit 110 and the second data transmission port 121 of the second TOF module unit 120 are electrically connected to the data port switching unit 170;

[0064] When the driving control port 141 of the control unit 140 outputs a high level so that the first TOF module unit 110 is in an on state and the second TOF module unit 120 is in an off state, the data port switching unit 170 is switched to be connected to the first data transmission port 112 of the first TOF module unit 110, so that the data collected by the first TOF module unit 110 is suitable for being transmitted to the data port 142 of the control unit 140 through the data port switching unit 170;

[0065] When the driving control port 141 of the control unit 140 outputs a low level so that the first TOF module unit 110 is in a closed state and the second TOF module unit 120 is in an open state, the data port switching unit 170 is switched to be connected to the second data transmission port 122 of the second TOF module unit 120, so that the data collected by the second TOF module unit 120 is suitable for transmission to the data port 142 of the control unit 140 through the data port switching unit 170.

[0066] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the data port switching unit 170 includes: a data switching control port 171, a first data receiving port 172, a second data receiving port 173 and a data output port 174; wherein the data output port 174 is electrically connected to the data port 142 of the control unit 140; the first data receiving port 172 is electrically connected to the first data transmission port 111 of the first TOF module unit 110, and the second data receiving port 173 is electrically connected to the second data transmission port 122 of the second TOF module unit 120; the data switching control port 171 is electrically connected to the drive control port 141 of the control unit 140, and is used to control the data output port 174 to be switchably connected to the first data receiving port 172 and the second data receiving port 173;

[0067] Further, when the driving control port 141 of the control unit 140 outputs a high level so that the first TOF module unit 110 is in an on state and the second TOF module unit 120 is in a off state, the data switching control port 171, under the action of the high level, switches the data output port 174 to be connected with the first data receiving port 172; that is, when the first TOF module unit 110 is in an on state and collects data, the first data transmission port 112 of the first TOF module unit 110 transmits the data to the first data receiving port 172 of the data port switching unit 170. At this time, the data switching control port 171 of the data port switching unit 170 controls the data transmission port 174 to be connected with the first data receiving port 172, and transmits the data collected by the first TOF module unit 110 to the control unit 140.

[0068] Further, when the driving control port 141 of the control unit 140 outputs a low level so that the first TOF module unit 110 is in a closed state and the second TOF module unit 120 is in an open state, the data switching control port 171 switches the data output port 174 to be connected with the second data receiving port 173 under the action of the low level; that is, when the two TOF module units 120 are in an open state and collect data, the second data transmission port 122 of the second TOF module unit 120 transmits the data to the second data receiving port 173 of the data port switching unit 170. At this time, the data switching control port 171 of the data port switching unit 170 controls the data transmission port 174 to be connected with the second data receiving port 173, and transmits the data collected by the second TOF module unit 120 to the control unit 140.

[0069] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the number of the data ports of the control unit is 1. In the embodiment of the present application, the data switching control port 171 switches between the first data receiving port 172 and the second data receiving port 173 according to the instruction issued by the control unit 140, so that the control unit 140 only needs one data port 142 to complete data transmission.

[0070] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the data port is a MIPI port.

[0071] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the circuit control system further includes: a control port switching unit 180; the control unit 140 further includes a control port 143; wherein the control port 143 of the control unit 140 is electrically connected to the control port switching unit 180; the first instruction receiving port 113 of the first TOF module unit 110 and the second instruction receiving port 123 of the second TOF module unit 120 are electrically connected to the control port switching unit 180;

[0072] When the driving control port 141 of the control unit 140 outputs a high level so that the first TOF module unit 110 is in an on state and the second TOF module unit 120 is in an off state, the control port switching unit 180 is switched to be connected to the first instruction receiving port 113 of the first TOF module unit 110, so that the instruction sent from the control port 143 of the control unit 140 is suitable for being transmitted to the first instruction receiving port 113 of the first TOF module unit 110 through the control port switching unit 180;

[0073] When the driving control port 141 of the control unit 140 outputs a low level so that the first TOF module unit 110 is in a closed state and the second TOF module unit 120 is in an open state, the control port switching unit 180 is switched to be connected to the second instruction receiving port 123 of the second TOF module unit 120, so that the instruction sent from the control port 143 of the control unit 140 is suitable for being transmitted to the second instruction receiving port 123 of the second TOF module unit 120 through the control port switching unit 180.

[0074] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the control port switching unit 180 includes: a control switching control port 181, a first control transmission port 182, a second control transmission port 183 and a control receiving port 184;

[0075] Wherein, the control receiving port 184 is electrically connected to the control port 143 of the control unit 140; the first control transmission port 182 is electrically connected to the first instruction receiving port 113 of the first TOF module unit 110, and the second control transmission port 183 is electrically connected to the second instruction receiving port 123 of the second TOF module unit 120; the control switching control port 181 is electrically connected to the driving control port 141 of the control unit 140, and is used to control the control receiving port 184 to be switchably connected with the first control transmission port 182 and the second control transmission port 183;

[0076] Further, when the driving control port 141 of the control unit 140 outputs a high level so that the first TOF module unit 110 is in an on state and the second TOF module unit 120 is in a off state, the control switching control port 180 switches the control receiving port 184 to be connected with the first control transmission port 182 under the action of the high level; that is, when the first TOF module unit 110 receives high-level information, the control instruction issued by the control port 143 of the control unit 140 is sent to the control receiving port 184 of the control port switching unit 180 through the connecting circuit, and then connected to the first instruction receiving port 113 of the first TOF module unit 110 through the first control transmission port 182, and the control instruction is transmitted to the first TOF module unit 110 to control the exposure and other activities of the first TOF module unit 110.

[0077] Further, when the driving control port 141 of the control unit 140 outputs a low level so that the first TOF module unit 110 is in a closed state and the second TOF module unit 120 is in an open state, the control switching control port 180 switches the control receiving port 181 to be connected with the second control transmission port 183 under the action of the low level. That is, when the second TOF module unit 120 receives high-level information, the control instruction issued by the control port 143 of the control unit 140 is sent to the control receiving port 184 of the control port switching unit 180 through the connecting circuit, and then connected to the second instruction receiving port 123 of the second TOF module unit 120 through the second control transmission port 183, and the control instruction is transmitted to the second TOF module unit 120 to control the exposure and other activities of the second TOF module unit 120.

[0078] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the number of the control ports of the control unit is 1. In the embodiment of the present application, the control port 181 is controlled to switch between the first control transmission port 182 and the second control transmission port 183 according to the instruction issued by the control unit 140, so that the control unit 140 only needs one control port 143 to complete the transmission of the control instruction.

[0079] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the control port is an I2C port.

[0080] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the first TOF module unit 110 has a first frame rate, and the second TOF module unit 120 has a second frame rate, wherein the control unit 140 is used to control the drive control port 141 to switchably output a high level and a low level based on the first frame rate and the second frame rate. That is, after the control unit processes a frame of data output by the first TOF module unit 110, the control unit 140 switches the output high level to a low level through the drive control port 141. At this time, the second TOF module unit starts to work, and the light-emitting time interval of the two TOF module units is calculated according to the frame rates of the first TOF module unit and the second TOF module unit. According to the light-emitting time interval, the control unit 140 switches the high and low levels through the drive control port 141 to control the first TOF module unit and the second TOF module unit to work in sequence, thereby avoiding the mutual interference problem caused by the simultaneous operation of the first TOF module unit and the second TOF module unit, and realizing accurate distance measurement of the dual TOF module unit.

[0081] In the above dual TOF module drive control system 100, in one embodiment of the present application, the circuit control system further includes: a control port switching unit 180; the control unit 140 further includes a control port 142;

[0082] The control port 143 of the control unit 140 is electrically connected to the control port switching unit 180; the first instruction receiving port 113 of the first TOF module unit 110 and the second instruction receiving port 123 of the second TOF module unit 120 are electrically connected to the control port switching unit 180;

[0083] When the driving control port 141 of the control unit 140 outputs a high level so that the first TOF module unit 110 is in an on state and the second TOF module unit 120 is in an off state, the control port switching unit 180 is switched to be connected to the first instruction receiving port 113 of the first TOF module unit 110, so that the instruction sent from the control port 143 of the control unit 140 is suitable for being transmitted to the first instruction receiving port 113 of the first TOF module unit 110 through the control port switching unit 180;

[0084] Among them, when the driving control port 141 of the control unit 140 outputs a low level so that the first TOF module unit 110 is in a closed state and the second TOF module unit 120 is in an open state, the control port switching unit 180 is switched to be connected to the second instruction receiving port 123 of the second TOF module unit 120, so that the instruction sent from the control port 143 of the control unit 140 is suitable for being transmitted to the second instruction receiving port 123 of the second TOF module unit 120 through the control port switching unit 180.

[0085] In the above-mentioned dual TOF module driving control system 100 , in one embodiment of the present application, the number of the control ports 143 of the control unit 140 is 1, and the number of the data ports 142 of the control unit 140 is 1.

[0086] In the above-mentioned dual TOF module drive control system 100, in one embodiment of the present application, the control port 143 is an I2C port, and the data port 142 is a MIPI port.

[0087] Figure 2 The figure shows a schematic diagram of another dual TOF module drive control system according to an embodiment of the present application.

[0088] like Figure 2 As shown, the dual TOF module drive control system 200 includes: a first TOF module unit 210, including a first drive port 211, a first data transmission port 212 and a first instruction receiving port 213; a second TOF module unit 220, including a second drive port 221, a second data transmission port 222 and a second instruction receiving port 223; and a circuit control system, including: a control unit 240, an inverter unit 250 and a data port switching unit 270, wherein the control unit 240 includes: a drive control port 241, a data port 242, a first control port 243 and a second control port 244; the data port switching unit 270 includes: a data switching control port 271, a first data receiving port 272, a second data receiving port 273 and a data output port 274;

[0089] The first drive port 211 of the first TOF module unit 210 and the second drive port 221 of the second TOF module unit 220 are electrically connected to the drive control port 241 of the control unit 240; the first drive port 211 of the first TOF module unit 210 is electrically connected to the second drive port 221 of the second TOF module unit 220 through the connection circuit 160; the inverter unit 150 is arranged on the connection circuit 160 between the first drive port 211 of the first TOF module unit 210 and the second drive port 221 of the second TOF module unit 220, and is used to control the electrical signals acting on the first drive port 211 and the second drive port 221 to always be opposite; the data switching control port 271 of the data port switching unit 270 is electrically connected to the drive control port 241 of the control unit 240, the data port 242 of the control unit 240 is electrically connected to the data output port 274, and the first TOF module unit 210 The first data transmission port 212 of the TOF module unit 220 and the second data transmission unit 222 of the second TOF module unit 220 are respectively connected to the first data receiving port 272 and the second data receiving port 273 of the data port switching unit 270 through connecting circuits.

[0090] The data switching control port 271 controls the first data receiving port 272 and the second data receiving port 273 to be connected to the data port 242 of the control unit 240 at a specific frequency through the received instruction sent by the driving control port 241 of the control unit 240, so as to independently transmit the data collected by the dual TOF modules. The first control port 243 of the control unit 240 is connected to the first instruction receiving port 213 of the first TOF module unit 210, and the second control port 244 of the control unit 240 is connected to the second instruction receiving port 223 of the second TOF module unit 220, so as to transmit control instructions to the first TOF module unit 210 and the second TOF module unit 220, respectively.

[0091] In the above dual TOF module drive control system 200, in one embodiment of the present application, the number of the data ports of the control unit is 1. In the embodiment of the present application, the data switching control port 271 switches between the first data receiving port 272 and the second data receiving port 273 according to the instruction issued by the control unit 240, so that the control unit 240 only needs one data port 242 to complete receiving data from the first TOF module unit and the second TOF module unit.

[0092] In the above-mentioned dual TOF module drive control system 200, in one embodiment of the present application, the data port of the control unit is a MIPI port, and the control port is an I2C port.

[0093] Figure 3 The figure shows a schematic diagram of another dual TOF module drive control system according to an embodiment of the present application.

[0094] like Figure 3 As shown, the dual TOF module control system 300 includes: a first TOF module unit 310, including a first drive port 311, a first data transmission port 312 and a first instruction receiving port 313; a second TOF module unit 320, including a second drive port 321, a second data transmission port 322 and a second instruction receiving port 323; and a circuit control system, including: a control unit 340, an inverter unit 350 and a control port switching unit 380, wherein the control unit 340 includes: a drive control port 341, a first data port 342, a second data port 343 and a control port 344; the control port switching unit 380 includes: a control switching control port 381, a first control transmission port 382, ​​a second control transmission port 383 and a control receiving port 384.

[0095] The first drive port 311 of the first TOF module unit 310 and the second drive port 321 of the second TOF module unit 320 are electrically connected to the drive control port 341 of the control unit 340; the first drive port 311 of the first TOF module unit 310 is electrically connected to the second drive port 321 of the second TOF module unit 320 through the connection circuit 160; the inverter unit 150 is arranged on the connection circuit 160 between the first drive port 311 of the first TOF module unit 310 and the second drive port 321 of the second TOF module unit 320, and is used to control the electrical signals acting on the first drive port 311 and the second drive port 321 to always be opposite; the control switching control port 381 of the control port switching unit 380 is electrically connected to the drive control port 341 of the control unit 340, the control port 344 of the control unit 340 is electrically connected to the control receiving port 384, and the first TOF module unit 310 The first instruction receiving port 313 of the TOF module unit 320 and the second instruction receiving unit 323 of the second TOF module unit 320 are respectively connected to the first control transmission port 382 and the second control transmission port 383 of the control port switching unit 380 through connecting circuits.

[0096] The control switching control port 381 controls the first control transmission port 382 and the second control transmission port 383 to connect to the control port 344 of the control unit 340 at a specific frequency through the instructions sent by the driving control port 341 of the control unit 340, so as to independently transmit control instructions to the dual TOF module respectively.

[0097] The first data port 342 of the control unit 340 is connected to the first data transmission port 312 of the first TOF module unit 310, and the second data port 343 of the control unit 340 is connected to the second data transmission port 323 of the second TOF module unit 320, so as to transmit the data collected by the first TOF module unit 310 and the second TOF module unit 320 to the control unit 340 respectively.

[0098] In the above-mentioned dual TOF module drive control system 300, in one embodiment of the present application, the number of the control ports of the control unit is 1.

[0099] In the above-mentioned dual TOF module drive control system 300, in one embodiment of the present application, the data port of the control unit is a MIPI port, and the control port is an I2C port.

[0100] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0101] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0102] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0103] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0104] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A dual TOF module drive control system, characterized in that: include: A first TOF module unit, comprising a first driving port; A second TOF module unit, comprising a second driving port; A circuit control system, comprising: a control unit and an inverter unit, wherein the control unit comprises a drive control port; Wherein, the first drive port of the first TOF module unit and the second drive port of the second TOF module unit are electrically connected to the drive control port of the control unit; the first drive port of the first TOF module unit is electrically connected to the second drive port of the second TOF module unit through a connecting circuit; the inverter unit is arranged on the connecting circuit between the first drive port of the first TOF module unit and the second drive port of the second TOF module unit, and is used to control the electrical signals acting on the first drive port and the second drive port to be always opposite; When the driving control port of the control unit outputs a high level, the high level is transmitted to the first driving port of the first TOF module unit, so that the first TOF module unit is in a startup state; the high level is inverted by the inverter unit to be converted into a low level during the process of being transmitted to the second driving port of the second TOF module unit, so that the second TOF module unit is in a shutdown state; Among them, when the driving control port of the control unit outputs a low level, the low level is transmitted to the first driving port of the first TOF module unit, so that the first TOF module unit is in a closed state; the low level is reversed by the inverter unit to be converted into a high level during the process of being transmitted to the second driving port of the second TOF module unit, so that the second TOF module unit is in an open state.

2. The dual TOF module drive control system according to claim 1, wherein: The circuit control system further includes: a data port switching unit; the control unit further includes a data port; Wherein, the data port of the control unit is electrically connected to the data port switching unit; the first data transmission port of the first TOF module unit and the second data transmission port of the second TOF module unit are electrically connected to the data port switching unit; Wherein, when the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in a off state, the data port switching unit is switched to be connected to the first data transmission port of the first TOF module unit, so that the data collected by the first TOF module unit is suitable for being transmitted to the data port of the control unit through the data port switching unit; Among them, when the driving control port of the control unit outputs a low level so that the first TOF module unit is in a closed state and the second TOF module unit is in an open state, the data port switching unit is switched to be connected to the second data transmission port of the second TOF module unit, so that the data collected by the second TOF module unit is suitable for transmission to the data port of the control unit through the data port switching unit.

3. The dual TOF module drive control system according to claim 2, wherein: The data port switching unit comprises: a data switching control port, a first data receiving port, a second data receiving port and a data output port; Wherein, the data output port is electrically connected to the data port of the control unit; the first data receiving port is electrically connected to the first data transmission port of the first TOF module unit, and the second data receiving port is electrically connected to the second data transmission port of the second TOF module unit; the data switching control port is electrically connected to the driving control port of the control unit, and is used to control the data output port to be switchably connected to the first data receiving port and the second data receiving port; When the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in a off state, the data switching control port switches the data output port to be connected to the first data receiving port under the action of the high level; Among them, when the driving control port of the control unit outputs a low level so that the first TOF module unit is in a closed state and the second TOF module unit is in an open state, the data switching control port switches the data output port and the second data receiving port to be connected under the action of the low level.

4. The dual TOF module drive control system according to claim 3, wherein: The number of the data port of the control unit is 1.

5. The dual TOF module drive control system according to claim 4, wherein: The data port is a MIPI port.

6. The dual TOF module drive control system according to claim 1, wherein: The circuit control system further includes: a control port switching unit; the control unit further includes a control port; Wherein, the control port of the control unit is electrically connected to the control port switching unit; the first instruction receiving port of the first TOF module unit and the second instruction receiving port of the second TOF module unit are electrically connected to the control port switching unit; Wherein, when the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in a off state, the control port switching unit is switched to be connected to the first instruction receiving port of the first TOF module unit, so that the instruction sent from the control port of the control unit is suitable for being transmitted to the first instruction receiving port of the first TOF module unit through the control port switching unit; Among them, when the driving control port of the control unit outputs a low level so that the first TOF module unit is in a closed state and the second TOF module unit is in an open state, the control port switching unit is switched to be connected to the second instruction receiving port of the second TOF module unit, so that the instruction sent from the control port of the control unit is suitable for being transmitted to the second instruction receiving port of the second TOF module unit through the control port switching unit.

7. The dual TOF module drive control system according to claim 6, wherein: The control port switching unit includes: a control switching control port, a first control transmission port, a second control transmission port and a control receiving port; Wherein, the control receiving port is electrically connected to the control port of the control unit; the first control transmission port is electrically connected to the first instruction receiving port of the first TOF module unit, and the second control transmission port is electrically connected to the second instruction receiving port of the second TOF module unit; the control switching control port is electrically connected to the driving control port of the control unit, and is used to control the control receiving port to be switchably connected to the first control transmission port and the second control transmission port; Wherein, when the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in a off state, the control switching control port switches the control receiving port to be connected with the first control transmission port under the action of the high level; Among them, when the driving control port of the control unit outputs a low level so that the first TOF module unit is in a closed state and the second TOF module unit is in an open state, the control switching control port switches the control receiving port and the second control transmission port to be conductive under the action of the low level.

8. The dual TOF module drive control system according to claim 7, wherein: The number of the control port of the control unit is 1.

9. The dual TOF module drive control system according to claim 8, wherein: The control port is an I2C port.

10. The dual TOF module drive control system according to claim 1, wherein: The first TOF module unit has a first frame rate, and the second TOF module unit has a second frame rate, wherein the control unit is used to control the drive control port to switchably output a high level and a low level based on the first frame rate and the second frame rate.

11. The dual TOF module drive control system according to claim 2, wherein: The circuit control system further includes: a control port switching unit; the control unit further includes a control port; Wherein, the control port of the control unit is electrically connected to the control port switching unit; the first instruction receiving port of the first TOF module unit and the second instruction receiving port of the second TOF module unit are electrically connected to the control port switching unit; Wherein, when the driving control port of the control unit outputs a high level so that the first TOF module unit is in an on state and the second TOF module unit is in a off state, the control port switching unit is switched to be connected to the first instruction receiving port of the first TOF module unit, so that the instruction sent from the control port of the control unit is suitable for being transmitted to the first instruction receiving port of the first TOF module unit through the control port switching unit; Among them, when the driving control port of the control unit outputs a low level so that the first TOF module unit is in a closed state and the second TOF module unit is in an open state, the control port switching unit is switched to be connected to the second instruction receiving port of the second TOF module unit, so that the instruction sent from the control port of the control unit is suitable for being transmitted to the second instruction receiving port of the second TOF module unit through the control port switching unit.

12. The dual TOF module drive control system according to claim 11, wherein: The number of the control port of the control unit is 1, and the number of the data port of the control unit is 1.

13. The dual TOF module drive control system according to claim 12, wherein: The control port is an I2C port, and the data port is a MIPI port.

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