Optical sensing device and method for interference suppression of an optical sensing device

Abstract

This application provides an optical sensing device, comprising: a light emitter configured to emit light pulses in each first preset period and not emit light pulses in each second preset period, wherein the number of the first preset periods and the number of the second preset periods are the same; a light receiver comprising a plurality of pixels, each pixel being configured to receive light pulses reflected by an object and convert them into electrical signals corresponding to the received light pulses; and a processing module comprising: a TDC circuit configured to calculate the time interval of the electrical signals and convert the time interval into a timestamp; and a statistics module configured to count on time units corresponding to the timestamps to obtain the counts of the time units in the first preset period and the counts in the second preset period, and to obtain sensing data based on the difference between the counts in the first preset period and the counts in the second preset period. This application also provides an interference suppression method for an electronic device and an optical sensing device.

Description

Technical Field

[0001] This application relates to the field of sensors, and more particularly to an optical sensing device, an electronic device, and a method for suppressing interference in the optical sensing device. Background Technology

[0002] The use of Time-of-Flight (TOF) sensor technology is rapidly developing and is already widely used in devices such as mobile phones for laser autofocus and presence detection. In the future, it will be further applied to Augmented Reality (AR), 3D modeling, and augmented reality navigation. With the widespread use of TOF sensors, the issue of mutual interference between devices must be considered. Signals periodically emitted from other light emitters may also be received and counted, forming another peak in the histogram, leading to incorrect ranging results. For example, when measuring the same object, if two optical sensing devices are operating, and a second optical sensing device is also operating normally while the first is measuring the distance, its reflected light pulses will be received by the first optical sensing device, interfering with the first device's ranging measurement.

[0003] Therefore, how to suppress interference from other optical sensing devices on this optical sensing device is an urgent problem to be solved. Summary of the Invention

[0004] This application provides an interference suppression method, sensing module, optical sensing device, and electronic device for optical sensing devices, which can suppress interference from other optical sensing devices to the optical sensing device.

[0005] In a first aspect, a first embodiment of this application provides an optical sensing device, comprising:

[0006] The light emitter is configured to emit light pulses in each first preset period and not emit light pulses in each second preset period, wherein the number of the first preset period and the number of the second preset period are the same.

[0007] A light receiver includes multiple pixels, each pixel being used to receive light pulses reflected by an object and convert them into electrical signals corresponding to the received light pulses;

[0008] The processing module, electrically connected to the optical transmitter and optical receiver, includes:

[0009] The TDC circuit is used to calculate the time interval of an electrical signal and convert the time interval into a timestamp.

[0010] The statistics module counts the time units corresponding to the timestamps based on the timestamps to obtain the counts of the time units in the first preset period and the counts in the second preset period, and obtains the sensing data based on the difference between the counts in the first preset period and the counts in the second preset period.

[0011] Secondly, the first embodiment of this application provides an electronic device, which includes a body and the optical sensing device disposed on the body.

[0012] Thirdly, the first embodiment of this application provides an interference suppression method for an optical sensing device, the optical sensing device including a light emitter and a light receiver, the interference suppression method for the optical sensing device including:

[0013] The light emitter is controlled to emit light pulses in each first preset period and not emit light pulses in each second preset period. The number of first preset periods is the same as the number of second preset periods.

[0014] The optical receiver is used to receive light pulses reflected by an object and convert them into electrical signals corresponding to the received light pulses.

[0015] The time interval of an electrical signal is calculated using a TDC circuit, and the time interval is converted into a timestamp; and

[0016] Counting is performed on the time units corresponding to the timestamps to obtain the counts within a first preset period and the counts within a second preset period. Sensing data is obtained based on the difference between the counts within the first preset period and the counts within the second preset period. Specifically, a first count is performed within the first preset period, and a second count is performed within the second preset period. One of the first and second counts is a positive count, and the other is a negative count. The counting units for the first and second counts are the same.

[0017] The aforementioned interference suppression method for optical sensing devices and electronic equipment transforms the traditional method of optical sensing devices emitting light pulses in every cycle into a method of randomly emitting light pulses by controlling the light emitter to emit light pulses in each first preset cycle and not emitting light pulses in each second preset cycle. Only the counting signals generated during the light emitter's light pulse emission cycle are considered positive counts, while the counting signals generated during the light emitter's non-emitting light pulse cycles are considered negative counts. Since the light pulse emission cycles set by the light emitters of different optical sensing devices are independent, the counts generated by light pulses emitted from other optical sensing devices will cancel each other out after the positive and negative counting process, achieving the effect of suppressing interference between devices, ensuring the accuracy of the measurement data of the optical sensing device, and improving the precision of the optical sensing device. Simultaneously, the aforementioned interference suppression method for optical sensing devices and electronic equipment can also suppress interference from noise photons from ambient light, ensuring the accuracy of the measurement data of the optical sensing device and improving the precision of the optical sensing device. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the first embodiment of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the internal structure of the optical sensing device provided in the first embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the internal structure of the statistics module of the optical sensing device provided in the first embodiment of this application.

[0021] Figure 3 This is a counting diagram illustrating the interference suppression method for the optical sensing device provided in the first embodiment of this application.

[0022] Figure 4 A schematic diagram of an electronic device equipped with an optical sensing device provided in the first embodiment of this application.

[0023] Figure 5 This is a schematic diagram of the internal structure of the optical sensing device processing module provided in the second embodiment of this application.

[0024] Figure 6 This is a schematic diagram of the internal structure of the optical sensing device provided in the third embodiment of this application.

[0025] Figure 7A flowchart of an interference suppression method for an optical sensing device provided in the first embodiment of this application.

[0026] Figure 8 This is a sub-flowchart of the interference suppression method for an optical sensing device provided in the first embodiment of this application.

[0027] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0029] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] It should be noted that the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0031] Please refer to the following: Figure 1This is a schematic diagram of the internal structure of the optical sensing device provided in the first embodiment of this application. The optical sensing device 100 provided in the first embodiment of this application includes a light emitter 110, a light receiver 120, and a processing module 130. The light emitter 110 and the light receiver 120 are electrically connected to the processing module 130.

[0032] The light emitter 110 is configured to emit light pulses in each first preset period and not emit light pulses in each second preset period. The number of first preset periods is the same as the number of second preset periods. In the first embodiment of this application, the optical sensing device selects the time when the preset first period or the time when the preset second preset period occurs based on the values ​​appearing in the random sequence; or the optical sensing device selects the time when the preset first period occurs or the order in which the preset second preset periods occur based on the values ​​appearing in the random sequence. Each first preset period is the same. Further, each first preset period and each second preset period are the same. Even further, the first preset period and the second preset period occur randomly.

[0033] The light receiver 120 includes multiple pixels, each pixel being used to receive light pulses reflected by an object and convert them into electrical signals corresponding to the received light pulses. The light receiver 120 receives reflected light pulses and outputs electrical signals in both a first preset period and a second preset period. Each pixel contains one or more pixel units, and each pixel unit contains an avalanche diode. The avalanche diode can be a single-photon avalanche diode (SPAD). When a pixel includes multiple pixel units, the multiple pixel units are arranged in an array.

[0034] Please refer to the following: Figure 1 and Figure 2 The processing module 130 includes a TDC circuit 103 and a statistics module 104. The TDC circuit 103 and the statistics module 104 are electrically connected.

[0035] TDC circuit 103 is used to calculate the time interval of the electrical signal and convert the time interval into a timestamp.

[0036] The statistics module 104 counts on the time unit corresponding to the timestamp based on the timestamp to obtain the count of the time unit in the first preset period and the count in the second preset period, and obtains the sensing data based on the difference between the count in the first preset period and the count in the second preset period.

[0037] Specifically, the statistics module 104 includes a first counting module 1041, a second counting module 1042, and a difference calculation module 1043. The first counting module 1041 and the second counting module 1042 are electrically connected to the difference calculation module 1043.

[0038] The first counting module 1041 is used to count within a first preset period.

[0039] The second counting module 1042 is used to count within a second preset period.

[0040] The difference calculation module 1043 is used to perform a difference calculation on the first count and the second count to obtain the difference between the first preset period count and the second preset period count.

[0041] In embodiments of this application, a first counting module 1041 performs a first count within a first preset period, and a second counting module 1402 performs a second count within a second preset period. One of the first count and the second count is a positive count, and the other is a negative count. The counting units for the first count and the second count are the same. Optionally, in some embodiments, the first count is a positive count, and the second count is a negative count.

[0042] In the embodiments of this application, the first counting module 1041 and the second counting module 1042 are implemented using counters. The difference calculation module is implemented using a difference calculation circuit, or it can be implemented using program instructions for implementing difference calculation.

[0043] In the embodiments of this application, the statistics module 104 is implemented using a histogram circuit. The sensed data is a histogram, and each time unit corresponds one-to-one with a bin in the histogram. The interference suppression method for the optical sensing device uses a histogram to count data based on a timestamp at the corresponding time unit, thereby obtaining the count for the time unit within a first preset period and the count within a second preset period.

[0044] Please refer to the following: Figure 5 This is a schematic diagram of the internal structure of the processing module 130 provided in the second embodiment of this application. The difference between the internal structure of the processing module 130 provided in the second embodiment and the processing module 130 provided in the first embodiment is that the processing module 130 provided in the second embodiment also includes a detection module 105. The detection module 105, the TDC circuit 103, and the statistics module 104 are electrically connected. The detection module 105 is used to detect whether the histogram meets a preset condition. When the histogram meets the preset condition, the detection module 105 outputs a control command to control the histogram circuit to output the histogram. The preset condition is that the counting time of the histogram reaches the total statistical period, or the counting time does not reach the total statistical period but the signal-to-noise ratio of the histogram is greater than a preset threshold.

[0045] Please refer to the following: Figure 6In some embodiments, the optical sensing device 100 further includes a random number generator 140. The random number generator 140 is electrically connected to the light emitter 110. The random number generator 140 uses the time and device ID as seeds to set a first preset period or a second preset period. The device ID is the identity document (ID) of the optical sensing device. Using both the time and device ID as the seed ensures that different optical sensing devices operating at the same time generate different random numbers. A random sequence is generated based on the seed and enters the first preset period or the second preset period. The random number seed, also known as a random number seed, is a computer science term referring to a type of random number generated using a true random number (seed) as the initial condition. Generally, computer random numbers are pseudo-random numbers, using a true random number (seed) as the initial condition and then iteratively generating random numbers using a specific algorithm.

[0046] In this embodiment, the optical sensing device is a time-of-flight sensor, and more specifically, the time-of-flight sensor is a direct time-of-flight sensor (dToF).

[0047] Please refer to the reference. Figure 4 This is a schematic diagram of an electronic device provided in the first embodiment of this application. The electronic device 200 includes a main body 201 and one or more optical sensing devices 100 disposed on the main body 201. In the first embodiment of this application, the electronic device 200 is a robot, such as a learning robot or a sweeping robot. In some embodiments, the electronic device 200 can also be a smart terminal, etc.

[0048] The aforementioned optical sensing device and electronic device, by controlling the light emitter to emit light pulses in each first preset period and not emit light pulses in each second preset period, transforms the traditional form of optical sensing devices emitting light pulses in every cycle into a form of random light pulse emission. Only the counting signal generated during the period when the light emitter emits light pulses is considered a positive count, while the counting signal generated during the period when the light emitter does not emit light pulses is considered a negative count. Since the light pulse emission periods set by the light emitters of different optical sensing devices are independent of each other, the electrical signals generated by light pulses emitted from other optical sensing devices cancel each other out after the positive and negative counting process, achieving the effect of suppressing interference between devices, ensuring the accuracy of the measurement data of the optical sensing device, and improving the precision of the optical sensing device. Simultaneously, the aforementioned optical sensing device and electronic device can also suppress interference from noise photons from ambient light, ensuring the accuracy of the measurement data of the optical sensing device and improving the precision of the optical sensing device.

[0049] How optical sensing devices can suppress interference between devices and interference from noise photons in the environment, ensuring the accuracy of measurement data and improving the precision of optical sensing devices, will be described in detail below.

[0050] Please refer to the following: Figure 7 This is a flowchart illustrating an interference suppression method for an optical sensing device according to the first embodiment of this application. The optical sensing device 100 includes a light emitter 110 and a light receiver 120. The light receiver 120 includes multiple pixels arranged in an array. The interference suppression method for the optical sensing device provided in this embodiment specifically includes the following steps.

[0051] Step S101: Control the light emitter 110 to emit light pulses in each first preset period and not emit light pulses in each second preset period. The number of first preset periods is the same as the number of second preset periods. Each first preset period is the same. Further, each first preset period and each second preset period are the same. Even further, the first and second preset periods occur randomly.

[0052] In the first embodiment of this application, the first preset period and the second preset period occur randomly. The time and device ID are used as seeds for the random numbers to set either the first or second preset period. The device ID is the identification number of the optical sensing device 100. The time and device ID are used simultaneously as seeds for the generated random numbers, ensuring that different devices operating at the same time generate different random numbers. A random sequence is generated based on the random number seed and enters either the first or second preset period. The random number seed, also known as the random seed, is a computer science term referring to a type of random number generated using a true random number (seed) as the initial condition. Generally, computer random numbers are pseudo-random numbers, using a true random number (seed) as the initial condition and then iteratively generating random numbers using a specific algorithm. In the first embodiment of this application, the optical sensing device selects the time of occurrence of the preset first period or the time of occurrence of the second preset period based on the values ​​appearing in the random sequence. Alternatively, the optical sensing device selects the time of occurrence of the preset first period or the order of occurrence of the second preset period based on the values ​​appearing in the random sequence.

[0053] Step S102 involves using multiple pixels to receive light pulses reflected by the object and converting them into electrical signals corresponding to the received light pulses. In the first embodiment of this application, a pixel comprises one or more pixel units, and each pixel unit comprises a single-photon avalanche diode.

[0054] Step S103: The time interval of the electrical signal is calculated using the TDC circuit 103, and the time interval is converted into a timestamp. The Time-to-Digital Converter (TDC) is a commonly used time interval measurement circuit. The timestamp (time code) is the time code recorded by the TDC circuit 103 for each received photon when recording the electrical signal.

[0055] Step S104 involves counting on the time unit corresponding to the timestamp based on the timestamp, obtaining the count of the time unit within a first preset period and the count within a second preset period, and obtaining the sensing data based on the difference between the counts within the first preset period and the counts within the second preset period. Further, the interference suppression method of the optical sensing device utilizes a histogram to implement counting on the time unit corresponding to the timestamp based on the timestamp, obtaining the count of the time unit within the first preset period and the count within the second preset period. The sensing data is a histogram, and the time units correspond one-to-one with the bins of the histogram. Specifically, a first count is performed in the first preset period; a second count is performed in the second preset period. One of the first and second counts is a positive count, and the other is a negative count. The counting units of the first and second counts are the same. Optionally, the first count is a positive count, and the second count is a negative count. For details, refer to steps S1041-S1043.

[0056] In the first embodiment of this application, the positive count of the statistics module 104 increments by one value for each received photon. The negative count of the statistics module 104 decrements by one value for each received photon. In the interference suppression method of the optical sensing device 100 provided in the first embodiment of this application, the numerical value is any positive number. The incrementing value in the positive count and the decrementing value in the negative count are the same value T, where T is any positive number. Specifically, the value is 1. In some embodiments, the value can also be 2 or other values. The values ​​here are merely examples and are not intended to be limiting. In the first embodiment of this application, the histogram is used to generate a depth image. The histogram can be used to calculate the distance of the object to be measured and can be used to obtain the distribution difference between different signals.

[0057] For example, a positive count is performed in the corresponding bin based on the time each pixel receives photons within a first preset period, wherein the value in the corresponding bin is incremented for each photon received. A negative count is performed on the histogram corresponding to each pixel based on the photon reception time within a second preset period, specifically including a negative count in the corresponding bin based on the time each pixel receives photons within the second preset period, wherein the value in the corresponding bin is decremented for each photon received.

[0058] The interference suppression method for optical sensing devices provided in the above-mentioned embodiments suppresses interference for each optical sensing device by changing the emission pattern of each optical sensing device to random emission when actively emitting light pulses. Only the counting signal generated within the period of light pulse emission is considered a positive count, while the counting signal generated within the period when the light pulse is not emitted is considered a negative count. Since the periods of light pulse emission from different light emitters are independent and randomly set, the average counts of the echo signals generated by light pulses emitted from other optical sensing devices will cancel each other out, thereby suppressing interference between different optical sensing devices. This ensures the accuracy of measurement data and improves the precision of the optical sensing device.

[0059] This application proposes a scheme to suppress mutual interference between different optical sensing devices using random emission. The optical sensing devices include a light emitter and a receiving sensor. The optical sensing devices only perform positive counting during the light pulse emission cycle. If no light pulse is emitted in a certain cycle, but the receiving sensor still generates a count, this count must originate from ambient light or interference from light pulses emitted by other optical sensing devices. This count, as a negative count, is used to cancel out any interference counts that may be received during the light pulse emission cycle. Each optical sensing device emits signals randomly with a 50% probability, and the random values ​​between different optical sensing devices are independent. Therefore, the counts generated by light pulses from other optical sensing devices will have 50% positive counts and 50% negative counts canceling each other out, thus suppressing interference from other ranging optical sensing devices. Although this reduces the ranging frame rate, an additional benefit is that it also suppresses ambient light interference, because the random noise generated by ambient light will also have 50% positive counts and 50% negative counts canceling each other out.

[0060] In the first embodiment of this application, a histogram is output when the histogram meets preset conditions. Further, a depth image is generated based on the histogram. The depth image is an image with peaks from the count results. Please refer to [reference needed]. Figure 3As an example, only a schematic diagram of four pulse emission cycles is shown here. For ease of illustration, the first embodiment of this application uses TOF1 to represent the first optical sensing device and TOF2 to represent the second optical sensing device. TOF1 emits light pulses in the first cycle 1 and the third cycle, but does not emit light pulses in the second preset cycle 2 and the fourth cycle 4. Therefore, the counts received in the first cycle 1 and the third cycle 3 are positive counts, and the counts received in the second preset cycle 2 and the fourth cycle 4 are negative counts. TOF2 also emits light pulses randomly. In the first embodiment of this application, TOF2 emits light pulses in the first cycle 1 and the second preset cycle 2, but does not emit light pulses in the third cycle 3 and the fourth cycle 4. The echo of the light pulse emitted by TOF2 in the first cycle 1 is received by TOF1. Because TOF1 also emits light pulses in this cycle, the echo emitted by TOF2 is taken as a positive count, specifically denoted as T. In the first embodiment of this application, a positive count is denoted as 1. However, during the second preset period 2, TOF2 emits a light pulse. When this echo is received by TOF1, TOF1 does not emit a light pulse in this period. Therefore, this count is treated as a negative count, specifically denoted as -T. In the first embodiment of this application, the negative count is denoted as -1. The increment value in the positive count and the decrement value in the negative count are the same value T, which can be any positive number. After many periods, the total count result is that the light pulse echo emitted by TOF1 will accumulate to form a TOF1 peak 501, while the light pulse echo emitted by TOF2, even if received by TOF1, will cancel each other out, and a signal peak cannot be formed at the time unit 502 where the original light pulse echo was received. Therefore, in Figure 5 The dashed line in the diagram illustrates how TOF1 suppresses interference from TOF2. Ambient light noise signals are similarly suppressed. Therefore, by simply reducing the frame rate by half, both inter-device interference and ambient noise can be suppressed simultaneously.

[0061] The interference suppression method for the aforementioned optical sensing device changes the traditional method of emitting light pulses in every cycle to a method of randomly emitting light pulses by controlling the light emitter to emit light pulses in each first preset cycle and not emitting light pulses in each second preset cycle. Only the counting signal generated during the period when the light emitter emits light pulses is considered a positive count, and the counting signal generated during the period when the light emitter does not emit light pulses is considered a negative count. Since the light pulse emission periods of the light emitters of different optical sensing devices are randomly set independently, the counts generated by light pulses emitted from other optical sensing devices will cancel each other out after the positive and negative counting process, thus suppressing mutual interference between optical sensing devices, ensuring the accuracy of the measurement data, and improving the precision of the optical sensing device. Simultaneously, the interference suppression method for the aforementioned optical sensing device can also suppress interference from noise photons from ambient light, ensuring the accuracy of the measurement data and improving the precision of the optical sensing device.

[0062] Please refer to the following: Figure 8 This is a flowchart of a sub-step of step S104 in the interference suppression method of the optical sensing device 100 provided in the first embodiment of this application. Step S104 counts on the time unit corresponding to the timestamp based on the timestamp to obtain the count of the time unit in a first preset period and the count in a second preset period, and obtains sensing data based on the difference between the count in the first preset period and the count in the second preset period. Specifically, it includes the following steps.

[0063] Step S1401: During the first preset period, the first counter is used to perform the first count within the first preset period.

[0064] In step S1402, during the second preset period, the first counter is used to perform a second count within the second preset period.

[0065] Step S1403: Perform a difference operation on the first count and the second count to obtain the difference between the first preset period count and the second preset period count.

[0066] The difference between the interference suppression method for an optical sensing device provided in the second application embodiment and the interference suppression method for an optical sensing device provided in the first application embodiment is that the interference suppression method for an optical sensing device provided in the second application embodiment further includes detecting whether the histogram meets a preset condition. When the histogram meets the preset condition, the detection module 105 outputs a control command to control the histogram circuit to output the histogram. The preset condition is that the counting time of the histogram reaches the total statistical period, or the counting time does not reach the total statistical period but the signal-to-noise ratio of the histogram is greater than a preset threshold.

[0067] For example, in the second embodiment of this application, the total statistical period is 300,000, and it is determined whether the total statistical period has reached 300,000. The total statistical period includes 150,000 first preset periods and 150,000 second preset periods. These values ​​are for illustrative purposes only and are not intended to be limiting. When the histogram reaches the total statistical period of 300,000, the detection module 105 outputs a control command to control the histogram circuit to output the histogram.

[0068] When the counting time has not reached the total statistical period but the signal-to-noise ratio (SNR) of the histogram is greater than a preset threshold, the detection module 105 outputs a control command to control the histogram circuit to output a histogram. The histogram's SNR is an important indicator of image quality. In the second embodiment of this application, the formula for calculating the histogram's SNR is SNR = S / σ, where SNR is the histogram SNR, S is the effective signal strength, and σ is the noise fluctuation (standard deviation).

[0069] Many of the functional units described in this specification have been labeled as modules to more specifically emphasize their independent implementation. For example, modules can be implemented as hardware modules, including custom-designed very large-scale integration (VLSI) modules or gate module arrays, off-the-shelf semiconductors such as logic chips, transistors, or other discrete components. Modules can also be implemented within programmable hardware devices such as field-programmable gate arrays, programmable array logic, programmable logic devices, and so on.

[0070] Modules can also be implemented in software so that they can be executed by various types of processors. A module of identifiable executable code can, for example, comprise a physical or logical block of one or more computer instructions, wherein the physical or logical block can be organized, for example, as an object, program, or function. However, the executable files of an identifiable module do not need to be physically located together, but can include different instructions stored in different locations, which, when logically combined, constitute a module and implement the module's defined objectives.

[0071] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the above method embodiments, and will not be repeated here.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the embodiments of the optical sensing device described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0073] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0074] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0075] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

[0076] The above-listed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. An optical sensing device, characterized in that, Sensing using time-of-flight sensing technology includes: The light emitter is configured to emit light pulses in each first preset period and not emit the light pulses in each second preset period, wherein the number of the first preset periods and the number of the second preset periods are the same; The light receiver includes multiple pixels, each pixel being used to receive light pulses reflected by an object in both a first preset period and a second preset period and convert them into electrical signals corresponding to the received light pulses. A processing module, electrically connected to the light transmitter and the light receiver, the processing module comprising: A TDC circuit is used to calculate the time interval of the electrical signal and convert the time interval into a timestamp; and The statistics module counts the time units corresponding to the timestamp based on the timestamp to obtain the counts of the time units in a first preset period and in a second preset period, and obtains the sensing data based on the difference between the counts in the first preset period and the counts in the second preset period.

2. The optical sensing device as described in claim 1, characterized in that, The statistical module performs a first count within a first preset period and a second count within a second preset period, wherein one of the first count and the second count is a positive count and the other is a negative count, and the counting units of the first count and the second count are the same.

3. The optical sensing device as described in claim 2, characterized in that, The first count is a positive count, and the second count is a negative count.

4. The optical sensing device as described in claim 1, characterized in that, The statistical module is a histogram circuit, the sensed data is a histogram, the time unit corresponds one-to-one with the bins of the histogram, the processing module also includes a detection module, the detection module is used to detect whether the histogram has reached a preset condition, when the histogram has reached the preset condition, the detection module outputs a control command to control the histogram circuit to output the histogram, the preset condition is that the counting time of the histogram reaches the total statistical period, or the counting time has not reached the total statistical period but the signal-to-noise ratio of the histogram is greater than a preset threshold.

5. The optical sensing device as described in claim 1, characterized in that, The first preset period and the second preset period occur randomly.

6. The optical sensing device as described in claim 5, characterized in that, It also includes a random number generator, which uses the time and the identification number of the optical sensing device as seeds to generate a random sequence to determine whether to enter the first preset period or the second preset period.

7. An electronic device, the electronic device comprising a body, characterized in that, The electronic device further includes an optical sensing device as described in any one of claims 1 to 6 disposed on the body.

8. A method for suppressing interference in an optical sensing device, characterized in that, The optical sensing device includes a light emitter and a light receiver, and is used for sensing in time-of-flight sensing technology. The interference suppression method of the optical sensing device includes: The light emitter is controlled to emit light pulses in each first preset period and not emit light pulses in each second preset period, wherein the number of the first preset period and the number of the second preset period are the same; The optical receiver receives light pulses reflected by the object in both the first and second preset periods and converts them into electrical signals corresponding to the received light pulses. The time interval of the electrical signal is calculated using a TDC circuit, and the time interval is converted into a timestamp; and Counting is performed on the time unit corresponding to the timestamp based on the timestamp to obtain the count of the time unit in the first preset period and the count in the second preset period, and the sensing data is obtained based on the difference between the count in the first preset period and the count in the second preset period. Specifically, a first count is performed during the first preset period; a second count is performed during the second preset period, wherein one of the first count and the second count is a positive count and the other is a negative count, and the counting units of the first count and the second count are the same.

9. The interference suppression method for an optical sensing device as described in claim 8, characterized in that, The method for suppressing interference in the optical sensing device further includes using a histogram to count the time units corresponding to the timestamps, obtaining the counts within a first preset period and the counts within a second preset period. The sensed data is a histogram, and the time units correspond one-to-one with the bins of the histogram. Check whether the histogram meets the preset conditions; When the histogram reaches a preset condition, the detection module outputs a control command to control the histogram circuit to output the histogram. The preset condition is that the counting time of the histogram reaches the total statistical period, or the counting time does not reach the total statistical period but the signal-to-noise ratio of the histogram is greater than a preset threshold.

10. The interference suppression method for an optical sensing device as described in claim 8, characterized in that, The interference suppression method for the optical sensing device further includes: Use the time and the identification number of the optical sensing device as the seed for the random number; and A random sequence is generated based on a seed number and enters either the first or second preset period.

Images