Optical Sensing Component, Optical Sensing Device, Electronic Device, and Sensing Method of Optical Sensing Device

Abstract

The present application provides an optical sensing device, which includes a light emitter, a light receiver, a TDC circuit, a counter, and a data processing module. The light emitter is configured to emit light pulses. The light receiver includes a plurality of pixels, and each pixel is configured to receive the light pulses reflected by an object and convert them into electrical signals corresponding to the received light pulses. The TDC circuit is configured to calculate the time interval of the electrical signals and convert the time interval into a timestamp. The counter is configured to count the timestamps output by the TDC circuit. The data processing module includes a statistical module and an error correction module. The statistical module is configured to perform counting on the time unit corresponding to the timestamp to obtain a first histogram. The error correction module corrects the first histogram by using the total count statistically counted by the counter to obtain a second histogram. In addition, the present application also provides an electronic device, an optical sensing component, and a sensing method for the optical sensing device.

Description

Technical Field

[0001] This application relates to the field of optical detection and ranging sensors, and particularly to an optical sensing component, an optical sensing device, an electronic device, and a sensing method of an optical sensing device. Background Art

[0002] Currently, the ranging sensing technology using time of flight (TOF) is developing rapidly. The time of flight (TOF) ranging sensing technology has been widely used in devices such as mobile phones for laser focusing, presence recognition, etc., and will be more widely used in fields such as augmented reality (AR), 3D modeling, and real scene navigation in the future. The current direct time of flight (dTOF) measurement scheme is to periodically emit short laser pulses. After being reflected by an object, the reflected light is received through a single photon avalanche diode (SPAD) array. The time of the received photons is converted into a timestamp by a time-to-digital converter (TDC), and then the photon count is stored in the memory corresponding to the timestamp. After many pulse periods (statistical periods), a histogram of the optical signal is generated. The peak position or centroid position of the histogram is extracted to obtain the time of flight, thereby determining the distance of the object. When the ambient light is relatively strong, the so-called pile-up effect will occur, resulting in ranging errors or even inability to perform ranging under strong light. Therefore, solving the influence of the pile-up effect on the direct time of flight measurement scheme is an urgent problem to be solved. Summary of the Invention

[0003] This application provides an optical sensing device, an optical sensing component, a sensing method, and an electronic device that improve measurement accuracy.

[0004] In a first aspect, an embodiment of this application provides an optical sensing device, which includes a light emitter, a light receiver, a TDC circuit, a counter, and a data processing module. The light emitter is used to emit light pulses. The light receiver includes a plurality of pixels, and each pixel is used to receive the light pulses reflected by an object and convert them into electrical signals corresponding to the received light pulses. The TDC circuit is used to calculate the time interval of the electrical signals and convert the time interval into a timestamp. The counter is used to count the timestamps output by the TDC circuit. The data processing module includes a statistical module and an error correction module. The statistical module is used to count on the time unit corresponding to the timestamp to obtain a first histogram. The error correction module corrects the first histogram using the total count statistically counted by the counter to obtain a second histogram. In addition, this application also provides an electronic device, an optical sensing component, and a sensing method of the optical sensing device.

[0005] In a second aspect, an embodiment of the present application provides an electronic device applying an optical sensing device, the electronic device including a main body and one or more of the above-mentioned optical sensing devices disposed on the main body.

[0006] In a third aspect, an embodiment of the present application provides an optical sensing component applied to an optical sensing device, the optical sensing component including a light receiver, a TDC circuit, a counter, and a data processing module. The light emitter is used to emit light pulses. The light receiver includes a plurality of pixels, and each pixel is used to receive the light pulses reflected by an object and convert them into electrical signals corresponding to the received light pulses. The TDC circuit is used to calculate the time interval of the electrical signals and convert the time interval into a time stamp. The counter is used to count the time stamps output by the TDC circuit. The data processing module includes a statistical module and an error correction module. The statistical module is used to perform counting on a time unit corresponding to the time stamp to obtain a first histogram. The error correction module corrects the first histogram by using the total count statistically counted by the counter to obtain a second histogram. In addition, the present application also provides a sensing method for an electronic device, an optical sensing component, and an optical sensing device.

[0007] In a fourth aspect, a first embodiment of the present application provides a sensing method for an optical sensing device, the sensing method for the optical sensing device including the following steps: emitting light pulses; receiving the light pulses reflected by an object and converting them into electrical signals corresponding to the received light pulses; calculating the time interval of the electrical signals and converting the time interval into a time stamp; using a counter to count the time stamps; performing counting on a time unit corresponding to the time stamp according to the time stamp to obtain a first histogram; correcting the first histogram by using the total count statistically counted by the counter to obtain a second histogram.

[0008] The above-mentioned optical sensing device provides an accurate total count of photon numbers for the error correction algorithm through the counter, provides correct photon numbers for the optical sensing device when the data reading and writing speed of the memory is limited, performs effective error correction by using the correct photon numbers, and improves the resistance of the optical sensing device to the influence of environmental strong light. Description of the Drawings

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0010] Figure 1 It is a schematic internal structure diagram of the optical sensing device provided by the first embodiment of the present application.

[0011] Figure 2 Internal schematic diagram of the optical receiver of the optical sensing device provided by the first embodiment of the present application.

[0012] Figure 3 Internal structural schematic diagram of the error correction module provided by the first embodiment of the present application.

[0013] Figure 4 Flowchart of the sensing method of the optical sensing device provided by the first embodiment of the present application.

[0014] Figure 5 Sub - flowchart of the sensing method of the optical sensing device provided by the second embodiment of the present application.

[0015] Figure 6 Schematic diagram of the electronic device applying the optical sensing device provided by the first embodiment of the present application.

[0016] Figure 7 Internal schematic diagram of the sensing component provided by the third embodiment of the present application.

[0017] Figure 8 First histogram schematic diagram provided by the first embodiment of the present application.

[0018] Figure 9 Second histogram schematic diagram provided by the first embodiment of the present application.

[0019] Figure 10 Schematic diagram of the effect after error correction using the existing error correction algorithm when the read - write speed of the optical sensing device is fast enough, provided by the first embodiment of the present application.

[0020] Figure 11 Schematic diagram of the statistical effect after error correction using the existing error correction algorithm when the read - write speed of the optical sensing device is relatively slow, provided by the first embodiment of the present application.

[0021] Figure 12 Schematic diagram of the statistical effect after error correction assisted by the total count of the counter of the present application when the speed of the optical sensing device is relatively slow, provided by the first embodiment of the present application.

[0022] The realization of the purpose, functional characteristics and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0023] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

[0024] Terms such as "first", "second", "third", "fourth", etc. (if any) in the specification, claims and above-mentioned drawings of the present application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0025] It should be noted that the descriptions involving "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0026] For an optical sensing device, such as dTOF, due to ambient light causing a stacking effect in the optical sensing device, it is necessary to correct the measured histogram using a corresponding error correction algorithm to eliminate the influence of the stacking effect, so as to obtain an accurate measurement result. Existing error correction algorithms generally use the Coates’s correction error correction formula. Among them, the Coates’s correction error correction formula is as follows:

[0027]

[0028] Where N c is the total number of pulse periods in a statistical period, N i is the count of the i-th bin before correction, The count of the i-th bin after correction. The above error correction algorithm corrects errors based on the photons counted in a statistical period, that is, the error correction is performed when the photons reflected in each pulse period are counted. However, the optical sensing device is limited by the manufacturing process and area of the digital circuit, and the read / write speed cannot keep up with the photon detection frequency, resulting in that the photon count of not every pulse period can be written into the memory, and the photon counts exceeding the read / write speed will be discarded. That is, when the photon count rate is very high, the number of pulse periods corresponding to the photons counted in the histogram (hereinafter referred to as the effective optical pulse periods) is less than the total number of optical pulse periods in a statistical period. Therefore, even if the error correction algorithm is used, it is often impossible to obtain correct corrected data because some photon counts are discarded. The optical sensing device provided in this application can accurately count the number of photons in a statistical period, which is used to assist error correction calculation, so that accurate corrected data can be obtained after correction, thereby improving the measurement accuracy of the optical sensing device.

[0029] Please refer to Figure 1 which is the internal structure schematic diagram of the optical sensing device provided by the first embodiment of this application. The optical sensing device 100 includes a light emitter 101, a light receiver 102, a TDC circuit 103, a counter 105, and a data processing module 104. Among them, the TDC circuit 103 is communicatively connected to the counter 105 and the data processing module 104 respectively. In the embodiment of this application, the optical sensing device 100 is an indirect time of flight (dTOF). The light emitter 101 is used to emit light pulses.

[0030] Please refer to in combination Figure 2 The light receiver 102 includes a plurality of pixels, and each pixel is used to receive the light pulse reflected by the object and convert it into an electrical signal corresponding to the received light pulse. The light receiver 102 includes a plurality of pixels 1021, each pixel 1021 includes one or more pixel units, and each pixel unit includes one or more photoelectric sensing elements. The photoelectric sensing elements can be, but are not limited to, single photon avalanche diodes (Single Photon Avalanche Diode, SPAD) or avalanche photodiodes (Avalanche Photo Diode, APD).

[0031] The TDC circuit 103 is used to calculate the time interval of the electrical signal and convert the time interval into a time stamp.

[0032] The counter 105 is used to count the time stamps output by the TDC circuit 103.

[0033] Please refer to in combination Figure 8 and Figure 9, the data processing module 104 includes a statistics module 1041 and an error correction module 1042. The statistics module data 1041 is used to count according to the time stamp in the time unit corresponding to the time stamp to obtain the first histogram Figure 10 . Specifically, the data processing module 104 divides the corresponding multiple bins in the histogram according to the time unit, and each bin corresponds to a different time stamp and is used to accumulate the number of corresponding time stamps. In this embodiment, the statistics module 1041 uses a histogram circuit to count the number of time stamps and generate the first histogram Figure 10 . All the data mentioned in this embodiment is only for example and not for limitation.

[0034] The error correction module 1042 uses the total count counted by the counter 105 to correct the first histogram to obtain the second histogram. Specifically, first, the error correction module 1042 includes an effective period calculation unit 10421 and an error correction unit 10422. The effective period calculation unit 10421 is used to obtain the effective pulse period number according to the total count counted by the counter, the number of time stamps counted by the first histogram, and the set number of pulse periods. The error correction unit 10422 corrects the first histogram Figure 10 to obtain the second histogram 20. Wherein, the set number of pulse periods is the total number of optical pulse periods included in a statistical period.

[0035] In some feasible embodiments, the data processing module 104 is further used to obtain sensing information according to the second histogram. The sensing information includes but is not limited to the depth image of the object, the distance between the object and the optical sensing device 100, the two-dimensional image of the object, etc.

[0036] Furthermore, the data processing module 104 further includes a judgment module 1043. The judgment module 1043 is used to judge whether the number of time stamps counted by the counter 105 reaches a preset value within a statistical period. When the number of time stamps counted by the counter 105 reaches the preset value, the error correction module 1042 uses the total count counted by the counter 105 to correct the first histogram Figure 10 to obtain the second histogram 20. It can be understood that if the number of time stamps counted by the counter 105 reaches the preset value, it means that the current ambient light is in a strong light environment and a stacking effect will occur. At this time, the histogram counted by the statistics module 1041 is the histogram affected by the stacking effect of the number of time stamps. Therefore, it is necessary to correct the error to eliminate the influence of the stacking effect. In this embodiment, the judgment module 1043 can judge whether the number of time stamps counted by the counter 105 reaches the preset value after the statistical period ends. Alternatively, the judgment module 1043 can also judge whether the number of time stamps counted by the counter 105 reaches the preset value before the statistical period ends, or judge in real time whether the number of time stamps counted by the counter 105 reaches the preset value.

[0037] Furthermore, the data processing module 104 further includes a FIFO memory 1044, and the FIFO memory 1044 is used to store the timestamps output by the TDC circuit 103.

[0038] Furthermore, the data processing module 104 further includes a sensing information generation module 1045, and the sensing information generation module 1045 is used to generate sensing information according to the second histogram. For example, the sensing information includes, but is not limited to, the depth image of an object, the distance between the object and the optical sensing device 100, the two-dimensional image of the object, etc.

[0039] Furthermore, the data processing module 104 further includes a random access memory 1046, and the random access memory 1046 (Random Access Memory, RAM) is used to store the first histogram and the second histogram. The random access memory can also be used to store sensing data.

[0040] Please refer to Figure 3 , the error correction module 1042 includes an effective period calculation unit 10421 and an error correction unit 10422. Among them, the effective period calculation unit 10421 is used to calculate the number of effective pulse periods. In this embodiment, the error correction unit 10422 corrects the first histogram using the first preset formula and the number of effective pulse periods to obtain the second histogram. Specifically, the first preset formula is:

[0041]

[0042] is the count of the i-th bin in the second histogram, that is, is the count of the corrected i-th bin; N i is the count of the i-th bin in the first histogram, that is, N i is the count of the i-th bin before correction; is the number of effective pulse periods, and i is a positive integer.

[0043] Furthermore, the effective period calculation unit 10421 obtains the number of effective pulse periods using the second preset formula, where the second preset formula is:

[0044]

[0045] is the number of effective pulse periods, N hist is the number of timestamps counted by the first histogram, N cout is the total count counted by the counter, N c is the set pulse period number, N hist 、N cout 、N c 、 is a positive integer. Wherein, [x]=floor(x), and floor(x) represents taking the largest integer less than x. [x] is also called the rounding function, that is, [x] is the integer part of x.

[0046] In the above application embodiment, the error correction unit 10422 corrects the first histogram using the number of effective pulse periods instead of the total number of pulses in a statistical period to obtain the second histogram, which can suppress the influence of the stacking effect on calculating the flight time when the ambient light is strong, can obtain more accurate sensing information, and further improve the resistance of the optical sensing device to strong light interference in the environment.

[0047] The optical sensing device provided in the above embodiment can add a photon counter to provide additional auxiliary information on photon counting, realize correct counting of the stacking effect under the condition that the histogram reading and writing speed is limited, so as to obtain accurate correction data and calculate the correct flight time. Further, with reference to Figures 10 - 12 it can be more clearly shown that the histogram obtained by using the counter-assisted calculation for error correction can better eliminate the influence of the stacking effect, so as to obtain a relatively accurate sensing result. Among them, Figure 10 is a schematic diagram of the effect after error correction using the existing error correction algorithm when the reading and writing speed of the optical sensing device is fast enough, Figure 11 is a schematic diagram of the statistical effect after error correction using the existing error correction algorithm when the reading and writing speed of the optical sensing device is relatively slow, Figure 12 is a schematic diagram of the statistical effect after error correction assisted by the total count of the counter of the present application when the speed of the optical sensing device is relatively slow. In Figures 10 - 12 respectively show the ideal photon statistical data 11, the photon data 13 of the stacking effect, the histogram statistical data 12 before error correction, and the histogram statistical data 14 after error correction. From Figure 10 it can be concluded that when the reading and writing speed of the optical sensing device 100 is relatively fast, the histogram obtained by using the existing error correction algorithm can eliminate the influence of the stacking effect, that is, the time stamp (20s) corresponding to the peak value of the histogram after error correction is the time stamp (20s) when the received optical pulse is reflected back. From Figure 11 it can be concluded that when the reading and writing speed of the optical sensing device 100 is relatively slow and the existing error correction algorithm is still used for error correction, the histogram after error correction cannot eliminate the influence of the stacking effect, that is, the peak-to-peak value of the signal of the histogram after error correction is at the starting time (0s) of the optical pulse period, rather than the time stamp (20s) when the received optical pulse is reflected back. Schematic diagram of the change in photon counting when the reading and writing of the optical sensing device provided in the first embodiment of the present application is fast enough. From Figure 12It can be concluded that when the reading and writing speed of the optical sensing device 100 is slow, when using the statistical count of the counter to assist in calculating error correction, the error-corrected histogram can eliminate the influence of the stacking effect, that is, the peak-to-peak value of the error-corrected histogram is at the time stamp (20 s) when the received optical pulse is reflected back.

[0048] Please refer to Figure 6 , this application also provides an electronic device 200 applying the optical sensing device. In the first embodiment of this application, the electronic device 200 is a robot, for example, a learning machine robot or a sweeping robot. In some feasible embodiments, the electronic device 200 can also be a smart terminal, etc. The electronic device 200 includes a main body 201 and one or more of the above-mentioned optical sensing devices 100 disposed on the main body. Since the electronic device 200 adopts all the technical solutions of the above-mentioned all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated here.

[0049] Please refer to Figure 7 , this application also provides an optical sensing component 300 applying to the optical sensing device. The optical sensing component 300 includes a light receiver 301, a TDC circuit 302, a counter 303, and a data processing module 304. Among them, the light receiver 301, the TDC circuit 302, the counter 303, and the data processing module 304 are the same as the light receiver 102, the TDC circuit 103, the counter 105, and the data processing module 104 of the above-mentioned optical sensing device 100 respectively, and will not be elaborated here.

[0050] Please refer to Figure 4 , which is a flowchart of the sensing method of the optical sensing device provided by the first embodiment of this application. Among them, the sensing method of the optical sensing device provided by the first embodiment of this application specifically includes the following steps.

[0051] Step S101, emit an optical pulse. Specifically, the optical sensing device uses a light emitter to emit an optical pulse.

[0052] Step S102, receive the optical pulse reflected by the object and convert it into an electrical signal corresponding to the received optical pulse. Specifically, the optical sensing device uses a light receiver to receive the optical pulse reflected by the object and convert it into an electrical signal corresponding to the received optical pulse. The light receiver includes a plurality of pixels, and each pixel includes one or more light sensing elements. The light sensing element can be a single photon avalanche diode (Single Photon Avalanche Diode, SPAD) or an avalanche photodiode (Avalanche Photo Diode, APD).

[0053] Step S103, calculate the time interval of the electrical signal and convert the time interval into a timestamp.

[0054] Step S104, use a counter to count the timestamps. Specifically, use the counter of the optical sensing device to count the timestamps output by the TDC circuit. In the embodiment of the present application, the counter is a photon counter.

[0055] Step S105, perform counting on the time unit corresponding to the timestamp to obtain a first histogram. Specifically, step S105 is that the optical sensing device uses a histogram circuit to obtain the first histogram. The histogram includes a plurality of bins, each bin corresponding to a time unit, and the data processing module counts according to the bin corresponding to the timestamp in the first histogram.

[0056] Step S106, use the total count statistically by the counter to correct the first histogram to obtain a second histogram. Specifically, step S106 further includes: obtaining the effective pulse period number according to the total count statistically by the counter, the number of timestamps statistically by the first histogram, and the set number of pulse periods; using a first preset formula and the effective pulse period number to correct the first histogram to obtain the second histogram, and the first preset formula is:

[0057]

[0058] Among them, is the value included in the i-th bin of the second histogram, N i is the value included in the i-th bin of the first histogram, is the effective pulse period number, and i is a positive integer. Obtaining the effective pulse period number according to the total count statistically by the counter, the number of timestamps statistically by the first histogram, and the set number of pulse periods is specifically: using a second preset formula to perform an operation on the total count statistically by the counter, the number of timestamps statistically by the first histogram, and the set number of pulse periods to obtain the effective pulse period number, and the second preset formula is:

[0059]

[0060] Among them, is the effective pulse period number, N hist is the number of timestamps statistically by the first histogram, N cout is the total count statistically by the counter, N c is the set number of pulse periods, N hist 、N cout 、N c is a positive integer. In the embodiment of the present application, the effective pulse period number taken is less than N hist Nc / N coutC Calculate the maximum integer value of the numerical value. In some other feasible embodiments, the number of effective pulse periods is the smallest integer value greater than the calculated numerical value. The value taken in practical applications is determined according to the actual situation. The embodiments of the present application are only examples and are not limited.

[0061] In some feasible embodiments, the optical sensing device obtains sensing information based on the second histogram. Specifically, the sensing information is not limited to the depth image of the object, the distance between the object and the optical sensing device 100, the two-dimensional image of the object, etc.

[0062] Please refer to Figure 5 , which is a flowchart of the sensing method of the optical sensing device provided in the second embodiment of the present application. The difference between the sensing method of the optical sensing device provided in the second embodiment of the present application and the sensing method of the optical sensing device provided in the first embodiment of the present application is that the sensing method of the optical sensing device provided in the second embodiment of the present application further includes the following steps.

[0063] Step S201: Determine whether the number of timestamps counted by the counter reaches a preset value within a statistical period.

[0064] Step S202: When the number of timestamps counted by the counter reaches the preset value within a statistical period, correct the first histogram using the total count counted by the counter to obtain the second histogram. Specifically, when the number of timestamps counted by the counter reaches the preset value, it is determined that the current environment is a strong light environment. Therefore, the total count counted by the counter is used to correct the first histogram.

[0065] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described optical sensing device, electronic device, and optical sensing component can refer to the corresponding processes in the above method embodiments and will not be repeated here.

[0066] In the present embodiment of the present application, the set pulse period number in the existing error correction algorithm is replaced by the effective pulse period number, so as to ensure that the number of photons in the sensing period is close to the actually generated number of photons, so that it can be used to correct the photon count of each bin of the first histogram to obtain correct sensing data, thereby improving the resistance of the optical sensing device to ambient light.

[0067] In the embodiments provided in the present application, it should be understood that the sensing method of the optical sensing device, the optical sensing device, and the electronic device applying the optical sensing device can be implemented in other ways. For example, the embodiments of the sensing method of the optical sensing device described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be an indirect coupling or communication connection through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0068] The unit described as a separate component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0069] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0070] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

[0071] The above are only the preferred embodiments of the present application, and of course, the scope of the rights of the present application cannot be limited by this. Therefore, equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. An optical sensing component, characterized in that, the optical sensing component includes: a light receiver, including 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; a TDC circuit, configured to calculate the time interval of the electrical signals and convert the time interval into a timestamp; a counter, configured to count the timestamps output by the TDC circuit; and a data processing module, including: a statistical module, configured to perform counting on a time unit corresponding to the timestamp to obtain a first histogram; and an error correction module, using the total count statistically counted by the counter to correct the first histogram to obtain a second histogram, including: An effective period calculation unit, configured to calculate the number of effective pulse periods, and obtain the number of effective pulse periods by using a second preset formula, where the second preset formula is: ; is the number of valid pulse periods, is the number of timestamps counted by the first histogram, is the total count counted by the counter, is the set number of pulse periods, is a positive integer; An error correction unit corrects the first histogram using a first preset formula and the number of valid pulse periods to obtain the second histogram, where the first preset formula is: ; is the value included in the i-th bin of the second histogram, is the value included in the i-th bin of the first histogram, is the number of valid pulse periods, and i is a positive integer.

2. The optical sensing component according to claim 1, characterized in that, the data processing module further includes a judgment module, the judgment module being configured to judge whether the number of timestamps statistically counted by the counter reaches a preset value within a statistical period; when the number of timestamps statistically counted by the counter reaches the preset value, the error correction module uses the total count statistically counted by the counter to correct the first histogram to obtain the second histogram.

3. An optical sensing device, characterized in that, the optical sensing device includes: a light emitter, configured to emit light pulses; and the optical sensing component according to any one of claims 1-2, the data processing module further includes a sensing information generation module, configured to generate sensing information according to the second histogram.

4. An electronic device applying the optical sensing device, characterized in that, the electronic device includes a main body and the optical sensing device according to claim 3 provided on the main body.

5. A sensing method of an optical sensing device, characterized in that, the sensing method of the optical sensing device includes: emitting light pulses; receiving light pulses reflected by an object and converting them into electrical signals corresponding to the received light pulses; calculating the time interval of the electrical signals and converting the time interval into a timestamp; using a counter to count the timestamps; performing counting on a time unit corresponding to the timestamp according to the timestamp to obtain a first histogram; using the total count statistically counted by the counter to correct the first histogram to obtain a second histogram; wherein, using the total count statistically counted by the counter to correct the first histogram to obtain the second histogram specifically includes: obtaining an effective pulse period number according to the total count statistically counted by the counter, the number of timestamps statistically counted by the first histogram, and a set number of pulse periods; The second histogram is obtained by correcting the first histogram using the first preset formula and the number of effective pulse periods, where the first preset formula is: ; is the value included in the i-th bin of the second histogram, is the value included in the i-th bin of the first histogram, is the number of valid pulse periods, and i is a positive integer; The effective pulse period number is obtained based on the total count statistically counted by the counter, the number of timestamps statistically counted by the first histogram, and the set number of pulse periods. Specifically, the second preset formula is used to perform operations on the total count statistically counted by the counter, the number of timestamps statistically counted by the first histogram, and the set number of pulse periods to obtain the effective pulse period number. The second preset formula is as follows: ; Among them, is the number of valid pulse periods, is the number of timestamps counted by the first histogram, is the total count counted by the counter, is the set number of pulse periods, is a positive integer.

6. The sensing method of the optical sensing device according to claim 5, characterized in that, the sensing method of the optical sensing device further includes: judging whether the number of timestamps statistically counted by the counter reaches a preset value within a statistical period; when the number of timestamps statistically counted by the counter reaches the preset value within a statistical period, using the total count statistically counted by the counter to correct the first histogram to obtain the second histogram.

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