A time-of-flight ranging module, method and electronic device

Abstract

The embodiment of the present application provides a time-of-flight ranging module, method and electronic device, including: a first transmitting module transmits a floodlight source modulation signal in a first time period, the floodlight source modulation signal is reflected by a first target to generate a plurality of first reflection signals; a second transmitting module transmits a line light source modulation signal in a second time period, the line light source modulation signal is reflected by a second target to generate a plurality of second reflection signals; a receiving module receives the first reflection signal and samples the received first reflection signal, and receives the second reflection signal and samples the received second reflection signal, and a processing module obtains the distance between the first target and a reference position according to the first sampling result and obtains the distance between the second target and the reference position according to the second sampling result. The embodiment of the present application can simultaneously meet the time-of-flight ranging in different application scenarios.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of time-of-flight ranging, and more particularly to a time-of-flight ranging module, method and electronic device. Background Art

[0002] Time of flight (TOF) is a technology that measures the distance to a target object by the time of flight of light. The light sources used include flood light sources and line light sources. Flood light source TOF is suitable for application scenarios such as obstacle avoidance or target recognition. Line light source TOF is suitable for SLAM (simultaneous localization and mapping) application scenarios such as map building or navigation. Flood light source TOF and line light source TOF are suitable for different application scenarios respectively. The existing single light source TOF module cannot meet the needs of different application scenarios at the same time.

[0003] Therefore, how to use the time-of-flight ranging module to meet different application scenarios has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a time-of-flight ranging module, method and electronic device, which can utilize the time-of-flight ranging module to meet the needs of different application scenarios.

[0005] According to a first aspect of an embodiment of the present application, a first transmitting module is provided, which is used to transmit a floodlight source modulation signal in a first time period, wherein the floodlight source modulation signal is reflected by a first target object to generate a plurality of first reflection signals; a second transmitting module is provided, which is used to transmit a line light source modulation signal in a second time period, wherein the line light source modulation signal is reflected by a second target object to generate a plurality of second reflection signals; and a receiving module is provided, which is used to receive the first reflection signal in the first time period and sample the received first reflection signal, and send the obtained first sampling result to a processing module, and receive the second reflection signal in the second time period and sample the received second reflection signal, and send the obtained second sampling result to the processing module, so that the processing module obtains the distance between the first target object and a reference position according to the first sampling result and obtains the distance between the second target object and the reference position according to the second sampling result.

[0006] According to a second aspect of an embodiment of the present application, a time-of-flight ranging method is provided, which is applied to a time-of-flight ranging module. The time-of-flight ranging module includes: a first transmitting module, a second transmitting module, and a receiving module coupled to the first transmitting module and the second transmitting module. The method includes: causing the first transmitting module to transmit a floodlight light source modulation signal in a first time period, and the floodlight light source modulation signal is reflected by a first target to generate a plurality of first reflection signals; causing the second transmitting module to transmit a line light source modulation signal in a second time period, and the line light source modulation signal is reflected by a second target to generate a plurality of second reflection signals; in the first time period, the receiving module receives the first reflection signal and samples the received first reflection signal to obtain a first sampling result, and in the second time period, the receiving module receives the second reflection signal and samples the received second reflection signal to obtain a second sampling result; obtaining a distance between the first target and a reference position according to the first sampling result and obtaining a distance between the second target and the reference position according to the second sampling result.

[0007] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a time-of-flight ranging module and a processing module coupled to the time-of-flight ranging module, wherein the time-of-flight ranging module comprises: a first transmitting module, configured to transmit a floodlight source modulation signal in a first time period, wherein the floodlight source modulation signal is reflected by a first target object to generate a plurality of first reflection signals; a second transmitting module, configured to transmit a linelight source modulation signal in a second time period, wherein the linelight source modulation signal is reflected by a second target object to generate a plurality of second reflection signals; and a receiving module, configured to receive the first reflection signal in a first time period and sample the received first reflection signal, and send the obtained first sampling result to the processing module, and receive the second reflection signal in a second time period and sample the received second reflection signal, and send the obtained second sampling result to the processing module; the processing module obtains the distance between the first target object and a reference position according to the first sampling result and obtains the distance between the second target object and the reference position according to the second sampling result.

[0008] According to the time-of-flight ranging module, method and electronic device provided in the embodiment of the present application, the time-of-flight ranging module includes: a first transmitting module, a second transmitting module and a receiving module. In a first time period, the floodlight source modulation signal emitted by the first transmitting module is reflected by the first target to generate a plurality of first reflection signals, the receiving module performs sampling according to the first reflection signal to obtain a first sampling result, and the processing module obtains the distance between the first target and the reference position according to the first sampling result. In a second time period, the line light source modulation signal emitted by the second transmitting module is reflected by the second target to generate a plurality of second reflection signals, the receiving module performs sampling according to the second reflection signal to obtain a second sampling result, and the processing module obtains the distance between the second target and the reference position according to the second sampling result. The first transmitting module and the second transmitting module in the embodiment of the present application can respectively measure the floodlight source modulation signal and the line light source modulation signal provided in the first time period and the second time period, so that it can use the time-of-flight ranging module to meet the needs of different application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0010] Figure 1 Schematic diagram of the structure of the time-of-flight ranging module in one embodiment of the present application;

[0011] Figure 2 A schematic diagram of a floodlight source used by a first transmitting module of a time-of-flight ranging module in an embodiment of the present application;

[0012] Figure 3 A schematic diagram of a linear light source used by a second transmitting module of a time-of-flight ranging module in an embodiment of the present application;

[0013] Figure 4 A schematic diagram of waveforms of a continuous modulated signal transmitted by a first transmitting module or a second transmitting module and a reflected signal received by a receiving module in an embodiment of the present application;

[0014] Figure 5 It is a simplified schematic diagram of a receiving module in a time difference of flight ranging module in one embodiment of the present application;

[0015] Figure 6 Flow chart of a time difference of flight ranging method in one embodiment of the present application;

[0016] Figure 7It is a schematic diagram of the structure of an electronic device in yet another embodiment of the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings. For ease of explanation, in the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of the various components in the embodiments of the present application shown in the accompanying drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0018] It should be noted that, under the premise of no conflict, the various embodiments described in this application and / or the technical features in each embodiment can be arbitrarily combined with each other, and the technical solution obtained after the combination should also fall within the protection scope of this application.

[0019] It should be understood that the specific examples in the embodiments of the present application are only intended to help those skilled in the art to better understand the embodiments of the present application, rather than to limit the scope of the embodiments of the present application.

[0020] It should also be understood that in the various embodiments of the present application, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0021] It should also be understood that the terms used in the embodiments of the present application and the appended claims are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. For example, the singular forms "a", "above", and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0022] As used herein, terms such as "first," "second," and "third" describe various components, elements, regions, layers, and / or sections, but such components, elements, regions, layers, and / or sections should not be limited by such terms. Such terms may only be used to distinguish one component, element, region, layer, or section from another. Terms such as "first," "second," and "third" do not imply a sequence or order when used herein unless clearly indicated by the context.

[0023] Additionally, for ease of description, spatially relative terms such as "below," "lower," "above," "upper," and the like may be used herein to describe one component or member's relationship to another component or member illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein should be interpreted similarly.

[0024] Time-of-Flight (ToF) is a way to obtain depth information. The principle is to calculate the distance between the target object and the reference object through the flight time of light in the air. Most TOF cameras use a combination of CMOS pixel array and modulated light. The transmitting module transmits a modulated single pulse or continuous modulated signal, and the receiving module receives the light reflected back by the target object. The current distance of the object is calculated by the phase difference between the transmitted light and the received light.

[0025] Time of flight ranging is a technology that achieves accurate distance measurement by measuring the flight time of the emitted light signal between the target and the reference position. In time of flight ranging, the emitted light signal is periodically modulated, the phase delay of the reflected light signal relative to the emitted light signal is measured, and the flight time is calculated from the phase delay. This measurement technology is called iToF (Indirect-TOF) technology.

[0026] The light sources used by iToF include flood light sources and line light sources. Flood light source time-of-flight ranging is suitable for application scenarios such as obstacle avoidance or target recognition. Line light source time-of-flight ranging is suitable for SLAM (simultaneous localization and mapping) application scenarios such as map building or navigation. Flood light source time-of-flight ranging and line light source time-of-flight ranging are suitable for different application scenarios respectively. The existing single light source time-of-flight ranging module cannot meet the needs of different application scenarios at the same time.

[0027] Based on the above problems, the time-of-flight ranging module provided in the embodiment of the present application can provide a floodlight light source modulation signal and a linelight light source modulation signal for ranging in a first time period and a second time period respectively through a first transmitting module and a second transmitting module, so that it can use the time-of-flight ranging module to meet the needs of different application scenarios.

[0028] The flight time difference ranging module in the embodiment of the present application is installed in an electronic device, and the electronic device includes: a portable terminal, an unmanned aerial vehicle, a sweeping robot, a lawn mowing robot, a swimming pool cleaning robot, and any other electronic device, which is not limited to the embodiment of the present application.

[0029] See also Figure 1 The present application embodiment provides a time-of-flight ranging module, including:

[0030] The first transmitting module 11 is used for transmitting a floodlight source modulation signal in a first time period, and the floodlight source modulation signal is reflected by a first target object to generate a plurality of first reflection signals.

[0031] A second transmitting module 12 is used to transmit a linear light source modulated signal in a second time period, wherein the linear light source modulated signal is reflected by a second target object to generate a plurality of second reflected signals; and

[0032] The receiving module 13 is used to receive a first reflection signal in a first time period and sample the received first reflection signal, and send the obtained first sampling result to the processing module 14, and receive a second reflection signal in a second time period and sample the received second reflection signal, and send the obtained second sampling result to the processing module, so that the processing module 14 obtains the distance between the first target object and the reference position according to the first sampling result and obtains the distance between the second target object and the reference position according to the second sampling result.

[0033] In the embodiment of the present application, the first transmitting module and the second transmitting module can respectively provide a floodlight source modulation signal and a linelight source modulation signal for ranging in a first time period and a second time period, so that it can utilize the time-of-flight ranging module to meet the needs of different application scenarios.

[0034] In the embodiment of the present application, a receiving module 13 receives a first reflected signal in a first time period and a second reflected signal in a second time period. The receiving module 13 receives the first reflected signal and the second reflected signal respectively through time division multiplexing, thereby reducing the space occupied by the time-of-flight ranging module and saving the cost of the time-of-flight ranging module.

[0035] In some specific implementations of the embodiments of the present application, the first transmitting module 11 transmits a flood light source modulation signal under the drive of a first laser driver according to a first driving clock signal in a first time period. The first laser driver is used to drive a vertical cavity surface laser emitter (VCSEL) to obtain a flood light source modulation signal required for time-of-flight ranging.

[0036] See also Figure 2 For the floodlight modulation signal, it is used to accurately identify the first target by measuring the distance to the first target, so that the processing module 14 can further determine whether it is necessary to perform obstacle avoidance or target recognition operations on the first target.

[0037] Specifically, the obstacle avoidance or target recognition operation includes: pausing the electronic device where the time-of-flight ranging module is located or changing the movement direction of the electronic device where the time-of-flight ranging module is located.

[0038] In order to ensure synchronization between the first transmitting module 11 and the receiving module 13 within the first time period, the first transmitting module 11 and the receiving module 13 use the same driving clock signal. Both the first transmitting module 11 and the receiving module 13 use the first driving clock signal.

[0039] The second transmitting module 12 transmits a line light source modulation signal under the drive of a second laser driver according to a second driving clock signal in a second time period. The second laser driver is used to drive a vertical cavity surface laser emitter (VCSEL) to obtain a line light source modulation signal required for time-of-flight ranging.

[0040] See also Figure 3 , for the linear light source modulation signal, it is used to achieve positioning operation by measuring the distance to the second target object, so that the processing module 14 can further execute map building or navigation operation.

[0041] In order to ensure synchronization between the first transmitting module 11 and the receiving module 13 within the first time period, the first transmitting module 11 and the receiving module 13 use the same driving clock signal. Both the first transmitting module 11 and the receiving module 13 use the first driving clock signal.

[0042] In order to ensure synchronization between the second transmitting module 12 and the receiving module 13 within the second time period, the second transmitting module 12 and the receiving module 13 use the same driving clock signal. Both the second transmitting module 12 and the receiving module 13 use the second driving clock signal.

[0043] The receiving module 13 communicates with the first transmitting module 11 and the second transmitting module 12 via a serial peripheral interface SPI.

[0044] In some specific implementations of the embodiments of the present application, the first laser driver and the second laser driver are the same laser driver.

[0045] The embodiment of the present application does not need to provide two different laser drivers for the first transmitting module 11 and the second transmitting module 12, thereby saving the space of the time-of-flight ranging module and reducing the cost of the time-of-flight ranging module.

[0046] Specifically, the processing module 14 uses a processor of an electronic device used by the time difference of flight ranging module, such as an MCU, etc. The processing module 14 and the receiving module 13 transmit control instructions to each other through the I2C bus, and the receiving module 13 sends the first sampling result and the second sampling result to the processing module 14 through the MIPI bus.

[0047] For a description of the commonly used 4-phase method continuous wave time-of-flight ranging, see Figure 4 The first transmitting module 11 or the second transmitting module 12 transmits four different phase subframes: 0 degree, 180 degree, 90 degree, and 270 degree.

[0048] The receiving module 13 receives the first reflection signal or the second reflection signal and samples the received first reflection signal or the second reflection signal, and obtains the first sampling result or the second sampling result, that is, the first sampling result Q of the reflected light of the phase subframe 0 degree, 180 degree, 90 degree, and 270 degree. 1 , Q 2 , Q 3 , Q 4 Send to the processing module 14.

[0049] The processing module 14 processes the first sampling result or the second sampling result Q of the reflected light of the phase subframe 0 degree, 180 degree, 90 degree, 270 degree 1 , Q 2 , Q 3 , Q 4 Substitute into formula 1 to calculate the phase difference

[0050]

[0051] The processing module 14 calculates the distance d between the first target object or the second target object and the reference position according to the modulation frequency f1 and the phase difference φ of the optical signal by using Formula 2, where c is a constant light speed.

[0052]

[0053] In some specific implementations of the embodiments of this application, see Figure 5 The receiving module 13 includes: a controller 131 and a receiver 132 coupled to the controller.

[0054] The controller 131 drives the first laser driver 10 in a first time period according to the control instructions received from the processing module 14, so that the first transmitting module 11 transmits a floodlight source modulation signal; and drives the second laser driver 20 in a second time period so that the second transmitting module 12 transmits a linelight source modulation signal.

[0055] The receiver 132 receives the first reflected signal in a first time period to obtain a first sampling result, and receives the second reflected signal in a second time period to obtain a second sampling result.

[0056] The controller 131 sends the first sampling result or the second sampling result to the processing module 14, and instructs the processing module 14 to obtain the distance between the first target and the reference position according to the first sampling result and to obtain the distance between the second target and the reference position according to the second sampling result.

[0057] In the embodiment of the present application, the controller 131 drives the first laser driver in the first time period and drives the second laser driver in the second time period according to the control instruction of the processing module 14, thereby enabling the first transmitting module 11 or the second transmitting module 12 to transmit the modulation signal of different light sources according to the control instruction of the processing module 14. The receiver 132 receives different reflection signals to generate different sampling signals, and obtains the corresponding distance between the first target object and the reference position or the distance between the second target object and the reference position.

[0058] The embodiment of the present application can realize time division multiplexing of the receiving module 13 by setting the controller 131 and the receiver 132 in the receiving module 13. The receiving module 13 generates different sampling signals according to the received reflection signals to obtain accurate measurement of the distance between different targets and the reference position to meet the needs of different application scenarios.

[0059] Specifically, the control instruction alternately sets the first time period and the second time period.

[0060] Exemplarily, the control instruction sets T1 as the first time period, sets T2 as the second time period, sets T3 as the first time period, sets T4 as the second time period, and so on.

[0061] Those skilled in the art may also perform other alternating settings on the first time period and the second time period, and are not limited to the above examples.

[0062] The time periods of T1, T2, T3, and T4 can be set to be consistent or different, and those skilled in the art can choose the settings according to their needs.

[0063] There may or may not be time gaps between T1, T2, T3, and T4. If there are time gaps between T1, T2, T3, and T4, then in the time gaps, neither the first transmitting module 11 nor the second transmitting module 12 transmits a modulated signal.

[0064] The implementation of this application is specifically described below through an application scenario.

[0065] The time-of-flight ranging module of the embodiment of the present application is applied to a sweeping robot, and the processing module 14 is the MCU of the sweeping robot. The processing module 14 sends a control instruction to alternately set the first time period and the second time period, that is, T1 is set to the first time period, T2 is set to the second time period, T3 is set to the first time period, and T4 is set to the second time period, ... The controller 131 of the time-of-flight ranging module drives the first laser driver 10 at T1, so that the first transmitting module 11 transmits a floodlight source modulation signal, and the floodlight source modulation signal is reflected by the first target to generate multiple first reflection signals. The receiver 132 receives the first reflection signal within the first time period, obtains a first sampling result, and sends the first sampling result to the processing module 14. The processing module 14 obtains the distance between the first target and the reference position according to the distance between the first target and the reference position, and determines whether to perform obstacle avoidance or target recognition operations. The controller 131 of the time-of-flight ranging module drives the second laser driver 20 at T2, causing the second transmitting module 12 to transmit a linear light source modulation signal, which is reflected by the second target to generate a plurality of second reflection signals, and the receiver 132 receives the second reflection signal within the second time period, obtains a second sampling result, and sends the second sampling result to the processing module 14. The processing module 143 obtains the distance between the second target and the reference position, and creates a map or performs navigation. The operation at T3 is the same as that at T1, and the operation at T4 is the same as that at T2, which will not be repeated here.

[0066] The first target object and the second target object may be different targets or the same target object, which is not limited in the embodiment of the present application.

[0067] In some other specific implementations of the embodiments of the present application, when the first application requirement condition is met, the control instruction is set to a first time period, and when the second application requirement condition is met, the control instruction is set to a second time period.

[0068] Specifically, the first application requirement condition includes:

[0069] Determining whether to perform an obstacle avoidance or target recognition operation according to the distance between the first target object and the reference position;

[0070] The second application requirements include:

[0071] A map is created or a navigation operation is performed according to the distance between the second target object and the reference position.

[0072] The implementation of the embodiments of the present application is described in detail below through several application scenarios.

[0073] The time-of-flight ranging module of the embodiment of the present application is applied to a sweeping robot, and the processing module 14 is the MCU of the sweeping robot. When the processing module 14 determines that the application scenario is to establish a map, it sends a control instruction to drive the second laser driver, so that the second transmitting module 12 transmits a linear light source modulation signal in a second time period, and the linear light source modulation signal is reflected by the target object to be measured (the second target object) to generate a plurality of second reflection signals. The receiver 132 receives the second reflection signal in the second time period, obtains a second sampling result, and sends the second sampling result to the processing module 14. The processing module 14 obtains the distance between the target object to be measured (the second target object) and the reference position to perform subsequent operations of establishing a map. When the processing module 14 determines that the application scenario is navigation, it performs the same operation as above, and the processing module 14 obtains the distance between the target object to be measured (the second target object) and the reference position to perform subsequent operations of navigation.

[0074] Exemplarily, the processing module 14 establishes the positioning coordinate information of the sweeping robot according to the distance between the target object to be measured (the second target object) and the reference position, and establishes a map or performs subsequent operations of navigation according to the positioning coordinate information.

[0075] The processing module 14 determines that the application scenario is obstacle avoidance, and then sends a control instruction to drive the first laser driver, so that the first transmitting module 11 transmits a floodlight light source modulation signal in a first time period, and the floodlight light source modulation signal is reflected by the target object to be measured (first target object) to generate multiple first reflection signals, and the receiver 132 receives the first reflection signal in the first time period, obtains a first sampling result, and sends the first sampling result to the processing module 14. The processing module 14 obtains the distance between the target object to be measured (first target object) and the reference position, and determines whether to perform an obstacle avoidance operation.

[0076] Exemplarily, the processing module 14 determines whether the cleaning robot stops moving along the current moving direction or changes the current moving direction to avoid the first target object according to the distance between the target object to be detected (the first target object) and the reference position.

[0077] The processing module 14 determines that the application scenario is target recognition (for example, identifying hair on the ground), and then sends a control instruction to drive the first laser driver, so that the first transmitting module 11 transmits a floodlight source modulation signal in a first time period, and the floodlight source modulation signal is reflected by the target object to be measured (first target object) to generate multiple first reflection signals, and the receiver 132 receives the first reflection signal in the first time period, obtains a first sampling result, and sends the first sampling result to the processing module 14. The processing module 14 obtains the distance between the target object to be measured (first target object) and the reference position, and determines whether to perform obstacle avoidance or target recognition operations.

[0078] Exemplarily, the processing module 14 determines the target (e.g., hair on the ground) in the current movement direction of the sweeping robot according to the distance between the target object to be detected (the first target object) and the reference position, and instructs the sweeping robot to perform cleaning operations using a cleaning method corresponding to the target.

[0079] Therefore, the flight time difference ranging module of the embodiment of the present application allows the sweeping robot to select the second transmitting module to transmit the linear light source modulation signal in the second time period according to the SLAM application scenario required for map building and navigation, thereby better meeting the needs of map building and navigation. The flight time difference ranging module of the embodiment of the present application allows the sweeping robot to select the first transmitting module to transmit the floodlight source modulation signal in the first time period according to the application scenario for obstacle avoidance or target recognition, thereby better meeting the needs of obstacle avoidance or target recognition.

[0080] The flight time difference ranging module of the present application can also be applied to other electronic devices that need to establish maps, navigation, obstacle avoidance or target identification, such as lawn mowers, swimming pool cleaning robots, etc., and the embodiments of the present application are not limited to this.

[0081] Corresponding to the above-mentioned time-of-flight ranging module, the embodiment of the present application further provides a time-of-flight ranging method, which is applied to the time-of-flight ranging module. The time-of-flight ranging module includes: a first transmitting module, a second transmitting module, and a receiving module coupled to the first transmitting module and the second transmitting module, see Figure 6 , methods include:

[0082] S1. Enable a first transmitting module to transmit a floodlight light source modulation signal in a first time period. The floodlight light source modulation signal is reflected by a first target object to generate a plurality of first reflection signals.

[0083] S2. Enable the second transmitting module to transmit a linear light source modulated signal in a second time period, and the linear light source modulated signal is reflected by a second target object to generate a plurality of second reflected signals.

[0084] S3. In a first time period, the receiving module receives a first reflected signal and samples the received first reflected signal to obtain a first sampling result, and in a second time period, the receiving module receives a second reflected signal and samples the received second reflected signal to obtain a second sampling result.

[0085] S4. Obtain the distance between the first target object and the reference position according to the first sampling result and obtain the distance between the second target object and the reference position according to the second sampling result.

[0086] In the embodiment of the present application, the first transmitting module and the second transmitting module can respectively provide a floodlight source modulation signal and a linelight source modulation signal for ranging in a first time period and a second time period, so that it can utilize the time-of-flight ranging module to meet the needs of different application scenarios.

[0087] See also Figure 7 The embodiment of the present application further provides an electronic device, including a time-of-flight ranging module 1 and a processing module 14 coupled to the time-of-flight ranging module, wherein the time-of-flight ranging module 1 includes:

[0088] The first transmitting module 11 is used for transmitting a floodlight source modulation signal in a first time period, and the floodlight source modulation signal is reflected by a first target object to generate a plurality of first reflection signals.

[0089] The second transmitting module 12 is used to transmit a linear light source modulated signal in a second time period, and the linear light source modulated signal is reflected by a second target object to generate a plurality of second reflected signals. And,

[0090] The receiving module 13 is used to receive a first reflected signal in a first time period and sample the received first reflected signal, and send the obtained first sampling result to the processing module, and receive a second reflected signal in a second time period and sample the received second reflected signal, and send the obtained second sampling result to the processing module 14.

[0091] The processing module 14 obtains the distance between the first target object and the reference position according to the first sampling result and obtains the distance between the second target object and the reference position according to the second sampling result.

[0092] In the embodiment of the present application, the first transmitting module and the second transmitting module can respectively provide a floodlight source modulation signal and a linelight source modulation signal for ranging in a first time period and a second time period, so that it can utilize the time-of-flight ranging module to meet the needs of different application scenarios.

[0093] The flight time difference ranging module in the embodiment of the present application is installed in an electronic device, and the electronic device includes: a portable terminal, an unmanned aerial vehicle, a sweeping robot, a lawn mowing robot, a swimming pool cleaning robot, and any other electronic device, which is not limited to the embodiment of the present application.

[0094] The flight time difference ranging module of the embodiment of the present application allows the portable terminal, unmanned aerial vehicle, sweeping robot, lawn mowing robot, swimming pool cleaning robot, etc. to which it is applied, according to the SLAM application scenario required for map building and navigation, to select the second transmitting module to transmit the linear light source modulation signal in the second time period, thereby better meeting the needs of map building and navigation. The flight time difference ranging module of the embodiment of the present application allows the sweeping robot to which it is applied, according to the application scenario for obstacle avoidance or target recognition, to select the first transmitting module to transmit the floodlight source modulation signal in the first time period, thereby better meeting the needs of obstacle avoidance or target recognition.

[0095] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0096] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.

Claims

1. A time-of-flight ranging module, comprising: A first transmitting module is used to transmit a floodlight source modulation signal in a first time period, wherein the floodlight source modulation signal is reflected by a first target object to generate a plurality of first reflection signals; A second transmitting module is used to transmit a linear light source modulated signal in a second time period, wherein the linear light source modulated signal is reflected by a second target object to generate a plurality of second reflected signals; and, a receiving module, configured to receive the first reflection signal in a first time period and sample the received first reflection signal, and send the obtained first sampling result to the processing module, and receive the second reflection signal in a second time period and sample the received second reflection signal, and send the obtained second sampling result to the processing module, so that the processing module obtains the distance between the first target object and the reference position according to the first sampling result and obtains the distance between the second target object and the reference position according to the second sampling result; Among them, the first transmitting module is driven by a first laser driver according to a first driving clock signal, and emits a flood light source modulation signal in a first time period; the second transmitting module is driven by a second laser driver according to a second driving clock signal, and emits a line light source modulation signal in a second time period, and the first laser driver and the second laser driver are the same laser driver.

2. The time-of-flight ranging module according to claim 1, wherein: In the first time period, the receiving module and the first transmitting module both use a first driving clock signal, and in the second time period, the receiving module and the second transmitting module both use a second driving clock signal.

3. The time-of-flight ranging module according to claim 2, wherein: The receiving module includes: a controller and a receiver coupled to the controller, The controller drives the first laser driver in a first time period according to the control instruction received from the processing module, so that the first transmitting module transmits a flood light source modulation signal; and drives the second laser driver in a second time period so that the second transmitting module transmits a line light source modulation signal; The receiver receives the first reflected signal in a first time period to obtain a first sampling result, and receives the second reflected signal in a second time period to obtain a second sampling result; The controller sends the first sampling result or the second sampling result to the processing module, so that the processing module obtains the distance between the first target object and the reference position according to the first sampling result and obtains the distance between the second target object and the reference position according to the second sampling result.

4. The time-of-flight ranging module according to claim 3, wherein: The control instruction alternately sets the first time period and the second time period.

5. The time-of-flight ranging module according to claim 3, wherein: When the first application requirement condition is met, the control instruction is set to the first time period, and when the second application requirement condition is met, the control instruction is set to the second time period.

6. The time-of-flight ranging module according to claim 5, wherein: The first application requirement condition includes: determining whether to perform an obstacle avoidance or target recognition operation according to the distance between the first target object and the reference position; The second application requirement condition includes: A map is created or navigation is performed according to the distance between the second target object and the reference position.

7. A time-of-flight ranging method, applied to a time-of-flight ranging module, the time-of-flight ranging module comprising: A first transmitting module, a second transmitting module, and a receiving module coupled to the first transmitting module and the second transmitting module, the method comprising: The first transmitting module transmits a floodlight light source modulation signal in a first time period, and the floodlight light source modulation signal is reflected by a first target object to generate a plurality of first reflection signals; The second transmitting module transmits a linear light source modulated signal in a second time period, and the linear light source modulated signal is reflected by a second target object to generate a plurality of second reflected signals; In a first time period, the receiving module receives the first reflected signal and samples the received first reflected signal to obtain a first sampling result, and in a second time period, the receiving module receives the second reflected signal and samples the received second reflected signal to obtain a second sampling result; Obtaining a distance between the first target object and a reference position according to the first sampling result and obtaining a distance between the second target object and the reference position according to the second sampling result; Among them, the first transmitting module is driven by a first laser driver according to a first driving clock signal, and emits a flood light source modulation signal in a first time period; the second transmitting module is driven by a second laser driver according to a second driving clock signal, and emits a line light source modulation signal in a second time period, and the first laser driver and the second laser driver are the same laser driver.

8. An electronic device, comprising a time-of-flight ranging module and a processing module coupled to the time-of-flight ranging module, wherein the time-of-flight ranging module comprises: A first transmitting module is used to transmit a floodlight source modulation signal in a first time period, wherein the floodlight source modulation signal is reflected by a first target object to generate a plurality of first reflection signals; A second transmitting module is used to transmit a linear light source modulated signal in a second time period, wherein the linear light source modulated signal is reflected by a second target object to generate a plurality of second reflected signals; and, a receiving module, configured to receive the first reflected signal in a first time period and sample the received first reflected signal, and send the obtained first sampling result to the processing module, and receive the second reflected signal in a second time period and sample the received second reflected signal, and send the obtained second sampling result to the processing module; The processing module obtains the distance between the first target object and the reference position according to the first sampling result and obtains the distance between the second target object and the reference position according to the second sampling result; Among them, the first transmitting module is driven by a first laser driver according to a first driving clock signal, and emits a flood light source modulation signal in a first time period; the second transmitting module is driven by a second laser driver according to a second driving clock signal, and emits a line light source modulation signal in a second time period, and the first laser driver and the second laser driver are the same laser driver.

9. The electronic device according to claim 8, wherein: In the first time period, the receiving module and the first transmitting module both use a first driving clock signal, and in the second time period, the receiving module and the second transmitting module both use a second driving clock signal.

10. The electronic device according to claim 9, wherein: The receiving module includes: a controller and a receiver coupled to the controller, The controller drives the first laser driver in a first time period according to the control instruction received from the processing module, so that the first transmitting module transmits a flood light source modulation signal; and drives the second laser driver in a second time period so that the second transmitting module transmits a line light source modulation signal; The receiver receives the first reflected signal in a first time period to obtain a first sampling result, and receives the second reflected signal in a second time period to obtain a second sampling result; The controller sends the first sampling result or the second sampling result to the processing module, so that the processing module obtains the distance between the first target object and the reference position according to the first sampling result and obtains the distance between the second target object and the reference position according to the second sampling result.

11. The electronic device according to claim 10, wherein: The control instruction alternately sets the first time period and the second time period.

12. The electronic device according to claim 10, wherein: When the first application requirement condition is met, the control instruction is set to the first time period, and when the second application requirement condition is met, the control instruction is set to the second time period.

13. The electronic device according to claim 12, wherein: The first application requirement condition includes: determining whether to perform an obstacle avoidance or target recognition operation according to the distance between the first target object and the reference position; The second application requirement condition includes: A map is created or navigation is performed according to the distance between the second target object and the reference position.

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