An ITOF ranging system and its relative accuracy determination method, device and equipment

Abstract

The present invention provides an ITOF ranging system and a method, device, and apparatus for determining relative accuracy thereof. The method comprises: obtaining a charge corresponding to a light signal reflected by an object to be measured; calculating ambient light data and sampled signal data based on the charge; and calculating relative accuracy based on the ambient light data, the sampled signal data, and a preset relative accuracy calculation rule. The preset relative accuracy calculation rule is obtained by: obtaining historical ambient light data, historical sampled signal data, and the relative accuracy of ranging corresponding to the historical ambient light data and the historical sampled signal data; and constructing a fitting function based on the historical ambient light data, the historical sampled signal data, and the relative accuracy of ranging to obtain the preset relative accuracy calculation rule. The present invention can perform real-time performance evaluation and elimination of ranging results of the ITOF ranging system, thereby retaining only 3D points with relatively low noise in the output depth data, thereby improving the overall 3D point cloud effect.

Description

Technical Field

[0001] The present invention relates to the field of optical technology, and in particular to an ITOF ranging system and a method, device and equipment for determining relative accuracy thereof. Background Art

[0002] Relative accuracy is a crucial metric for distance measurement systems. It reflects the noise level of the 3D surface measurements of the object being measured. High relative accuracy results in a smooth, low-noise 3D point cloud. Low relative accuracy, however, indicates significant fluctuations in the 3D points on the surface, leading to invalid points being excluded.

[0003] In the existing technology, when obtaining relative accuracy, it is necessary to obtain multiple frames of 3D point cloud data in advance for calculation. It is impossible to obtain relative accuracy in a single frame in real time, and it is impossible to determine whether certain points in a single frame image have low relative accuracy or large fluctuation values, and thus it is impossible to exclude points with low relative accuracy and large fluctuation values ​​in real time. Summary of the Invention

[0004] To overcome the problems existing in the prior art, embodiments of the present invention provide an ITOF ranging system and a method, apparatus, and device for determining relative accuracy thereof.

[0005] To achieve the above-mentioned purpose, the technical solution of the embodiment of the present invention is implemented as follows:

[0006] An ITOF ranging system includes: a transmitter, a collector, and a processing circuit;

[0007] The transmitter is configured to transmit a signal light beam;

[0008] The collector is configured to collect the reflected light signal reflected by the object;

[0009] The processing circuit is connected to the emitter and the collector, and is used to obtain the charge corresponding to the light signal reflected by the object to be measured, so as to determine the ambient light data and the sampled signal data according to the charge, and calculate the relative accuracy according to the ambient light data, the sampled signal data and a preset relative accuracy calculation rule;

[0010] The preset relative accuracy calculation rule is obtained according to the following steps:

[0011] Obtain historical ambient light data, historical sampled signal data, and the relative ranging accuracy corresponding to the historical ambient light data and the historical sampled signal data;

[0012] A fitting function is constructed according to the historical ambient light data, the historical sampling signal data and the ranging relative accuracy to obtain a preset relative accuracy calculation rule.

[0013] Furthermore, the processing circuit is also used to calculate the distance value of the object to be measured, and determine whether the relative accuracy of the distance value exceeds a preset relative accuracy threshold. If it exceeds the preset relative accuracy threshold, the distance value is shielded.

[0014] Furthermore, the preset relative accuracy calculation rule is a function model, and the function model is:

[0015]

[0016] Among them, C s is the sampling signal data; C n is the ambient light data; a, b, c, d are parameters; R is the relative accuracy.

[0017] Yet another technical solution of the embodiment of the present invention is:

[0018] A method for determining the relative accuracy of an ITOF ranging system, comprising:

[0019] Obtain the charge corresponding to the light signal reflected by the object to be measured;

[0020] Calculating ambient light data and sampling signal data according to the charge amount;

[0021] Calculating relative accuracy based on the ambient light data, the sampled signal data, and a preset relative accuracy calculation rule;

[0022] The preset relative accuracy calculation rule is obtained according to the following steps:

[0023] Obtain historical ambient light data, historical sampled signal data, and the relative ranging accuracy corresponding to the historical ambient light data and the historical sampled signal data;

[0024] A fitting function is constructed according to the historical ambient light data, the historical sampling signal data and the relative accuracy of ranging to obtain a preset relative accuracy calculation rule.

[0025] Furthermore, the preset relative accuracy calculation rule is a function model, and the function model is:

[0026]

[0027] Among them, C s is the sampling signal data; C n is the ambient light data; a, b, c, d are parameters; R is the relative accuracy.

[0028] Furthermore, it also includes:

[0029] Calculating a resolution based on the ambient light data, the sampled signal data, and a preset resolution calculation rule;

[0030] The relative accuracy of the ranging system is calculated based on the resolution.

[0031] Furthermore, obtaining the relative ranging accuracy corresponding to the historical ambient light data and the historical sampled signal data includes:

[0032] Obtain target distance measurement value, target actual distance value and target distance measurement average value;

[0033] The relative accuracy of distance measurement is calculated according to the target distance measurement value, the target actual distance value and the target distance measurement average value.

[0034] The calculating of the ambient light data and the sampling signal data according to the charge amount includes:

[0035] Fitting the charge amount to obtain a sinusoidal wave fitting curve corresponding to the light signal;

[0036] Ambient light data and sampled signal data are determined according to the sine wave fitting curve.

[0037] Another technical solution of the embodiment of the present invention is:

[0038] A device for determining the relative accuracy of an ITOF ranging system, comprising:

[0039] A first acquisition unit is used to acquire the charge amount corresponding to the light signal reflected by the object to be measured;

[0040] a first processing unit, configured to calculate ambient light data and sampled signal data according to the charge amount;

[0041] a second processing unit, configured to calculate relative accuracy based on the ambient light data and the sampled signal data and a preset relative accuracy calculation rule;

[0042] The preset relative accuracy calculation rule is obtained according to the following steps:

[0043] Obtain historical ambient light data, historical sampled signal data, and the relative ranging accuracy corresponding to the historical ambient light data and the historical sampled signal data;

[0044] A fitting function is constructed according to the historical ambient light data, the historical sampling signal data and the relative accuracy of ranging to obtain a preset relative accuracy calculation rule.

[0045] Yet another technical solution of the embodiment of the present invention is:

[0046] A device for determining the relative accuracy of an ITOF ranging system includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for determining the relative accuracy of the ITOF ranging system described in the technical solution of the aforementioned embodiment is implemented.

[0047] Compared to existing technologies, the present invention obtains the charge corresponding to the light signal reflected by the object to be measured; calculates ambient light data and sampled signal data based on the charge; and calculates relative accuracy in real time, per frame, based on the ambient light data, sampled signal data, and preset relative accuracy calculation rules. This allows for real-time performance evaluation and elimination of the ITOF ranging system's ranging results, ensuring that only 3D points with minimal noise are retained in the output depth data, thereby improving the overall 3D point cloud quality.

[0048] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.

[0049] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram showing an ITOF ranging system according to an exemplary embodiment of the present invention is shown;

[0051] Figure 2 A schematic flow chart of a method for determining the relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention is shown;

[0052] Figure 3 This is a flow chart of steps S104 to S105 in a method for determining relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention;

[0053] Figure 4 A schematic structural diagram of a device for determining relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention;

[0054] Figure 5 2 is a schematic diagram of a device for determining the relative accuracy of an ITOF ranging system provided by an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0056] The terms used in this invention are for the purpose of describing specific embodiments only and are not intended to limit the invention. The singular forms "a," "the," and "the" used in this invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0057] See also Figure 1 , Figure 1 A schematic diagram of an ITOF ranging system is shown as an exemplary embodiment of the present invention. The ITOF ranging system includes: a transmitter, a collector, and a processing circuit;

[0058] a transmitter 11 configured to transmit a signal beam;

[0059] A collector 12 is configured to collect light signals reflected from the object to be measured;

[0060] The processing circuit 13 is connected to the emitter and the collector, and is used to obtain the charge corresponding to the light signal reflected by the object to be measured, calculate the ambient light data and the sampled signal data based on the charge, and calculate the relative accuracy based on the ambient light data, the sampled signal data, and a preset relative accuracy calculation rule; wherein the preset relative accuracy calculation rule is obtained according to the following steps:

[0061] Obtain historical ambient light data, historical sampled signal data, and the relative ranging accuracy corresponding to the historical ambient light data and the historical sampled signal data;

[0062] A fitting function is constructed according to the historical ambient light data, the historical sampling signal data and the ranging relative accuracy to obtain a preset relative accuracy calculation rule.

[0063] Specifically, the transmitter 11 is used to transmit a signal light beam 30 to the object to be measured 20, and the light signal 40 reflected back by the object to be measured is received by the collector; wherein, the transmitter 11 and the collector 12 can be set on a substrate, specifically, they can be set on the same substrate or on different substrates.

[0064] The collector 12 includes an image sensor 121, a filtering unit 123 and a receiving optical element 122; wherein the receiving optical element 122 is used to image the spot light beam reflected back by the object to be measured onto the image sensor 121; the filtering unit 123 is used to suppress the background light noise in the remaining bands different from the wavelength of the light source; the image sensor 121 can be an image sensor array composed of a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS), etc. The array size represents the resolution of the depth camera, such as 320x240.

[0065] Generally, the image sensor 121 includes at least one pixel, each pixel includes at least one tap (used to store and read or discharge the charge signal generated by the incident photon under the control of the corresponding electrode), for example, it includes 2 taps, and the taps are switched in a certain order within a single frame period (or a single exposure time) to collect the corresponding light signal, receive the light signal and convert it into an electrical signal, and read the charge signal data.

[0066] In an optional embodiment, each pixel includes at least one tap for storing and reading or discharging an electrical signal generated by an incident photon under the control of a corresponding electrode, and calculating ambient light data and sampling signal data based on the amount of charge accumulated by the tap during an integration time.

[0067] The processing circuit 13 can be an independent dedicated circuit, such as a dedicated SOC chip, FPGA chip, ASIC chip, etc. composed of a CPU, memory, bus, etc., or it can include a general processing circuit. For example, when the ITOF ranging system is integrated into smart terminals such as mobile phones, TVs, and computers, the processing circuit of the terminal can serve as at least part of the control and processor.

[0068] In an optional embodiment, the processing circuit 13 is used to provide the modulation signal (emission signal) required when the light source emits a laser, and the light source emits a pulsed light beam to the object to be measured under the control of the modulation signal; in addition, the processing circuit 13 also provides a demodulation signal (acquisition signal) of the tap in each pixel of the image sensor 121, and the tap collects the amount of charge generated by the light signal reflected back from the object to be measured under the control of the demodulation signal.

[0069] In an optional embodiment, the processing circuit 13 is further configured to calculate the distance value of the object to be measured and determine whether the relative accuracy of the distance value exceeds a preset relative accuracy threshold. If the relative accuracy threshold is exceeded, the distance value is masked.

[0070] An embodiment of a method for determining the relative accuracy of the ITOF ranging system will be described in detail later. The processing circuit 13 calculates the relative accuracy of the ranging system according to the determination method.

[0071] See also Figure 2 , Figure 2 A flow chart of a method for determining the relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention is shown. The method is performed by a device for determining the relative accuracy of a ranging system (hereinafter referred to as the device), and includes the following steps:

[0072] S101: Obtain the charge amount corresponding to the light signal reflected by the object to be measured.

[0073] In this embodiment, the ranging system is an ITOF ranging system. The collector of the ITOF ranging system includes an image sensor. The image sensor includes multiple pixels. Each pixel includes at least one tap, which is used to store and read or discharge the electrical signal generated by the incident photon under the control of the corresponding electrode. The ambient light data and the sampling signal data can be calculated based on the amount of charge accumulated by the tap during the integration time.

[0074] S102: Calculating ambient light data and sampling signal data according to the charge amount.

[0075] The device calculates ambient light data and sampled signal data based on the charge amount.

[0076] In an optional embodiment, each pixel includes three taps, which collect the reflected light signal during the integration time and output the charge amount A. 1-3 Two of the taps are used to collect reflected light signals, and the charge amounts A1 and A2 collected by these two taps are used to represent the collected sampling signal data. The other tap is used to collect ambient light signals, and the charge amount A3 collected by the tap output is used to represent the ambient light data.

[0077] In an optional embodiment, when each pixel includes multiple taps, a sinusoidal waveform of the reflected signal collected by the collector can be fitted based on the output charge of the multiple taps. The device fits the charge to obtain a sinusoidal wave fitting curve corresponding to the light signal; ambient light data and sampled signal data are determined based on the sinusoidal wave fitting curve. For example, the fitted sinusoidal curve is: y = a + b * cost + c * sint. The amplitude and DC value can be determined based on the fitted curve, where the amplitude is used to represent the sampled signal data and the DC value is used to represent the ambient light data.

[0078] In an optional embodiment, the amplitude of the sine wave fitting curve is The DC flow is Then, the sampled signal data is expressed as Ambient light data is represented as

[0079] S103: Calculating relative accuracy according to the ambient light data, the sampled signal data, and a preset relative accuracy calculation rule.

[0080] The device calculates relative accuracy based on the ambient light data, sampled signal data, and a preset relative accuracy calculation rule. The device pre-stores the preset relative accuracy calculation rule, namely, the correspondence between the ambient light data, sampled signal data, and relative accuracy. The relative accuracy is calculated based on this correspondence between the ambient light data, sampled signal data, and relative accuracy.

[0081] In this embodiment, there is no specific limitation on the preset relative accuracy calculation rule. When the preset relative accuracy calculation rule is a function model, it can be a function model in various forms. For example, the preset relative accuracy calculation rule can be the following function model:

[0082]

[0083] Among them, C s is the sampling signal data; C n is the ambient light data; a, b, c, d are parameters; R is the relative accuracy.

[0084] The preset relative accuracy calculation rule can also be the following function model:

[0085]

[0086] Among them, C s is the sampling signal data; C n is the ambient light data; a, b, c, d are all parameters; f represents the focal length of the collector lens.

[0087] In an optional embodiment, the resolution can be calculated first. The device calculates the resolution based on the ambient light data, the sampled signal data, and a preset resolution calculation rule. The relative accuracy of the ranging system is then calculated based on the resolution. Specifically, the device can calculate the relative accuracy of the ranging system based on the resolution and a preset triple standard deviation rule. According to the triple standard deviation rule, the relationship between resolution and relative accuracy is:

[0088] R=1 / 3×E Resolution

[0089] Among them, R is the relative accuracy, E Resolution is the resolution.

[0090] In order to obtain accurate relative accuracy calculation results, the sampling data can be fitted or trained to obtain a function model of the preset relative accuracy calculation rules. Before the calculation, a fitting function can be constructed to fit the function model of the relative accuracy calculation. Before step S103, steps S104 to S105 can also be included. Figure 3 As shown, steps S104 to S105 are specifically as follows:

[0091] S104: Acquire historical ambient light data, historical sampled signal data, and relative ranging accuracies corresponding to the historical ambient light data and the historical sampled signal data.

[0092] The device acquires historical ambient light data, historical sampled signal data, and the resolutions corresponding to these data. The historical ambient light data, historical sampled signal data, and the relative ranging accuracy corresponding to these data can be used as a set of calibration data. By acquiring multiple sets of calibration data and performing fitting, a preset relative accuracy calculation rule is derived. It should be noted that the terms "historical ambient light data" and "historical sampled signal data" are merely names, representing multiple samples of ambient light data and sampled signal data, and do not refer to past or historical data.

[0093] Specifically, the simulation experiment method can be used to obtain historical ambient light data and historical sampling signal data, which can be obtained by changing the incident angle of the light beam cosθ, the ambient light illuminance I AL , reflectivity, distance L of the object to be measured and other parameters that affect the relative accuracy of distance measurement, and a set of calibration data is obtained by continuously measuring each point multiple times.

[0094] In an optional embodiment, the relative accuracy of the distance measurement is obtained by a pre-calibrated method, and the device calculates the relative accuracy of the distance measurement by obtaining the target distance measurement value, the target actual distance value, and the average value of the target distance measurement. Specifically, assuming that the target point is set to be at a distance L from the TOF ranging system m , (m=1, 2, 3…, M), for example, when m=1, set L1=1m, when m=2, set L2=1.1m, when m=3, set L3=1.3m, etc. Wherein, when L1 is the actual distance value of the target, the target distance measurement value l1-ln is obtained by continuous measurement n times, and the ambient light data C is obtained in each measurement process. nn and sampled signal data C sn , calculate the standard deviation of the target distance measurement value and the actual target distance value for n times and record it as the relative accuracy of the distance measurement, and calculate the mean of the historical ambient light data and historical sampling signal data of n times to obtain a set of calibration data with the target point L1. Among them, the process of obtaining the relative accuracy after n times of measurement is as follows:

[0095] In one embodiment, assume that the image sensor pixel includes three taps, which are set to be activated at different times within a single cycle time T, and respectively collect background light signal I0 from 0 to T / 3, light signal I1 from T / 3 to 2T / 3, and light signal I2 from 2T / 3 to T. Alternatively, light signal I1 is collected from 0 to T / 3, light signal I2 is collected from T / 3 to 2T / 3, and background light signal I0 is collected from 2T / 3 to T. Based on this, the distance can be calculated as:

[0096]

[0097] Where c is the speed of light, which is approximately 3×10 8 m / s, then calculate the target distance measurement value d of the i-th measurement in n consecutive measurements i , and the average target distance measurement value d of n measurements, the resolution of the ranging system is:

[0098]

[0099] Where di represents the distance value obtained by the i-th measurement, and the number of tests ranges from 1 to n, with a total of n times. represents the average value of n measurements, It can be expressed as:

[0100]

[0101] Generally speaking, according to the triple standard deviation law, the relationship between resolution and relative accuracy of ranging is:

[0102] R=1 / 3×E Resolution

[0103] The relative accuracy of the ranging is calculated after n samplings, and a set of calibration data can be obtained by calculating the average of n historical ambient light data and historical sampling signal data.

[0104] During the sampling process, parameters such as the incident angle, ambient light intensity, or reflectivity can be adjusted, and the above sampling process can be repeated to obtain multiple sets of calibration data. It is understandable that only one of the influencing parameters can be adjusted or multiple parameters can be adjusted simultaneously. The size of the parameters can be randomly adjusted using a random number generation pattern, or the size of the parameters can be adjusted according to a certain rule, such as an adjustment mode from small to large or from large to small. The specific adjustment method is not limited in this application.

[0105] S105: Constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the ranging relative accuracy to obtain a preset relative accuracy calculation rule.

[0106] The device constructs a fitting function based on historical ambient light data, historical sampling signal data, and relative ranging accuracy. Common fitting methods include least squares curve fitting. In MATLAB, polyfit can also be used to fit polynomials. After obtaining the fitting function, the preset relative accuracy calculation rules can be obtained.

[0107] The present invention obtains the charge corresponding to the light signal reflected by the object to be measured; determines the ambient light data and sampled signal data based on the charge; and calculates the relative accuracy of a single frame in real time based on the ambient light data, sampled signal data, and preset relative accuracy calculation rules. If the relative accuracy exceeds a preset accuracy threshold, the distance value is blocked. This allows for real-time performance evaluation and elimination of ranging results, ensuring that only 3D points with minimal noise are retained in the output depth data, thereby improving the overall 3D point cloud effect.

[0108] See Figure 4 , Figure 4 The schematic diagram of the structure of the device for determining the relative accuracy of the ITOF ranging system according to an exemplary embodiment of the present invention is shown. Figure 2 and Figure 3 For details of the steps in the corresponding embodiment, please refer to Figure 2 and Figure 3 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 4 , the device 4 for determining the relative accuracy of the ranging system includes:

[0109] The first acquisition unit 410 is used to obtain the charge amount corresponding to the light signal reflected by the object to be measured;

[0110] A first processing unit 420 is configured to calculate ambient light data and sampled signal data based on the charge amount;

[0111] The second processing unit 430 is configured to calculate relative accuracy according to the ambient light data and the sampled signal data and a preset relative accuracy calculation rule.

[0112] Furthermore, the second processing unit 430 is specifically configured to:

[0113] Calculating a resolution based on the ambient light data, the sampled signal data, and a preset resolution calculation rule;

[0114] The relative accuracy of the ranging system is calculated based on the resolution.

[0115] Furthermore, the second processing unit 430 is specifically configured to:

[0116] The relative accuracy of the distance measurement system is calculated according to the resolution and a preset three-standard deviation law.

[0117] Furthermore, it also includes:

[0118] A second acquisition unit is used to acquire historical ambient light data, historical sampled signal data, and relative ranging accuracy corresponding to the historical ambient light data and the historical sampled signal data;

[0119] The third processing unit is used to construct a fitting function according to the historical ambient light data, the historical sampling signal data and the ranging relative accuracy to obtain a preset relative accuracy calculation rule.

[0120] Furthermore, it also includes:

[0121] a third acquiring unit, configured to acquire a target distance measurement value, a target actual distance value, and a target distance measurement average value;

[0122] The fourth processing unit is configured to calculate a relative distance measurement accuracy based on the target distance measurement value, the target actual distance value, and the target distance measurement average value.

[0123] Furthermore, the second processing unit 430 is specifically configured to:

[0124] Fitting the charge amount to obtain a sinusoidal wave fitting curve corresponding to the light signal;

[0125] Ambient light data and sampled signal data are determined according to the sine wave fitting curve.

[0126] See Figure 5 , Figure 5 FIG. 1 is a schematic diagram of a device for determining the relative accuracy of an ITOF ranging system provided by an exemplary embodiment of the present invention. Figure 5 As shown, the device 5 for determining the relative accuracy of an ITOF ranging system in this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a program for determining the relative accuracy of the ranging system. When the processor 50 executes the computer program 52, the steps of the above-mentioned methods for determining the relative accuracy of the ITOF ranging system are implemented, such as Figure 2 Alternatively, when the processor 50 executes the computer program 52, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 4 Functions of units 410 to 430 are shown.

[0127] Exemplarily, the computer program 52 can be divided into one or more modules / units, which are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 52 in the device 5 for determining the relative accuracy of the ITOF ranging system. For example, the computer program 52 can be divided into a first acquisition module, a first processing module, and a second processing module, and the functions of each module are as follows:

[0128] The first acquisition module is used to obtain the charge amount corresponding to the light signal reflected by the object to be measured;

[0129] a first processing module, configured to calculate ambient light data and sampling signal data according to the charge amount;

[0130] The second processing module is configured to calculate relative accuracy based on the ambient light data, the sampled signal data, and a preset relative accuracy calculation rule.

[0131] The ITOF ranging system relative accuracy determination device 5 may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5 The present invention is merely an example of the device 5 for determining the relative accuracy of an ITOF ranging system and does not constitute a limitation on the device 5 for determining the relative accuracy of an ITOF ranging system. The device 5 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the device 5 for determining the relative accuracy of an ITOF ranging system may also include input and output devices, network access devices, buses, etc.

[0132] The processor 50 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0133] The memory 51 can be an internal storage unit of the device 5 for determining the relative accuracy of the ITOF ranging system, such as a hard disk or memory of the device 5 for determining the relative accuracy of the ranging system. The memory 51 can also be an external storage device of the device 5 for determining the relative accuracy of the ITOF ranging system, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the device 5 for determining the relative accuracy of the ITOF ranging system. Further, the memory 51 can also include both an internal storage unit and an external storage device of the device 5 for determining the relative accuracy of the ITOF ranging system. The memory 51 is used to store the computer program and other programs and data required by the device for determining the relative accuracy of the ITOF ranging system. The memory 51 can also be used to temporarily store data that has been output or is about to be output.

[0134] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0135] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0136] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0137] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0138] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0139] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0140] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals. The present invention is not limited to the above-mentioned embodiments. If various changes or modifications of the present invention do not depart from the spirit and scope of the present invention, and if these changes and modifications fall within the scope of the claims of the present invention and equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. An ITOF ranging system, characterized in that: include: Transmitter, collector, and processing circuit; The transmitter is configured to transmit a signal light beam; The collector is configured to collect the reflected light signal reflected by the object; The processing circuit is connected to the emitter and the collector, and is used to obtain the charge corresponding to the light signal reflected by the object to be measured, so as to determine the ambient light data and the sampled signal data according to the charge, and calculate the relative accuracy according to the ambient light data, the sampled signal data and a preset relative accuracy calculation rule; The preset relative accuracy calculation rule is obtained according to the following steps: Obtain historical ambient light data, historical sampled signal data, and the relative ranging accuracy corresponding to the historical ambient light data and the historical sampled signal data; Constructing a fitting function based on the historical ambient light data, the historical sampling signal data and the relative accuracy of ranging to obtain a preset relative accuracy calculation rule; The process of obtaining the relative accuracy of the ranging is as follows: Get the target distance measurement value d of the i-th measurement in n consecutive measurements i , and the average target distance measurement of n measurements , then the resolution of the ranging system is: Among them, d i Indicates the distance value obtained by the i-th measurement, the number of tests ranges from 1 to n, a total of n times, represents the average value of n measurements, Expressed as: According to the triple standard deviation law, the relationship between resolution and relative ranging accuracy is: The relative accuracy of the distance measurement is calculated after n samplings.

2. The ranging system according to claim 1, wherein: The processing circuit is further configured to calculate the distance value of the object to be measured and determine whether the relative accuracy of the distance value exceeds a preset relative accuracy threshold. If the relative accuracy exceeds the preset relative accuracy threshold, the distance value is shielded.

3. The ITOF ranging system according to claim 1 or 2, wherein: The preset relative accuracy calculation rule is a function model, and the function model is: Among them, C s is the sampling signal data; C n is the ambient light data; a, b, c, d are parameters; R is the relative accuracy.

4. A method for determining the relative accuracy of an ITOF ranging system, characterized in that: include: Obtain the charge corresponding to the light signal reflected by the object to be measured; Calculating ambient light data and sampling signal data according to the charge amount; Calculating relative accuracy based on the ambient light data, the sampled signal data, and a preset relative accuracy calculation rule; The preset relative accuracy calculation rule is obtained according to the following steps: Obtain historical ambient light data, historical sampled signal data, and the relative ranging accuracy corresponding to the historical ambient light data and the historical sampled signal data; Constructing a fitting function based on the historical ambient light data, the historical sampling signal data and the relative accuracy of ranging to obtain a preset relative accuracy calculation rule; The process of obtaining the relative accuracy of the ranging is as follows: Get the target distance measurement value d of the i-th measurement in n consecutive measurements i , and the average target distance measurement of n measurements , then the resolution of the ranging system is: Among them, d i Indicates the distance value obtained by the i-th measurement, the number of tests ranges from 1 to n, a total of n times, represents the average value of n measurements, Expressed as: According to the triple standard deviation law, the relationship between resolution and relative ranging accuracy is: The relative accuracy of the distance measurement is calculated after n samplings.

5. The method for determining the relative accuracy of the ITOF ranging system according to claim 4, wherein: The preset relative accuracy calculation rule is a function model, and the function model is: Among them, C s is the sampling signal data; C n is the ambient light data; a, b, c, d are parameters; R is the relative accuracy.

6. The method for determining the relative accuracy of the ITOF ranging system according to claim 4, wherein: Also includes: Calculating a resolution based on the ambient light data, the sampled signal data, and a preset resolution calculation rule; The relative accuracy of the ranging system is calculated based on the resolution.

7. The method for determining the relative accuracy of an ITOF ranging system according to claim 4, wherein: The calculating of the ambient light data and the sampling signal data according to the charge amount includes: Fitting the charge amount to obtain a sinusoidal wave fitting curve corresponding to the light signal; Ambient light data and sampled signal data are determined according to the sine wave fitting curve.

8. A device for determining the relative accuracy of an ITOF ranging system, characterized in that: include: A first acquisition unit is used to acquire the charge amount corresponding to the light signal reflected by the object to be measured; a first processing unit, configured to calculate ambient light data and sampled signal data according to the charge amount; a second processing unit, configured to calculate relative accuracy based on the ambient light data, the sampled signal data, and a preset relative accuracy calculation rule; The preset relative accuracy calculation rule is obtained according to the following steps: Obtain historical ambient light data, historical sampled signal data, and the relative ranging accuracy corresponding to the historical ambient light data and the historical sampled signal data; A fitting function is constructed based on the historical ambient light data, the historical sampled signal data, and the relative accuracy of ranging to obtain a preset relative accuracy calculation rule; the process of obtaining the relative accuracy of ranging is as follows: Get the target distance measurement value d of the i-th measurement in n consecutive measurements i , and the average target distance measurement of n measurements , then the resolution of the ranging system is: Among them, d i Indicates the distance value obtained by the i-th measurement, the number of tests ranges from 1 to n, a total of n times, represents the average value of n measurements, Expressed as: According to the triple standard deviation law, the relationship between resolution and relative ranging accuracy is: The relative accuracy of the distance measurement is calculated after n samplings.

9. A device for determining the relative accuracy of an ITOF ranging system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for determining the relative accuracy of the ITOF ranging system according to any one of claims 4 to 7 is implemented.

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