Transmitting module, photoelectric distance measuring device, electronic equipment and photoelectric distance measuring method

Abstract

The present application discloses a transmitting module, a photoelectric distance measuring device, an electronic device and a photoelectric distance measuring method. The transmitting module is configured to transmit a sensing light beam for distance detection within a detection range. The transmitting module includes: a plurality of transmitting units configured to emit sensing light beams; a control module configured to control a group of transmitting units with a preset position relationship among the plurality of transmitting units to emit sensing light beams within a detection frame. Based on the above method, the accuracy of optical distance measurement can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of measurement technology, and in particular to a transmitting module, a photoelectric distance measuring device, an electronic device and a photoelectric distance measuring method. Background Art

[0002] Direct Time of Flight (dToF) technology is a technology that directly uses the flight time of light to measure distance. By using direct time of flight technology, the distance information or depth information corresponding to the object reflecting the light pulse can be determined based on the time interval from the emission to the return of the light pulse, thereby achieving the purpose of optical ranging. Direct time of flight technology is widely used in unmanned driving, 3D modeling and imaging and other fields.

[0003] The photoelectric distance measuring device implementing the direct time-of-flight technology includes a transmitting module, a receiving module and a data processing end. The transmitting module emits a sensing light beam for distance measurement, the receiving module is used to receive and sense the sensing light beam reflected by the distance measurement target, and the data processing end determines the distance information of the distance measurement target reflecting the sensing light beam based on the flight time between the emission time and the reception time of the sensing light beam and the speed of light.

[0004] The defect of the prior art is that in some complex scenarios, there are multiple photoelectric ranging devices working at the same time, and the sensing light beams emitted by different photoelectric ranging devices will cause crosstalk, making it impossible for the photoelectric ranging device to determine whether the received sensing light beam is emitted by itself or by other photoelectric ranging devices, thereby affecting the accuracy of optical ranging. Summary of the invention

[0005] The main technical problem solved by this application is how to improve the accuracy of optical distance measurement.

[0006] In order to solve the above technical problems, the first technical solution adopted in the present application is: a transmitting module, configured to transmit a sensing light beam for distance detection within a detection range, the transmitting module comprising: a plurality of transmitting units, configured to emit a sensing light beam; a control module, configured to control a group of transmitting units with a preset position relationship among the plurality of transmitting units to emit a sensing light beam within a detection frame.

[0007] In order to solve the above technical problems, the second technical solution adopted in the present application is: a photoelectric ranging device, comprising: the above-mentioned transmitting module, configured to emit multiple sensing light beams with a preset position relationship to a detection range within a detection frame; a receiving module, including multiple receiving units, configured to receive light beams from within the detection range, and output corresponding light sensing signals based on the received light beams; a processing module, configured to analyze and process the light sensing signals to determine the position relationship of the receiving units that receive the light beams within the same detection frame, and judge whether the light beam received by the receiving unit is a sensing light beam emitted by the transmitting unit of the photoelectric ranging device based on the degree of spatial matching with the preset position relationship of the transmitting unit that emits the sensing light beam.

[0008] In order to solve the above technical problems, the third technical solution adopted in this application is: an electronic device, including an application device, and the above-mentioned transmitting module or the above-mentioned photoelectric ranging device, and the application device is used to measure distance based on the transmitting module or the photoelectric ranging device.

[0009] In order to solve the above technical problems, the fourth technical solution adopted in the present application is: a photoelectric ranging method, applied to the above-mentioned transmitting module or the above-mentioned photoelectric ranging device or the above-mentioned electronic device; the photoelectric ranging method includes: controlling a group of transmitting units with a preset position relationship among multiple transmitting units to emit a sensing light beam within a detection frame.

[0010] The beneficial effect of the present application lies in that, different from the prior art, in the technical solution of the present application, a group of transmitting units with a preset position relationship among multiple transmitting units of a transmitting module for distance detection can be used to transmit multiple sensing light beams with the preset position relationship to the ranging target, so that the sensing light beams emitted by the present photoelectric ranging device can be distinguished from the sensing light beams emitted by other photoelectric ranging devices, and then the receiving module corresponding to the transmitting module can perform ranging calculation based on the received light beams only when receiving the multiple sensing light beams with the preset position relationship, which can reduce the situation of mistaking other irrelevant light for reflected light of the light beam emitted by the transmitting module for ranging, thereby reducing the crosstalk caused by sensing light beams emitted by other transmitting modules, and improving the accuracy of optical ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 It is a schematic diagram of the distance measurement principle of the photoelectric distance measurement device provided in the embodiment of the present application;

[0013] Figure 2 is a count histogram of the reception time distribution of the optical signal received by the receiving module provided in the embodiment of the present application;

[0014] Figure 3 This is one of the structural schematic diagrams of the embodiment 1 of the photoelectric distance measuring device of the present application;

[0015] Figure 4 This is the second structural schematic diagram of the first embodiment of the photoelectric distance measuring device of the present application;

[0016] Figure 5 This is the third structural diagram of the first embodiment of the photoelectric distance measuring device of the present application;

[0017] Figure 6 This is the fourth structural diagram of the first embodiment of the photoelectric distance measuring device of the present application;

[0018] Figure 7 This is the fifth structural diagram of the first embodiment of the photoelectric distance measuring device of the present application;

[0019] Figure 8 This is one of the structural schematic diagrams of the second embodiment of the photoelectric distance measuring device of the present application;

[0020] Fig. 9 This is the second structural schematic diagram of the second embodiment of the photoelectric distance measuring device of the present application;

[0021] Fig.10 This is the third structural diagram of the second embodiment of the photoelectric distance measuring device of the present application;

[0022] Fig.11 This is one of the structural schematic diagrams of the third embodiment of the photoelectric distance measuring device of the present application;

[0023] Fig.12 This is the second structural schematic diagram of the third embodiment of the photoelectric distance measuring device of the present application;

[0024] Fig.13 This is the third structural diagram of the third embodiment of the photoelectric distance measuring device of the present application;

[0025] Fig.14 This is the fourth structural diagram of the third embodiment of the photoelectric distance measuring device of the present application;

[0026] Fig.15 This is the fifth structural diagram of the third embodiment of the photoelectric distance measuring device of the present application;

[0027] Fig.16 This is the sixth structural diagram of the third embodiment of the photoelectric distance measuring device of the present application;

[0028] Fig.17This is one of the structural schematic diagrams of an embodiment of the electronic device of the present application;

[0029] Fig.18 This is the second structural schematic diagram of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0031] The terms "first" and "second" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0032] Introduction to the basic principles of optical distance measurement

[0033] like Figure 1 As shown, Figure 1 1 is a schematic diagram of the distance measurement principle of the photoelectric distance measuring device 10 provided in an embodiment of the present application. The photoelectric distance measuring device 10 includes a transmitting module 1, a receiving module 2 and a processing module 3. The transmitting module 1 transmits a sensing light beam to the distance measuring target in the measurement scene and records the emission time of the sensing light beam, wherein at least part of the sensing light beam is reflected by the distance measuring target and returns. The receiving module 2 receives the light signal from the measurement scene and records the receiving time of receiving the light signal by outputting a corresponding light sensing signal. It should be understood that the light signal received by the receiving module 2 may include the sensing light beam reflected by the distance measuring target and the noise signals such as the ambient light and the interference light emitted by other light sources in the measurement scene. The processing module 3 determines the receiving time of the sensing light beam reflected by the distance measuring target by analyzing the statistical distribution of the receiving time of the light signal received by the receiving module 2, and then determines the flight time of the sensing light beam according to the difference between the emission time and the receiving time of the sensing light beam reflected by the distance measuring target, and determines half of the product of the flight time of the sensing light beam and the speed of light as the distance between the distance measuring target reflecting the sensing light beam and the photoelectric distance measuring device 10.

[0034] For example, it can be determined according to formula (1) Figure 1 The distance to be measured is shown as follows:

[0035] d=(t2-t1)×c÷2=T×c÷2 (1)

[0036] Among them, d is the distance to be measured, t1 is the transmission time, t2 is the receiving time, T is the laser flight time, and c is the speed of light.

[0037] Optionally, in some embodiments, the processing module 3 may include a timing unit 32, a statistics unit 33, a flight time acquisition unit 34, and a distance acquisition unit 35. The timing unit 32 is configured to determine the reception time of the optical signal received by the receiving module 2. The photoelectric distance measuring device 10 transmits multiple sensing beams through the transmitting module 1 during the measurement process. The timing unit 32 starts timing from each time the transmitting module 1 transmits a sensing beam to record the reception time of the optical signal received by the receiving module 2 between two adjacent sensing beam emissions. During this period, the receiving module 2 outputs a corresponding light sensing signal each time it receives a light signal. The timing unit 32 records the reception time of the received light signal according to the light sensing signal output by the receiving module 2.

[0038] The statistical unit 33 is configured to count and count in the corresponding time bins according to the reception time of the optical signal determined by the timing unit 32, so as to obtain a counting histogram that can reflect the reception time distribution of multiple optical signals received by the receiving module 2. The time bin is the minimum time unit for recording the reception time of the optical signal by the timing unit 32, which can reflect the accuracy of the time recording by the timing unit 32. The finer the time bin, the higher the accuracy of the recorded time. Figure 2As shown, during the measurement process, a large amount of ambient light will also be received by the receiving module 2 to generate corresponding light signal counts. Since the light signals of ambient light are received by the receiving module 2 as a random event, the probability of these light signals of ambient light being sensed and leaving counts in each time bin (time period) tends to be the same, forming the noise background (Noise Level) of the measurement scene. In the measurement scene with strong ambient light, the average level of the measured noise background is relatively high, and in the scene with weak ambient light, the average level of the measured noise background is relatively low. On this basis, the sensing light beam reflected from the ranging target in the measurement scene is received and the corresponding light signal count is superimposed on the noise background, so that the light signal count in the time bin corresponding to the reception time of the sensing light beam will be significantly higher than the light signal count in other time bins, thereby forming a prominent signal peak in the counting histogram. It is understandable that the counting height of the signal peak will be affected by factors such as the light emission power of the sensing beam, the reflectivity of the ranging target, and the detection range of the photoelectric ranging device 10, and the width of the signal peak will be affected by factors such as the pulse width of the emitted sensing beam, the photosensitive device of the receiving module 2, and the time jitter of the timing unit 32. Therefore, the flight time acquisition unit 34 can determine the flight time of the relevant sensing beam reflected by the ranging target and received and sensed by the receiving module 2 according to the time difference between the time stamp t1 of the time bin corresponding to the peak value of the signal peak and the emission time t0 (not shown) of the relevant sensing beam generating the signal peak. The distance acquisition unit 35 can be configured to obtain the distance information between the ranging target reflecting the relevant sensing beam and the transmitting module 1 of the photoelectric ranging device 10 according to the above-mentioned flight time, for example: the connecting distance between the ranging target and the photoelectric ranging device 10 in the measurement scene.

[0039] The above-mentioned photoelectric ranging device 10 can be a laser radar device or a part of a laser radar device, or can be other types of photoelectric ranging devices. The specific method can be determined according to actual needs and is not limited here.

[0040] Embodiment 1

[0041] This application first proposes a photoelectric distance measuring device, such as Figure 1 and 3 As shown, Figure 3 is one of the structural diagrams of the first embodiment of the photoelectric distance measuring device 10 of the present application. The transmitting module 1 of the photoelectric distance measuring device 10 may include a plurality of transmitting units (such as Figure 3 The receiving module 2 of the photoelectric distance measuring device 10 may include a plurality of receiving units (such as Figure 3 The receiving units 15-18 shown in the figure), the photoelectric ranging device 10 also includes a processing module 3.

[0042] Multiple transmitting units can be configured to be arranged according to a preset positional relationship, and to be used to transmit multiple sensing light beams to the ranging target within a detection frame, so that the multiple sensing light beams are emitted to the ranging target based on the preset positional relationship, and thereby the reflected return sensing light beams formed by the multiple sensing light beams after being reflected by the ranging target also have the preset positional relationship.

[0043] The processing module 3 can determine whether the two match based on the degree of spatial matching between the positional relationship of the multiple receiving units of the receiving module 2 that receive the reflected sensing light beams and the positional relationship of the multiple transmitting units of the transmitting module 1 that emit the sensing light beams, and when it is determined that the positional relationship of the multiple receiving units of the receiving module 2 that receive the reflected sensing light beams matches the positional relationship of the multiple transmitting units of the transmitting module 1 that emit the multiple sensing light beams, it can determine that the sensing light beams received by the multiple receiving units are the reflected light generated by the sensing light beams emitted by the multiple transmitting units of the photoelectric ranging device 10 and reflected by the ranging target. Thus, the processing module 3 can perform accurate laser ranging based on the relevant data of the reflected sensing light beams received by the multiple receiving units. Optionally, in some embodiments, the processing module 3 can generate a count histogram (e.g., Figure 2 ) to determine whether it has received the sensing beam and the time when the sensing beam was received.

[0044] Different from the prior art, in the technical solution of the present application, a group of emitting units with a preset position relationship among the multiple emitting units of the emitting module 1 is used to emit multiple sensing light beams with the preset position relationship to the ranging target, so that the sensing light beam emitted by the photoelectric ranging device 10 can be distinguished from the sensing light beams emitted by other photoelectric ranging devices 10, and then the receiving module 2 corresponding to the emitting module 1 can perform ranging calculation based on the received light beams only when receiving the multiple sensing light beams with the preset position relationship. Based on the above method, the processing module 3 of the photoelectric ranging device 10 can perform ranging based on the sensing light beams received by the multiple receiving units only when it is determined that the sensing light beams received by the receiving unit are the reflected light obtained by the multiple sensing light beams emitted by the multiple emitting units of the photoelectric ranging device 10 and reflected by the ranging target, which can reduce the occurrence of optical ranging by mistakenly taking other irrelevant light as the reflected light of the sensing light beam emitted by the photoelectric ranging device 10, thereby reducing the crosstalk caused by the sensing light beams from other photoelectric ranging devices 10, and improving the accuracy of optical ranging.

[0045] Optionally, in some embodiments, the multiple transmitting units are all transmitting units in the transmitting module 1 that satisfy a preset position relationship, and / or the multiple receiving units are all receiving units in the receiving module 2 that receive multiple sensing light beams reflected by the ranging target.

[0046] Optionally, in some embodiments, Figure 3 As shown, the transmitting units 11-14 of the transmitting module 1 are staggeredly arranged according to a preset position relationship, the transmitting units 11 and 13 are arranged on the first vertical column, and the transmitting units 12 and 14 are arranged on the second vertical column, and the transmitting units 11-14 are staggered horizontally and are respectively located in different horizontal rows.

[0047] Receiving units 15-18 refer to Figure 3 Several receiving units of the 4×4 receiving units of the receiving module 2 shown receive the reflected sensing light beam. The processing module 3 can determine that the receiving units 15-18 are the receiving units of the receiving module 2 that receive the reflected sensing light beam through the relevant data of the signal peak in the counting histogram generated by each receiving unit. For example but not limited to, the processing module 3 can determine whether there is a signal peak in the counting histogram generated by each receiving unit and the flight time corresponding to the signal peak and other related information through the above-mentioned flight time acquisition unit 34.

[0048] The positional relationship between the transmitting units 11-14 can reflect the positional relationship between the multiple sensing beams emitted by the transmitting module 1, and the positional relationship between the receiving units 15-18 can reflect the positional relationship between the multiple sensing beams received by the receiving module 2. Correspondingly, the processing module 3 can further include a matching unit 31, which is configured to determine whether the positional relationship between the transmitting units 11-14 that emit the sensing beams and the positional relationship between the receiving units 15-18 that receive the reflected sensing beams match based on the spatial matching degree between the positional relationship between the transmitting units 11-14 that emit the sensing beams and the positional relationship between the receiving units 15-18 that receive the reflected sensing beams, so as to determine whether the sensing beam received by the receiving module 2 of the photoelectric distance measuring device 10 is the sensing beam emitted by the transmitting module 1 of the photoelectric distance measuring device 10, and the distance can be measured based on the receiving time, the transmitting time and the above formula (1) of the multiple sensing beams to obtain the distance between the photoelectric distance measuring device 10 and the distance measurement target. It should be noted that the above example is merely an example of the photoelectric distance measuring device 10 of the present application, and is not the only implementation method of the photoelectric distance measuring device 10 of the present application.

[0049] Optionally, in some embodiments, a corresponding relationship can be established between the transmitting unit and the receiving unit through optical path design, for example: a sensing light beam emitted by a certain transmitting unit in the transmitting module 1 will be received by a specific receiving unit on the receiving module 2 after being reflected by the ranging target within the field of view. In this case, by presetting the transmitting unit and the receiving unit that satisfy the corresponding relationship, the matching unit 31 determines the matching degree between the transmitting unit that emits the sensing light beam according to whether the receiving unit that satisfies the pre-set corresponding relationship receives the sensing light beam.

[0050] The multiple transmitting units that meet the preset position relationship can be 4, the same as the number of the transmitting units 11-14, or 8, or other numbers, which can be determined according to actual needs and are not limited here. Similarly, the multiple receiving units corresponding to the sensing light beams reflected back can be 4, the same as the number of the receiving units 15-18, or 8, or other numbers, which can be determined according to actual needs and are not limited here.

[0051] Alternatively, if Figure 3 or Figure 4 As shown, the transmitting module 1 may only include transmitting units 11-14 arranged according to a preset position relationship to emit multiple sensing light beams that meet the preset position relationship. Figure 5 As shown, the emitting unit on the emitting module 1 may also be an emitting unit array arranged in M×N, and multiple sensing light beams satisfying the preset position relationship are emitted by selecting and lighting up the emitting units at the preset positions in the emitting unit array. It should be understood that the emitting unit on the emitting module 1 may be any other form or a plurality of emitting units selected to emit multiple sensing light beams in the above-mentioned preset position relationship, which may be determined according to actual needs and is not limited here.

[0052] The receiving units 15-18 can be several receiving units that receive the sensing light beams in the receiving unit array arranged in M×N on the receiving module 2, or can be several receiving units that can receive the reflected light of multiple sensing light beams among all the receiving units arranged in other forms. The specific number can be determined according to actual needs and is not limited here.

[0053] In addition, the multiple emission units can specifically be all or part of the emission units in any type of light source including more than two emission units, for example: a linear array light source (such as Figure 4 A linear array light source composed of a row of emitting units 11-14 as shown), a planar array light source (such as Figure 5 The planar array light source composed of all the emitting units including the emitting units 11-14 arranged in an array as shown) and other light source patterns composed of point light sources in a preset position relationship (such as Figure 3The staggered light source pattern shown is composed of emitting units 11-14 arranged according to a preset position relationship) etc.

[0054] It should be understood that the photoelectric distance measuring device 10 also includes a control module 4, which is configured to control the multiple emitting units on the emitting module 1 that satisfy a preset position relationship to emit a sensing light beam. Optionally, in some embodiments, the preset position relationship between the multiple emitting units that emit the sensing light beam in different detection frames may also be different. For example, in the first detection frame, multiple emitting units that satisfy a first position relationship are used to emit a sensing light beam; in the second detection frame, multiple emitting units that satisfy a different second position relationship are used to emit a sensing light beam.

[0055] Optionally, in some embodiments, in order to facilitate the identification and matching of the emission position relationship and the receiving position relationship of multiple sensing light beams, the position relationship of the emitting unit that emits the sensing light beam to the ranging target can be encoded according to a preset spatial coding rule to obtain a first code, and the position relationship of the receiving unit that receives the sensing light beam reflected back by the ranging target can be encoded to obtain a second code.

[0056] Among them, by comparing the first code with the second code, the spatial matching degree between the positional relationship of the receiving unit that receives the light beam and the positional relationship of the emitting unit that emits the sensing light beam can be determined, and based on the spatial matching degree, it can be determined whether the first code matches the second code.

[0057] If there is no match, it can be determined that the light received by the multiple receiving units corresponding to the second code is not the reflected light of the sensing light beam emitted by the multiple transmitting units corresponding to the first code. At this time, the correct ranging result cannot be obtained based on the light beams received by the multiple receiving units.

[0058] If they match, it can be determined that the light received by the multiple receiving units corresponding to the second code is the reflected light of the sensing light beams emitted by the multiple transmitting units corresponding to the first code. At this time, the correct ranging result can be obtained based on the light beams received by the multiple receiving units.

[0059] Thus, the positional relationship between each transmitting unit and each receiving unit can be quantified by coding, thereby facilitating subsequent matching and evaluation of the positional relationship, thereby improving the convenience, reliability and accuracy of optical ranging.

[0060] Specifically, for example, Figure 3 As shown, the position code of the transmitting unit located in the first vertical column can be set to 0, and the position code of the transmitting unit located in the second vertical column can be set to 1. Figure 3In the embodiment of the present invention, the position codes of the transmitting units 11 and 13 of the transmitting module 1 are 0, and the position codes of the transmitting units 12 and 14 are 1. According to the coding order from top to bottom, the first code reflecting the positional relationship between the transmitting units 11-14 of the transmitting module 1 is 0101, and each bit of the first code 0101 from left to right corresponds to the positional information of the sensing light beams emitted by the transmitting units 11-14. The control module 4 controls the positional relationship between the multiple sensing light beams emitted by the transmitting units 11-14 through the preset spatial coding rule and the first code, and also has the corresponding first code 0101.

[0061] Correspondingly, the position code of the receiving combination located in the third vertical column can be set to 0, and the position code of the receiving unit located in the fourth vertical column can be set to 1. Figure 3 In the embodiment, after analysis by the processing module 3, it is determined that the receiving unit 15-18 receives the reflected sensing light beam, wherein the position code of the receiving units 15 and 17 located in the third vertical column is 1, and the position code of the receiving units 16 and 18 located in the fourth vertical column is 0. The position relationship of the receiving units 15-18 that receive the reflected sensing light beam is encoded in the coding order from top to bottom, and the obtained second code is 0101. Each bit of the second code 0101 from left to right corresponds to the position information of the receiving unit 15-18 that receives the reflected sensing light beam, that is, the position relationship of the multiple receiving units 15-18 that receive the reflected sensing light beam on the receiving module 2 also has the corresponding second code 0101. Correspondingly, the processing module 3 may also include a coding unit 36, which is configured to encode the position relationship of the receiving units 15-18 that receive the light beam according to a preset spatial coding rule to obtain the second code 0101.

[0062] By comparing the first code and the second code, it can be known that the two codes are the same, and the corresponding spatial matching degree is large enough, that is, the first code matches the second code, thereby determining that the positional relationship of the multiple sensing beams received by the receiving module 2 of the photoelectric distance measuring device 10 matches the positional relationship of the multiple sensing beams emitted by the transmitting module 1. At this time, the optical distance measurement can be completed based on the receiving time of the sensing beams received by the multiple receiving units 15-18, the emitting time of the sensing beams emitted by the transmitting units 11-14, and the above formula (1). It should be understood that in this embodiment, the matching unit 31 of the processing module 3 can determine whether the positional relationship of the multiple transmitting units that emit the sensing beams matches the positional relationship of the multiple receiving units that receive the sensing beams by comparing the first code and the second code.

[0063] It should be noted that, in the above embodiment, the transmitting module 1 performs binary encoding of 0 and 1 on the positional relationship of two different columns of transmitting units. If the number of transmitting units that can be used for encoding in each column is N, then the combination of the positional relationship of the two columns of transmitting units can reach 2 N It should be understood that, in other embodiments, the multiple transmitting units of the transmitting module 1 for positional relationship encoding may be arranged not only in two columns, but also in multiple columns of other numbers, and the codes corresponding to the transmitting units in each column may be recorded as different numbers, that is, the above-mentioned codes are not limited to binary, but can be encoded in any base. In addition, it should be understood that when matching and evaluating by means of coding, the same coding order is required for both the transmitted coding and the received coding, for example: the coding order from top to bottom is adopted in this application.

[0064] Optionally, the processing module 3 is configured to determine that the two are matched when the degree of spatial matching between the positional relationship of the receiving unit that receives the light beam and the positional relationship of the emitting unit that emits the sensing light beam is greater than a preset matching threshold, so as to determine that the sensing light beam received by the receiving unit in the current detection frame is the sensing light beam emitted by the emitting unit of the photoelectric ranging device 10 in the same detection frame.

[0065] Specifically, the positional relationship of the multiple receiving units that receive the sensing light beams can be matched and compared with the positional relationship of the multiple transmitting units that emit the sensing light beams, and when the spatial matching degree obtained by the matching comparison is greater than the matching threshold, it is determined to be a match, that is, the multiple sensing light beams received by the multiple receiving units can be considered to be the reflected light of the multiple sensing light beams emitted by the multiple transmitting units, and the processing module 3 can obtain correct results by performing optical ranging based on the relevant data of the multiple sensing light beams received by the multiple receiving units.

[0066] It should be noted that, in the actual distance measurement process, due to the obstruction of obstacles on the optical path, the attenuation of the laser to the point where it cannot be detected, or other reasons, the multiple sensing beams received by the multiple receiving units may lack a part relative to the multiple sensing beams emitted by the multiple transmitting units of the photoelectric distance measuring device 10, but this does not change the validity of the received sensing beams, that is, the sensing beams received by the multiple receiving units are indeed emitted by the transmitting units of the photoelectric distance measuring device 10, and the distance information of the distance measuring target calculated based on this is also accurate and valid. Therefore, if Figure 1As shown, the matching unit 3131 of the processing module 3 is configured to determine that the two are matched when the positional relationship between the multiple receiving units that receive the sensing light beam is not completely consistent with the positional relationship between the multiple transmitting units that emit the sensing light beam, but the matching degree is greater than the matching threshold, and accordingly judge that the light beam received by the receiving unit in the current detection frame is the sensing light beam emitted by the transmitting unit of the photoelectric ranging device 10 in the same detection frame, so as to take into account the applicability and accuracy of optical ranging.

[0067] Furthermore, the matching threshold may include a matching quantity threshold or a matching ratio threshold.

[0068] The matching unit 31 of the processing module 3 determines whether the matching degree of the positional relationship of the multiple receiving units that receive the sensing beams and the positional relationship of the multiple transmitting units that emit the sensing beams is greater than the matching threshold, including: calculating the number of groups of transmitting units and receiving units that have the same relative positional relationship among the multiple transmitting units that emit the sensing beams and the multiple receiving units that receive the sensing beams, so as to obtain the matching number. It is determined whether the matching number is greater than the matching number threshold, or whether the ratio of the matching number to the total number of receiving units that receive the beams or the total number of transmitting units that emit the sensing beams is greater than the matching ratio threshold, so as to determine that the positional relationship of the receiving units that receive the beams matches the positional relationship of the transmitting units that emit the sensing beams when it is greater than.

[0069] It should be noted that, in the photoelectric ranging device 10, the consistency of the relative position relationship means that the relative position of a transmitting unit among multiple transmitting units that transmit the sensing light beam is the same as the relative position of a receiving unit among multiple receiving units that receive the sensing light beam, and the transmitting unit and the receiving unit are a group of transmitting units and receiving units with a consistent relative position relationship.

[0070] Specifically, for example, Figure 6 As shown, the photoelectric distance measuring device 10 is provided with a plurality of transmitting units, a plurality of receiving units and a processing module 3 (not shown).

[0071] The transmitting units 11-14 are arranged according to a preset position relationship, and the position code of the transmitting units 11 and 13 located in the first vertical column is set to 0, and the position code of the transmitting units 12 and 14 located in the second vertical column is set to 1. According to the coding order from top to bottom, the first code reflecting the position relationship of the horizontally staggered transmitting units 11-14 is 0101.

[0072] The processing module 3 determines that the receiving unit 15-18 in the receiving module 2 receives the reflected sensing light beam, wherein the position code of the receiving unit 15 located in the third vertical column is 0, and the position code of the receiving units 16, 17 and 18 located in the fourth vertical column is 1. According to the coding order from top to bottom, the second code reflecting the position relationship of the receiving units 15-18 that receive the sensing light beam is 0111.

[0073] After comparison, it can be seen that the first code is not completely consistent with the second code. The third bit codes in the two codes are different, while the first, second and fourth bit codes are the same. It can be determined that among the transmitting units 11-14 and the receiving units 15-18, the transmitting units and receiving units with consistent relative position relationships are: transmitting unit 11 and receiving unit 15, transmitting unit 12 and receiving unit 16, transmitting unit 14 and receiving unit 18, that is, the above-mentioned matching number is 3, and the total number corresponding to the transmitting units 11-14 and the receiving units 15-18 is 4.

[0074] Assuming that the matching number threshold is 2, it can be determined that the matching number is greater than the matching number threshold, or assuming that the matching ratio threshold is 0.5, it can be determined that the ratio of the matching number to the total number of transmitting units 11-14 or receiving units 15-18 is greater than the matching ratio threshold. When any of the above determination conditions is met, it can be determined that the first code matches the second code, that is, the position relationship of the multiple sensing beams reflected by the ranging target received by the multiple receiving units matches the position relationship of the multiple sensing beams emitted by the multiple transmitting units to the ranging target. At this time, the optical ranging can be completed based on the receiving time of the sensing beams received by the multiple receiving units 15-18, the emission time of the sensing beams emitted by the corresponding transmitting units 11-14, and the above formula (1).

[0075] It should be noted that the above-mentioned matching quantity threshold and matching ratio threshold may also be other values, which can be determined according to actual needs and are not limited here.

[0076] In the above example, the position of the sensing beam emitted by the transmitting unit does not correspond to the position of the sensing beam received by the receiving unit. There may be many reasons for this situation, for example, the receiving unit receives the sensing beam emitted by other photoelectric ranging devices or receives any other type of interference light. It should be clarified that the reasons that may lead to the above situation include but are not limited to the reasons in the above examples.

[0077] In addition, in actual use, due to various influencing factors, some sensing light beams emitted by the transmitting unit may be lost and not received by the corresponding receiving unit. For example: there are obstacles in the optical path of the sensing light beam emission or reception, which causes the sensing light beam to be unable to be received by the receiving unit corresponding to the transmitting unit that emits the sensing light beam. That is, for the situation where the corresponding position relationship between the transmitting unit that emits the sensing light beam and the receiving unit that receives the sensing light beam is inconsistent, in addition to the different position codes, the position code may also be missing. For example, Figure 7 As shown, the first code reflecting the positional relationship of multiple transmitting units 11-14 that emit sensing light beams is 0101, while there are only three receiving units 15, 16 and 18 that receive the sensing light beams. The second code reflecting their positional relationship may be "01 empty 1". At this time, it can be determined based on the vacancy that the sensing light beam emitted by the transmitting unit 13 is lost and is not received by the receiving unit at the corresponding position.

[0078] Optionally, the preset positional relationship of the multiple emitting units that emit the sensing light beams for preventing crosstalk may include a one-dimensional positional relationship and / or a two-dimensional positional relationship.

[0079] Specifically, Figure 4 As shown, in the photoelectric distance measuring device 10, the multiple emitting units 11-14 that emit the sensing light beams are arranged along the same vertical column, and the preset positional relationship between them is a one-dimensional positional relationship. The multiple receiving units 15-18 that receive the sensing light beams are correspondingly arranged along the same vertical column, and the positional relationship between them is also a one-dimensional positional relationship. Figure 3 As shown, in the photoelectric ranging device 10, the multiple transmitting units 11-14 that emit sensing light beams are arranged along two different vertical columns, and the preset position relationship between them is a two-dimensional position relationship. The multiple receiving units 15-18 that receive the sensing light beams are correspondingly arranged along two different vertical columns, and the position relationship between them is a two-dimensional position relationship.

[0080] In addition to the above examples, the positional relationship may also be other types of one-dimensional positional relationship or two-dimensional positional relationship, which is not limited here.

[0081] Optionally, in some embodiments, in order to allow the emitted sensing light beams with a preset position relationship to irradiate the same ranging target as much as possible, so as to reduce the crosstalk misjudgment caused by the excessive loss of the sensing light beam reflected by the ranging target, the multiple transmitting units with a preset position relationship emitted in the same batch on the transmitting module 1 should not be separated too far from each other. For example, the distance between adjacent transmitting units in the multiple transmitting units with a preset position relationship is within the preset first spacing range, and the distance between the two transmitting units farthest apart is within the preset second spacing range. Among them, the distance between adjacent transmitting units may include adjacent in different directions, such as two transmitting units adjacent in the horizontal direction and two transmitting units adjacent in the vertical direction, and the first spacing range satisfied by the distance between two transmitting units adjacent in different directions may also take different values ​​respectively. It should be understood that the specific values ​​of the first spacing range and the second spacing range can be set according to the spatial resolution that the photoelectric ranging device needs to meet within the measurement range, and the present application does not make specific limitations on this.

[0082] Specifically, Figure 3 Taking the multiple transmitting units 11 - 14 shown as an example, the transmitting unit 11 and the transmitting unit 12 are two transmitting units adjacent to each other in the horizontal direction, and the transmitting unit 11 and the transmitting unit 13 are two transmitting units adjacent to each other in the vertical direction.

[0083] The straight-line distance between the transmitting unit 11 and the transmitting unit 12 needs to be within the preset first spacing range, or the preset first spacing range may include a vertical spacing range and a horizontal spacing range, the vertical distance between the transmitting unit 11 and the transmitting unit 12 needs to be within the vertical spacing range, and the horizontal distance between the transmitting unit 11 and the transmitting unit 12 needs to be within the horizontal spacing range. Similarly, the distances between adjacent transmitting units 12 and 13, and between adjacent transmitting units 13 and 14 also need to be within the above-mentioned preset spacing ranges.

[0084] Based on the above method, the sensing light beams emitted by the emitting units with the preset position relationship can be spaced not too far apart in space, so as to reduce the possibility of partial missing of the sensing light beams irradiated on the ranging target, thereby reducing the possibility of misjudgment caused by this and improving the reliability of optical ranging.

[0085] Embodiment 2

[0086] The present application also proposes a photoelectric distance measuring device 10, such as Figure 1 and Figure 8 As shown, Figure 8 is one of the structural schematic diagrams of the second embodiment of the photoelectric distance measuring device 10 of the present application. The photoelectric distance measuring device 10 may include a plurality of transmitting units (such as Figure 8 The receiving units 21-24 shown in the figure), the multiple receiving units in the receiving module 2 (such as Figure 8 The receiving units 25-28) and the processing module 3 are shown.

[0087] The multiple transmitting units may be configured to transmit multiple sensing light beams to the ranging target according to a preset relative time relationship, so that the emitted multiple sensing light beams also have the same relative time relationship after being reflected back by the ranging target.

[0088] The processing module 3 is configured to determine whether the multiple sensing beams received by the multiple receiving units are reflected lights generated by the multiple sensing beams emitted by the multiple transmitting units in the photoelectric ranging device 10 and reflected by the ranging target, based on the degree of time matching between the relative time relationship between the multiple sensing beams reflected back by the multiple receiving units and the relative time relationship between the multiple sensing beams emitted by the multiple transmitting units, and further determine whether to perform laser ranging based on the received sensing beams.

[0089] Different from the prior art, in the technical solution of the present application, multiple sensing beams with a preset relative time relationship can be emitted to the distance measurement target to distinguish them from the sensing beams emitted by other photoelectric distance measurement devices, and the received beam is judged whether it is the sensing beam emitted by the photoelectric distance measurement device 10 by the time matching degree with the relative time relationship of the beams received by the multiple receiving units. Based on the above method, the processing module 3 in the photoelectric distance measurement device 10 can perform distance measurement based on the sensing beams received by the multiple receiving units only when it is determined that the received sensing beams are the reflected light returned by the multiple sensing beams emitted by the multiple emitting units of the photoelectric distance measurement device 10 and reflected by the distance measurement target, which can reduce the occurrence of optical distance measurement by mistakenly taking other irrelevant light as the reflected light of the sensing beam emitted by the photoelectric distance measurement device 10, thereby reducing the crosstalk caused by the sensing beams from other photoelectric distance measurement devices, and improving the accuracy of optical distance measurement.

[0090] Optionally, in some embodiments, a time coding rule may be preset for the convenience of identification and matching. Based on the time coding rule, the relative time relationship of the multiple sensing beams emitted by the multiple transmitting units to the ranging target may be encoded to obtain a third code, and the relative time relationship of the multiple sensing beams reflected by the ranging target received by the multiple receiving units may be encoded to obtain a fourth code. The control module 4 controls the multiple sensing beams emitted by the multiple transmitting units according to the preset time coding rule and the third code so that the multiple sensing beams also have a relative time relationship corresponding to the third code. The encoding unit 36 ​​of the processing module 3 encodes the time relationship of the light beams received by the receiving unit according to the preset time coding rule to obtain a fourth code.

[0091] The third code and the fourth code can be compared to determine the time matching degree between the relative time relationship between the receiving unit receiving the sensing light beam and the relative time relationship between the transmitting unit transmitting the sensing light beam, and determine whether the third code and the fourth code match based on the time matching degree. For example, the matching unit 31 of the processing module 3 is configured to compare the third code and the fourth code to determine whether they match.

[0092] If there is no match, it can be determined that the sensing light beams received by the multiple receiving units corresponding to the fourth code are not the reflected light of the sensing light beams emitted by the multiple transmitting units corresponding to the third code. At this time, the correct ranging result cannot be obtained based on the sensing light beams received by the multiple receiving units.

[0093] If they match, it can be determined that the sensing light beams received by the multiple receiving units corresponding to the fourth code are the reflected light of the sensing light beams emitted by the multiple transmitting units corresponding to the third code. At this time, the correct ranging result can be obtained based on the sensing light beams received by the multiple receiving units.

[0094] Therefore, the relative time relationship between each transmitting unit emitting the sensing light beam and the relative time relationship between each receiving unit receiving the light beam can be quantified by encoding, thereby facilitating subsequent matching and evaluation, thereby improving the convenience, reliability and accuracy of optical ranging.

[0095] Specifically, for example, Figure 8 As shown in (A), the photoelectric distance measuring device 10 sends a sensing light beam to the distance measuring target through the transmitting units 21-24 of the transmitting module 1, and the sensing light beam reflected by the distance measuring target is received by the receiving units 25-28 of the receiving module 2 accordingly.

[0096] Transmitting units 21-24 are as follows Figure 8 (B) The corresponding sensing light beams are emitted according to the preset relative time relationship shown in FIG. In this embodiment, the emitting units 21-24 are all installed on different horizontal rows of the same vertical column, but the present application is not limited to this. Among them, the time code of the emitting units 21 and 23 emitting the sensing light beams at an earlier first time point can be set to 0, and the time code of the emitting units 22 and 24 emitting the sensing light beams at a later second time point can be set to 1, and there is a preset time interval △t1 between the first time point and the second time point. According to the coding order from top to bottom, the relative time relationship of the emitting units 21-24 emitting the sensing light beams is coded as the third code 0101.

[0097] Correspondingly, the receiving units 25-28 receiving the sensing light beams are located on different rows of the same vertical column. The relative time relationship between the receiving units 25-28 receiving the sensing light beams is as follows: Figure 8(C). The time code of the receiving units 25 and 27 receiving the sensing light beam at the third time point can be set to 0, and the time code of the receiving units 26 and 28 receiving the sensing light beam after the third time point with a time interval of △t2 can be set to 1. According to the coding order from top to bottom, the relative time relationship of the receiving units 25-28 receiving the sensing light beam is coded as the fourth code 0101.

[0098] By comparing the third code and the fourth code, it can be known that the two codes are the same, that is, the third code matches the fourth code. Therefore, it can be determined that the relative time relationship of the multiple sensing beams received by the receiving module 2 of the photoelectric ranging device 10 matches the relative time relationship of the multiple sensing beams emitted by the transmitting module 1. The optical ranging can be completed based on the receiving time of the sensing beams received by the multiple receiving units 25-28, the emission time of the sensing beams emitted by the corresponding transmitting units 21-24, and the above formula (1).

[0099] It should be noted that, in the above embodiment, the transmitting module 1 performs binary encoding of 0 and 1 on the relative time relationship of the sensing light beams emitted at two different time points. If the number of the transmitting units transmitting at each time point is N, the time relationship combination of the sensing light beams emitted at two different emission time points can reach 2N. It should be understood that, in other embodiments, the sensing light beams emitted at more than two different time points can also be time-coded, that is, the above encoding is not limited to binary, but can be encoded in any base.

[0100] Optionally, the processing module 3 is configured to determine that the two are matched when the degree of time mismatch between the relative time relationship of the received sensing light beam and the relative time relationship of the emitted sensing light beam is less than a preset mismatch threshold, so as to determine that the sensing light beam received by the receiving unit in the current detection frame is the sensing light beam emitted by the emitting unit of the photoelectric ranging device 10 in the same detection frame.

[0101] Specifically, the relative time relationship between the sensing light beams received by the multiple receiving units and the relative time relationship between the multiple sensing light beams emitted by the multiple transmitting units can be matched and compared, and when the time matching degree obtained by the matching comparison is less than the mismatch threshold, it is determined to be a match, that is, it can be considered that the sensing light beams received by the multiple receiving units are the reflected lights of the multiple sensing light beams emitted by the multiple transmitting units, and the processing module 3 can perform optical ranging based on the relevant data of the sensing light beams received by the multiple receiving units to obtain correct results.

[0102] It should be noted that, in the actual distance measurement process, due to the obstruction of obstacles on the optical path, the attenuation of the laser to the point where it cannot be detected, or other reasons, the multiple sensing beams received by the multiple receiving units may lack a part relative to the multiple sensing beams emitted by the multiple transmitting units of the photoelectric distance measuring device 10, but the validity of the received sensing beams will not be changed, that is, the sensing beams received by the multiple receiving units are indeed emitted by the transmitting units of the photoelectric distance measuring device 10, and the distance information of the distance measuring target calculated based on this is also accurate and valid. Therefore, when the relative time relationship of the multiple sensing beams received by the multiple receiving units is not completely consistent with the relative time relationship of the multiple sensing beams emitted by the multiple transmitting units, but the time matching degree is less than the mismatch threshold, it can also be determined as a match, so as to take into account the applicability and accuracy of optical distance measurement.

[0103] Optionally, the mismatch threshold includes a mismatch quantity threshold or a mismatch ratio threshold.

[0104] The matching unit 31 of the processing module 3 determines that the time matching degree between the relative time relationship between the multiple receiving units receiving the sensing beams and the relative time relationship between the multiple transmitting units emitting the sensing beams is less than the mismatch threshold, including: on the basis that the relative time relationship between the multiple receiving units receiving the multiple sensing beams and the relative time relationship between the multiple transmitting units emitting the multiple sensing beams are consistent with each other, in chronological order, the number of sensing beams received by the multiple receiving units at different receiving time points in the relative time relationship and the number of sensing beams emitted by the multiple transmitting units at different emitting time points in the relative time relationship are compared to obtain the mismatch number. It is determined whether the mismatch number is less than the mismatch number threshold or the ratio of the mismatch number to the total number is less than the mismatch ratio threshold, so as to determine that the relative time relationship between the receiving units receiving the beams matches the relative time relationship between the transmitting units emitting the sensing beams when it is less than the mismatch ratio threshold. It should be understood that the total number refers to the total number of transmitting units emitting sensing beams or the total number of receiving units receiving sensing beams. In some embodiments, the photoelectric ranging devices that are distinguished from each other through the receiving (receiving) and transmitting (emitting) matching method of the present application can establish a one-to-one correspondence between the transmitting unit and the receiving unit through optical path design. In this case, the total number of transmitting units used for matching is equal to the total number of receiving units that are expected to receive the sensing light beam.

[0105] It should be noted that the relative time relationship refers to the time interval relationship between different time points of emitting or receiving a sensing beam. When verifying through time coding, the matching unit 31 of the processing module 3 can first determine whether the relative time relationship of emitting a sensing beam is consistent with the relative time relationship of receiving a beam, for example: emitting multiple groups of sensing beams at preset time intervals at multiple different time points, and whether the number of time points and the corresponding time intervals of the received sensing beams are consistent with the emitted sensing beams. If they are inconsistent, it can be determined that the received sensing beam is not the sensing beam emitted by the photoelectric ranging device, and there is no need to further analyze the specific circumstances of matching different time points. It should be understood that, considering that the sensing beam reflected back by the tilted ranging target itself has a certain time delay, a certain fault tolerance range can be set when determining whether the time interval of the above relative time relationship is consistent, and the time interval difference within the fault tolerance range can be considered to be consistent. In addition, the preset time interval should not be too short to distinguish it from the time delay of the reflected sensing beam caused by the tilt of the ranging target. For example: the preset time interval can be greater than or equal to the time interval threshold.

[0106] Specifically, for example, Fig. 9 As shown in (A), the photoelectric distance measuring device 10 is configured by using a plurality of transmitting units 21-24 according to the following Fig. 9 (B) The corresponding sensing light beams are emitted according to the preset relative time relationship shown. Among them, the emitting units 21 and 23 emit sensing light beams at a first time point, and the emitting units 22 and 24 emit sensing light beams at a second time point, and the time interval between the first time point and the second time point is △t1. Optionally, in order to facilitate matching, the sensing light beam emitted at the first time point can be assigned a time code 0, and the sensing light beam emitted at the second time point can be assigned a time code 1. According to the coding sequence from top to bottom, a third code 0101 reflecting the relative time relationship of the emitted sensing light beams can be obtained. In this example, the emitting units 21-24 are all installed on different horizontal rows of a vertical column, but the present application is not limited to this.

[0107] Correspondingly, the relative time relationship of the receiving units 25-28 receiving the sensing light beams can be determined through analysis and processing by the processing module 3 as follows: Fig. 9 (C) is shown. The receiving unit 25 receives the sensing light beam at the third time point, and the receiving units 26, 27 and 28 receive the sensing light beam at the fourth time point, and the time interval between the third time point and the fourth time point is △t2. Optionally, in order to facilitate matching, the sensing light beam received at the third time point can be assigned a time code of 0, and the sensing light beam received at the fourth time point can be assigned a time code of 1. According to the coding order from top to bottom, the fourth code 0111 reflecting the relative time relationship of the received sensing light beams can be obtained.

[0108] It can be known from the comparison of the matching unit 31 of the processing module 3 that the receiving units 25-28 receive two different groups of light beams at two different time points, which are consistent with the two different time points of emitting the sensing light beams. If the time interval △t2 is also the same as the time interval △t1, or the difference between the two is within the preset fault tolerance range, the matching unit 31 of the processing module 3 can be considered that the relative time relationship of the receiving units 25-28 receiving multiple sensing light beams is consistent with the relative time relationship of the emitting units emitting multiple sensing light beams. On this basis, after comparing the third code 0101 and the fourth code 0111, it can be known that the number of time codes 0 in the two codes differs by 1, and the number of time codes 1 also differs by 1. The total number of mismatches is 2, the total number is 4, and the proportion of the number of mismatches to the total number is 1 / 2. If the preset mismatch number threshold is 2 and the mismatch ratio threshold is 1 / 2, the matching unit 31 can determine that the relative time relationship of the receiving units 25-28 receiving the sensing light beams does not match the relative time relationship of the emitting units 21-24 emitting the sensing light beams.

[0109] It should be noted that the above mismatch quantity threshold and mismatch ratio threshold may also be other values, which can be determined according to actual needs and are not limited here.

[0110] In the above example, the relative time relationship between the emission of the sensing light beam by the transmitting unit and the relative time relationship between the reception of the light beam by the receiving unit are not completely consistent. There may be many reasons for this situation, for example: an obstacle exists in the optical path of the sensing light beam emission or reception, which causes the sensing light beam to be lost, and the receiving unit 27 receives the sensing light beam emitted by other photoelectric ranging devices 10 or receives any other type of light beam. It should be clear that the possible reasons for the above situation include but are not limited to the reasons in the above examples. For this reason, a certain fault tolerance space needs to be considered when setting the mismatch quantity threshold and the mismatch ratio threshold. Fig.10 As shown, the photoelectric distance measuring device 10 is configured by using a plurality of transmitting units 21-24 as follows: Fig.10 (B) The corresponding sensing light beams are emitted according to the preset relative time relationship shown. Among them, the emitting units 21 and 23 emit sensing light beams at a first time point, and the emitting units 22 and 24 emit sensing light beams at a second time point, and the time interval between the first time point and the second time point is △t1. Optionally, in order to facilitate matching, the sensing light beam emitted at the first time point can be assigned a time code 0, and the sensing light beam emitted at the second time point can be assigned a time code 1. According to the coding sequence from top to bottom, a third code 0101 reflecting the relative time relationship of the emitted sensing light beams can be obtained. In this example, the emitting units 21-24 are all installed on different horizontal rows of a vertical column, but the present application is not limited to this.

[0111] Correspondingly, the relative time relationship of the receiving units 25, 26 and 28 receiving the sensing light beams can be determined through analysis and processing by the processing module 3 as follows: Fig.10 (C) is shown. Among them, the receiving unit 25 receives the sensing light beam at the third time point, but the receiving unit 27 corresponding to the transmitting unit 23 does not receive the sensing light beam, and the receiving units 26 and 28 receive the sensing light beam at the fourth time point, and the time interval between the third time point and the fourth time point is △t2. Optionally, in order to facilitate matching, the sensing light beam received at the third time point can be assigned a time code of 0, and the sensing light beam received at the fourth time point can be assigned a time code of 1. According to the coding order from top to bottom, the fourth code 01 space 1 reflecting the relative time relationship of receiving the sensing light beam can be obtained.

[0112] Through comparison by the matching unit 31 of the processing module 3, it can be known that the receiving units 25, 26 and 28 receive two different groups of light beams at two different time points, which are consistent with the two different time points of emitting the sensing light beams. If the time interval △t2 is also the same as the time interval △t1, or the difference between the two is within the preset fault tolerance range, the matching unit 31 of the processing module 3 can be considered that the relative time relationship of the receiving units 25-28 receiving multiple sensing light beams is consistent with the relative time relationship of the emitting units emitting multiple sensing light beams. On this basis, through comparison of the third code 0101 and the fourth code 01 empty 1, it can be known that the number of time codes 0 in the two codes differs by 1, and the number of time codes 1 is consistent, the total number of mismatches is 1, the total number is 4, and the proportion of the mismatches to the total number is 1 / 4. If the preset mismatch number threshold is 2 and the mismatch ratio threshold is 1 / 2, the matching unit 31 can determine that the relative time relationship of the receiving units 25, 26 and 28 receiving the sensing light beams matches the relative time relationship of the emitting units 21-24 emitting the sensing light beams.

[0113] Embodiment 3

[0114] The present application first proposes a photoelectric distance measuring device 10, such as Figure 1 and Fig.11 As shown, Fig.11 is one of the structural schematic diagrams of the third embodiment of the photoelectric distance measuring device 10 of the present application. The photoelectric distance measuring device 10 may include a plurality of transmitting units (such as Fig.11 The receiving units 31-34 shown in the figure), the multiple receiving units in the receiving module 2 (such as Fig.11 The receiving units 35-38) and the processing module 3 are shown.

[0115] Multiple transmitting units can be configured to be arranged according to a preset positional relationship, and to transmit multiple sensing light beams to the ranging target according to a preset relative time relationship, so that the multiple sensing light beams reflected back by the ranging target also have the same relative positional relationship and the same relative time relationship.

[0116] The processing module 3 is configured to determine whether the multiple sensing beams received by the multiple receiving units are reflected lights generated by the multiple sensing beams emitted by the multiple transmitting units in the photoelectric ranging device 10 and reflected by the ranging target, based on the spatial matching degree between the relative position relationship between the multiple sensing beams reflected back by the multiple receiving units and the relative position relationship between the multiple transmitting units emitting the multiple sensing beams, and the temporal matching degree between the relative time relationship between the multiple sensing beams received by the multiple receiving units and the relative time relationship between the multiple transmitting units emitting the multiple sensing beams, and further determine whether to perform accurate laser ranging based on the sensing beams received by the multiple receiving units.

[0117] Different from the prior art, in the technical solution of the present application, multiple sensing beams with preset relative position relationship and relative time relationship can be emitted to the ranging target to distinguish from the sensing beams emitted by other photoelectric ranging devices, and the received sensing beams can be judged whether they are the sensing beams emitted by the photoelectric ranging device 10 by the spatial matching degree of the relative position relationship and the temporal matching degree of the relative time relationship of the sensing beams received by multiple receiving units. Based on the above method, the processing module 3 in the photoelectric ranging device 10 can perform ranging based on the sensing beams received by the multiple receiving units only when it is determined that the received sensing beams are the reflected light returned by the multiple sensing beams emitted by the multiple transmitting units of the photoelectric ranging device 10 and reflected by the ranging target, which can reduce the occurrence of other interference light being mistakenly used as the basis for ranging, thereby reducing the crosstalk caused by the sensing beams from other photoelectric ranging devices, and improving the accuracy of optical ranging.

[0118] Optionally, in some embodiments, the multiple transmitting units are all transmitting units in the transmitting module 1 that satisfy a preset position relationship, and / or the multiple receiving units are all receiving units in the receiving module 2 that receive multiple sensing light beams reflected by the ranging target.

[0119] Optionally, in some embodiments, Fig.11 As shown in (A), the photoelectric distance measuring device 10 is provided with a transmitting unit 31-34, a receiving unit 35-38 and a processing module 3 (see Figure 1 ).

[0120] The transmitting units 31-34 are staggered in a preset relative position relationship. The transmitting units 31-34 are all installed on a plane. The transmitting units 31 and 33 are arranged on the first vertical column, and the transmitting units 32 and 34 are arranged on the second vertical column. The transmitting units 31-34 are alternately staggered in the horizontal direction and are respectively located in different horizontal rows.

[0121] Receiving units 35-38 refer to Fig.11(A) shows a number of receiving units that receive the reflected sensing light beam among the 4×4 receiving units of the receiving module 2. The processing module 3 can determine that the receiving units 15-18 are the receiving units that receive the reflected sensing light beam in the receiving module 2 through the relevant data of the signal peak in the counting histogram generated by each receiving unit. For example but not limited to, the processing module 3 can determine whether there is a signal peak in the counting histogram generated by each receiving unit and the flight time corresponding to the signal peak and other related information through the above-mentioned flight time acquisition unit 34, and determine the receiving unit that receives the sensing light beam and the corresponding receiving time accordingly.

[0122] The relative position relationship between the transmitting units 31-34 can reflect the relative position relationship between the multiple sensing beams emitted by the transmitting module 1, and the relative position relationship between the receiving units 35-38 can reflect the relative position relationship between the multiple sensing beams received by the receiving module 2. Correspondingly, the processing module 3 may further include a matching unit 31, which is configured to determine whether the relative position relationship between the transmitting units 31-34 that emit the sensing beams matches the relative position relationship between the receiving units 35-38 that receive the reflected sensing beams based on the spatial matching degree between the position relationship between the transmitting units 31-34 that emit the sensing beams and the relative position relationship between the receiving units 35-38 that receive the reflected sensing beams, and to determine whether the relative position relationship between the transmitting units 31-34 that emit the sensing beams matches the relative position relationship between the receiving units 35-38 that receive the reflected sensing beams based on the relative time relationship between the transmitting units 31-34 and the receiving units 35-38. 8, judge whether the relative time relationship of the sensing beams emitted by the emitting units 31-34 matches the relative time relationship of the sensing beams reflected by the receiving units 35-38, and can also perform ranging based on the receiving time of the multiple sensing beams received by the receiving units 35-38, the emitting time of the multiple sensing beams emitted by the emitting units 31-34 and the above formula (1) when both the relative position relationship and the relative time relationship match, to obtain the distance between the photoelectric ranging device and the ranging target, and complete the ranging. It should be noted that the above example is only an example of the photoelectric ranging device of the present application, and is not the only implementation method of the photoelectric ranging device of the present application.

[0123] Optionally, in some embodiments, a corresponding relationship can be established between the transmitting unit and the receiving unit through optical path design, for example, a sensing light beam emitted by a certain transmitting unit in the transmitting module 1 is reflected by the ranging target within the field of view and then received by a specific receiving unit on the receiving module 2. In this case, by presetting the transmitting unit and the receiving unit that satisfy the corresponding relationship, the matching unit 31 determines whether the receiving unit that receives the sensing light beam matches the transmitting unit that emits the sensing light beam according to the pre-set corresponding relationship.

[0124] The multiple transmitting units that satisfy the preset relative position relationship may be 4, the same as the number of the transmitting units 31-34, or 8, or other numbers, which may be determined according to actual needs and are not limited here. Similarly, the multiple receiving units corresponding to the sensing light beams reflected back may be 4, the same as the number of the receiving units 35-38, or 8, or other numbers, which may be determined according to actual needs and are not limited here.

[0125] Alternatively, if Fig.11 As shown, the transmitting module 1 may only include transmitting modules 31-34 arranged according to a preset relative position relationship to correspond to the transmitting units that emit multiple sensing light beams that meet the preset relative position relationship. Fig.13 As shown, the transmitting units on the transmitting module 1 can also be an array of transmitting units arranged in M×N, and multiple sensing light beams satisfying the preset position relationship are emitted by selectively lighting up the transmitting units at preset positions in the transmitting unit array. It should be understood that the transmitting units on the transmitting module can be any other form or a number of transmitting units selected that can emit multiple sensing light beams in the above-mentioned preset position relationship. The specific form can be determined according to actual needs and is not limited here. It should be understood that the transmitting units on the transmitting module 1 according to the preset relative position relationship can be regularly arranged. For example, the transmitting units 31-34 can be as follows Fig.12 The transmitting units on the transmitting module 1 may also be arranged irregularly, for example, the transmitting units 31-34 may also be arranged as follows Fig.11 The ones shown are arranged alternately and staggered in the transverse direction.

[0126] The receiving units 35-38 can be several receiving units that receive the sensing light beams in the receiving unit array arranged in M×N on the receiving module 2, or can be several receiving units that can receive the reflected light of multiple sensing light beams among all the receiving units arranged in other forms. The specific number can be determined according to actual needs and is not limited here.

[0127] In addition, the multiple emission units can specifically be all or part of the emission units in any type of light source including more than two emission units, for example: a linear array light source (such as Fig.12 A linear array light source composed of a row of emitting units 31-34 as shown), a planar array light source (such as Fig.13 The planar array light source composed of all the emitting units including the emitting units 31-34 arranged in an array as shown) and other special light source patterns composed of point light sources in a preset position relationship (such as Fig.11 The staggered light source pattern shown is composed of emitting units 31-34 arranged according to a preset position relationship).

[0128] It should be understood that the photoelectric distance measuring device also includes a control module 4, which is configured to control multiple emitting units that meet a preset position relationship on the emitting module 1 to emit sensing light beams. Optionally, in some embodiments, the preset position relationship between the multiple emitting units that emit sensing light beams in different detection frames may also be different.

[0129] Optionally, in some embodiments, in order to facilitate the identification and matching of the emission position relationship and the receiving position relationship of multiple sensing light beams, the position relationship of the emitting unit that emits multiple sensing light beams to the ranging target can be encoded according to a preset spatial coding rule to obtain a first code, and the position relationship of the receiving unit that receives the multiple sensing light beams reflected back by the ranging target can be encoded to obtain a second code.

[0130] Multiple sensing light beams with different relative position relationships also need to be emitted according to a preset relative time relationship. In order to facilitate the matching of the relative time relationship when the multiple sensing light beams are emitted and the relative time relationship when they are received, a time coding rule can also be preset. Based on the time coding rule, the relative time relationship of the multiple sensing light beams emitted by the multiple transmitting units to the ranging target can be encoded to obtain a third code, and the relative time relationship of the multiple sensing light beams reflected by the ranging target received by the multiple receiving units can be encoded to obtain a fourth code. The control module 4 controls the relative time relationship of the multiple sensing light beams emitted by the multiple transmitting units according to the preset time coding rule and the third code, and the relative time relationship also has a corresponding third code. The coding unit 36 ​​of the processing module 3 encodes the time relationship of the light beams received by the receiving unit according to the preset time coding rule to obtain a fourth code.

[0131] Among them, by comparing the first code with the second code, the spatial matching degree between the relative position relationship of the receiving unit that receives the sensing light beam and the relative position relationship of the transmitting unit that emits the sensing light beam can be determined, and based on the spatial matching degree, it can be determined whether the first code matches the second code.

[0132] Furthermore, by comparing the third code with the fourth code, the degree of time matching between the relative time relationship between the receiving unit receiving the sensing beam and the relative time relationship between the transmitting unit emitting the sensing beam can be determined, and based on the degree of time matching, it can be determined whether the third code matches the fourth code.

[0133] If the first code does not match the second code, and / or the third code does not match the fourth code, it can be determined that the light received by the multiple receiving units is not the reflected light of the sensing light beam emitted by the multiple transmitting units. At this time, the correct ranging result cannot be obtained based on the light beams received by the multiple receiving units.

[0134] If the first code matches the second code, and the third code matches the fourth code, it can be determined that the multiple receiving units receive the reflected light of the sensing light beams emitted by the multiple transmitting units. At this time, the correct ranging result can be obtained based on the sensing light beams received by the multiple receiving units.

[0135] Therefore, the positional relationship and relative time relationship between each transmitting unit and each receiving unit can be quantified by encoding, thereby facilitating subsequent matching and evaluation of the positional relationship, thereby improving the convenience, reliability and accuracy of optical ranging.

[0136] Specifically, for example, Fig.11 As shown, the photoelectric distance measuring device 10 is provided with transmitting units 31-34, receiving units 35-38 and a processing module 3 (see Figure 1 ).

[0137] The transmitting units 31-34 are staggeredly arranged according to a preset position relationship. The transmitting units 31-34 are all installed on a plane. The transmitting units 31 and 33 are arranged on the first vertical column, and the transmitting units 32 and 34 are arranged on the second vertical column. The transmitting units 31-34 are all located in different horizontal rows.

[0138] Receiving units 35-38 refer to Fig.11 (A) shows a number of receiving units among the 4×4 receiving units of the receiving module 2 that receive the reflected sensing light beams.

[0139] First, the position codes of the emitting units 31 and 33 located in the first vertical column can be set to 0, and the position codes of the emitting units 32 and 34 located in the second vertical column can be set to 1. According to the coding order from top to bottom, the first code reflecting the position relationship between the emitting units 31-34 of the emitting module 1 is 0101, and each bit of the first code from left to right corresponds to the relative position information of the sensing light beams emitted by the emitting units 31-34. The control module 4 controls the relative position relationship of the sensing light beams emitted by the emitting units 11-14 through the preset spatial coding rule and the first code, and also has the corresponding first code 0101.

[0140] Correspondingly, the position code of the receiving combination located in the third vertical column can be set to 0, and the position code of the receiving unit located in the fourth vertical column can be set to 1. Fig.11In the embodiment, after analysis by the processing module 3, it is determined that the receiving units 35-38 receive the reflected sensing light beams, wherein the position code of the receiving units 35 and 37 located in the third vertical column is 0, and the position code of the receiving units 36 and 38 located in the fourth vertical column is 1. The relative position relationship of the receiving units 35-38 that receive the reflected sensing light beams is encoded in the coding order from top to bottom, and the obtained second code is 0101. Each bit of the second code from left to right corresponds to the position information of the sensing light beams received by the receiving units 35-38, that is, the relative position relationship of the multiple sensing light beams reflected by the receiving module 2 through the receiving units 35-38 also has the corresponding second code 0101. Correspondingly, the processing module 3 may also include a coding unit 36, which is configured to encode the position relationship of the receiving units 35-38 that receive the light beams according to a preset spatial coding rule to obtain the second code 0101.

[0141] Secondly, the transmitting units 31-34 are as follows Fig.11 (B) The corresponding sensing light beams are emitted according to the preset relative time relationship shown in FIG. In this embodiment, the emitting units 31-34 are all installed on different horizontal rows of the same vertical column, but the present application is not limited to this. Among them, the time code of the emitting units 31 and 33 emitting the sensing light beams at the earlier first time point can be set to 0, and the time code of the emitting units 32 and 34 emitting the sensing light beams at the later second time point can be set to 1, and there is a preset time interval △t1 between the first time point and the second time point. According to the coding order from top to bottom, the relative time relationship of the emitting units 31-34 emitting the sensing light beams is coded as the third code 0101.

[0142] Correspondingly, the receiving units 35-38 that receive the sensing light beams are located on different horizontal rows. The relative time relationship between the receiving units 35-38 receiving the sensing light beams is as follows: Fig.11 (C). The time code of the receiving units 35 and 37 receiving the sensing light beam at the third time point can be set to 0, and the time code of the receiving units 36 and 38 receiving the sensing light beam after the third time point with a time interval of △t2 can be set to 1. According to the coding order from top to bottom, the relative time relationship of the transmitting units 35-38 transmitting the sensing light beam is coded as the fourth code 0101.

[0143] After comparison, the first code matches the second code, and the third code matches the fourth code, thereby determining that the relative position relationship of the multiple sensing beams received by the receiving module 2 of the photoelectric ranging device 10 matches the position relationship of the multiple sensing beams emitted by the transmitting module 1, and the relative time relationship of the multiple sensing beams received by the receiving module 2 of the photoelectric ranging device 10 matches the relative time relationship of the multiple sensing beams emitted by the transmitting module 1, and optical ranging can be completed based on the reception time of the sensing beams received by the multiple receiving units 35-38, the emission time of the sensing beams emitted by the corresponding transmitting units 31-34, and the above formula (1).

[0144] It should be noted that, in the above embodiment, the transmitting module 1 performs binary encoding of 0 and 1 for the relative positional relationship of two different columns of transmitting units. If the number of transmitting units that can be used for encoding in each column is N, then the combination of the relative positional relationship of the two columns of transmitting units can reach 2N. It should be understood that, in other embodiments, the multiple transmitting units used by the transmitting module 1 for positional relationship encoding can be arranged not only in two columns, but also in multiple columns of other numbers, and the codes corresponding to the transmitting units in each column can be recorded as different numbers, that is, the above encoding is not limited to binary, but can be encoded in any base.

[0145] The transmitting module 1 performs binary encoding of 0 and 1 on the relative time relationship of the sensing light beams emitted at two different time points. If the number of the transmitting units transmitting at each time point is N, the relative time relationship combinations of the sensing light beams emitted at two different emission time points can reach 2N. It should be understood that in other embodiments, the sensing light beams emitted at more than two different time points can also be time-coded, that is, the above encoding is not limited to binary, but can be encoded in any base.

[0146] Optionally, the processing module 3 is configured to determine that the two are matched when the spatial matching degree of the relative position relationship of the receiving unit that receives the sensing beam and the relative position relationship of the transmitting unit that emits the sensing beam is greater than a preset matching threshold, and the temporal mismatch degree of the relative time relationship of the received sensing beam and the relative time relationship of the emitted sensing beam is less than a preset mismatch threshold, so as to determine that the beam received by the receiving unit in the current detection frame is the sensing beam emitted by the transmitting unit of the photoelectric ranging device 10 in the same detection frame.

[0147] Specifically, the relative position relationship of the multiple receiving units that receive the sensing light beams can be matched and compared with the position relationship of the multiple transmitting units that emit the sensing light beams, and the relative time relationship of the multiple receiving units receiving the sensing light beams can be matched and compared with the relative time relationship of the multiple transmitting units emitting the multiple sensing light beams. When the spatial matching degree obtained by the matching comparison is greater than the matching threshold, and the time mismatch degree obtained by the matching comparison is less than the mismatch threshold, it is determined that the position relationship and the relative time relationship are both matched, that is, it can be considered that the sensing light beams received by the multiple receiving units are the reflected lights of the multiple sensing light beams emitted by the multiple transmitting units, and the processing module 3 can perform optical ranging based on the relevant data of the light beams received by the multiple receiving units to obtain correct results.

[0148] In the actual distance measurement process, due to the obstruction of obstacles on the optical path, or because the optical signal is attenuated to the point where it cannot be detected, or due to other reasons, the multiple sensing beams received by the multiple receiving units may lack a part relative to the multiple sensing beams emitted by the multiple transmitting units of the photoelectric distance measuring device, but the validity of the received sensing beams will not be changed, that is, the sensing beams received by the multiple receiving units are indeed emitted by the transmitting units of the photoelectric distance measuring device, and the distance information of the distance measuring target calculated based on this is also accurate and effective. Therefore, the matching unit 31 of the processing module 3 is configured such that if the relative position relationship or relative time relationship of the sensing beams received by the multiple receiving units is not completely consistent with the position relationship or relative time relationship of the sensing beams emitted by the multiple transmitting units, but the corresponding matching degree is greater than the matching threshold or the mismatching degree is less than the mismatching threshold, it can also be determined that the two are matched, and the beam received by the receiving unit in the current detection frame is judged to be the sensing beam emitted by the transmitting unit of the photoelectric distance measuring device in the same detection frame, so as to take into account the applicability and accuracy of optical distance measurement.

[0149] Optionally, the matching threshold may include a matching quantity threshold or a matching ratio threshold.

[0150] The matching unit 31 of the processing module 3 determines that the matching degree between the relative position relationship of the multiple receiving units that receive the sensing beams and the relative position relationship of the multiple transmitting units that emit the sensing beams is greater than the matching threshold, including: calculating the number of groups of transmitting units and receiving units with the same relative position relationship among the multiple transmitting units that emit the sensing beams and the multiple receiving units that receive the sensing beams, so as to obtain the matching number. It is determined whether the matching number is greater than the matching number threshold, or whether the ratio of the matching number to the total number of receiving units that receive the sensing beams or the total number of transmitting units that emit the sensing beams is greater than the matching ratio threshold, so as to determine that the relative position relationship of the receiving units that receive the sensing beams matches the relative position relationship of the transmitting units that emit the sensing beams when it is greater than.

[0151] It should be noted that, in the photoelectric ranging device 10, the consistency of the relative position relationship means that the relative position of a transmitting unit among multiple transmitting units that transmit the sensing light beam is the same as the relative position of a receiving unit among multiple receiving units that receive the sensing light beam, and the transmitting unit and the receiving unit are a group of transmitting units and receiving units with a consistent relative position relationship.

[0152] Optionally, the mismatch threshold includes a mismatch quantity threshold or a mismatch ratio threshold.

[0153] The matching unit 31 of the processing module 3 determines that the time matching degree between the relative time relationship between the multiple receiving units receiving the sensing beams and the relative time relationship between the multiple transmitting units emitting the sensing beams is less than the mismatch threshold, including: on the basis that the relative time relationship between the multiple receiving units receiving the multiple sensing beams and the relative time relationship between the multiple transmitting units emitting the multiple sensing beams are consistent with each other, in chronological order, the number of sensing beams received by the multiple receiving units at different receiving time points in the relative time relationship and the number of sensing beams emitted by the multiple transmitting units at different emitting time points in the relative time relationship are compared to obtain the mismatch number. It is determined whether the mismatch number is less than the mismatch number threshold or the ratio of the mismatch number to the total number is less than the mismatch ratio threshold, so as to determine that the relative time relationship between the receiving units receiving the beams matches the relative time relationship between the transmitting units emitting the sensing beams when it is less than the mismatch ratio threshold. It should be understood that the total number refers to the total number of transmitting units emitting sensing beams or the total number of receiving units receiving sensing beams. In some embodiments, the photoelectric ranging devices that are distinguished from each other through the receiving (receiving) and transmitting (emitting) matching method of the present application can establish a one-to-one correspondence between the transmitting unit and the receiving unit through optical path design. In this case, the total number of transmitting units used for matching is equal to the total number of receiving units that are expected to receive the sensing light beam.

[0154] It should be noted that the relative time relationship refers to the time interval relationship between different time points of emitting or receiving a sensing beam. When verifying through time coding, the matching unit 31 of the processing module 3 can first determine whether the relative time relationship of the emitted sensing beam is consistent with the relative time relationship of the received beam. For example, multiple groups of sensing beams are emitted at preset time intervals at multiple different time points, and the number of time points and the corresponding time intervals of the received sensing beams are consistent with the emitted sensing beams. If they are inconsistent, it can be determined that the received beam is not the sensing beam emitted by the photoelectric ranging device 10, and there is no need to further analyze the specific circumstances of matching different time points. It should be understood that considering that the sensing beam reflected back by the tilted ranging target itself has a certain time delay, a certain fault tolerance range can be set when determining whether the time interval of the above relative time relationship is consistent. The difference in the time interval within the fault tolerance range can be considered to be consistent. In addition, the preset time interval should not be too short to distinguish it from the time delay of the reflected sensing beam caused by the tilt of the ranging target. For example, the preset time interval can be greater than or equal to the time interval threshold.

[0155] Specifically, for example, Fig.14 As shown in (A), the photoelectric distance measuring device 10 is provided with a transmitting unit 31-34, a receiving unit 35-38 and a processing module 3 (see Figure 1 ).

[0156] The transmitting units 31-34 are arranged as follows: Fig.14 (A) is arranged in a staggered manner according to the preset relative position relationship shown in Fig.14 (B) emits corresponding sensing light beams according to the preset relative time relationship shown, the emitting units 31-34 are all installed on a plane, the emitting units 31 and 33 are arranged on the first vertical column, and the emitting units 32 and 34 are arranged on the second vertical column, and the emitting units 31-34 are all located in different horizontal rows.

[0157] Receiving units 35-38 are as follows Fig.14 The 4×4 receiving units of the receiving module 2 shown in (A) receive Fig.14 (C) shows several receiving units of the reflected sensing beam.

[0158] First, the transmitting units 31-34 are arranged according to a preset position relationship, and the position code of the transmitting units 31 and 33 located in the first vertical column is set to 0, and the position code of the transmitting units 32 and 34 located in the second vertical column is set to 1. According to the coding order from top to bottom, the first code reflecting the position relationship of the horizontally staggered transmitting units 31-34 is 0101.

[0159] The processing module 3 determines that the receiving units 35-38 in the receiving module 2 receive the reflected sensing light beam, wherein the position code of the receiving unit 35 located in the third vertical column is 0, and the position code of the receiving units 36, 37 and 38 located in the fourth vertical column is 1. According to the coding order from top to bottom, the second code reflecting the position relationship of the receiving units 35-38 that receive the sensing light beam is 0111.

[0160] Secondly, the emitting units 31 and 33 emit sensing light beams at a first time point, and the emitting units 32 and 34 emit sensing light beams at a second time point, and the time interval between the first time point and the second time point is △t1. Optionally, in order to facilitate matching, the sensing light beam emitted at the first time point may be assigned a time code of 0, and the sensing light beam emitted at the second time point may be assigned a time code of 1, and a third code 0101 reflecting the relative time relationship of the emitted sensing light beams may be obtained according to the coding sequence from top to bottom.

[0161] After analysis and processing by the processing module 3, the relative time relationship of the receiving units 35-38 receiving the sensing light beams can be determined as follows: Fig.14 (C) is shown. The receiving unit 35 receives the light beam at the third time point, the receiving units 36-38 receive the light beam at the fourth time point, and the time interval between the third time point and the fourth time point is △t2. Optionally, in order to facilitate matching, the light beam received at the third time point can be assigned a time code of 0, and the light beam received at the fourth time point can be assigned a time code of 1. According to the coding order from top to bottom, the fourth code 0111 reflecting the relative time relationship of receiving the sensing light beam can be obtained.

[0162] After comparison, it can be seen that the first code is not completely consistent with the second code. The third bit codes in the two codes are different, while the first, second and fourth bit codes are the same. It can be determined that among the transmitting units 31-34 and the receiving units 35-38, the transmitting units and receiving units with consistent relative position relationships are: transmitting unit 31 and receiving unit 35, transmitting unit 32 and receiving unit 36, and transmitting unit 34 and receiving unit 38. That is, the number of the above-mentioned matching groups is 3, and the total number corresponding to the transmitting units 31-34 and the receiving units 35-38 is 4.

[0163] Assuming that the matching number threshold is 2, it can be determined that the matching number is greater than the matching number threshold; or, assuming that the matching ratio threshold is 0.5, it can be determined that the ratio of the matching number to the total number of transmitting units 11-14 or receiving units 15-18 is greater than the matching ratio threshold. When any of the above determination conditions is met, it can be determined that the first code matches the second code, that is, the positional relationship of the multiple sensing beams reflected by the ranging target received by the multiple receiving units matches the positional relationship of the multiple sensing beams emitted by the multiple transmitting units to the ranging target.

[0164] It can be known from the comparison of the matching unit 31 of the processing module 3 that the receiving units 35-38 receive two different groups of sensing beams at two different time points. If the time interval △t2 is also the same as the time interval △t1, or the difference between the two is within the preset fault tolerance range, the matching unit 31 of the processing module 3 can be considered that the relative time relationship of the receiving units 35-38 receiving the sensing beams is consistent with the relative time relationship of the transmitting units sending multiple sensing beams. On this basis, after comparing the third code 0101 and the fourth code 0111, it can be known that the number of time codes 0 in the two codes differs by 1, and the number of time codes 1 also differs by 1, the total number of mismatches is 2, the total number of transmitting units or receiving units is 4, and the proportion of mismatches to the total number of groups is 1 / 2. If the preset mismatch number threshold is 2 and the mismatch ratio threshold is 1 / 2, the matching unit 31 can determine that the time relationship of the receiving units 35-38 receiving the beams does not match the time relationship of the transmitting units 21-24 sending the sensing beams.

[0165] It can be seen that based on the situation that the first code matches the second code but the third code does not match the fourth code, the photoelectric ranging device 10 abandons completing the optical ranging according to the reception time of the sensing light beam received by the multiple receiving units 35-38 this time.

[0166] It should be noted that the above-mentioned match quantity threshold and match ratio threshold may also be other values, which may be determined according to actual needs and are not limited here. The above-mentioned mismatch quantity threshold and mismatch ratio threshold may also be other values, which may be determined according to actual needs and are not limited here.

[0167] In the above example, the position or time at which the transmitting unit transmits the sensing beam does not correspond to the position or time at which the receiving unit receives the beam. There may be many reasons for this situation, for example, obstacles exist on the optical path of the sensing beam emission or reception, which causes the sensing beam to be unable to be received by the receiving unit corresponding to the transmitting unit that emits the sensing beam or is lost, or the receiving unit receives the sensing beam emitted by other photoelectric ranging devices or receives any other type of beam. It should be clarified that the reasons that may lead to the above situation include but are not limited to the reasons in the above examples.

[0168] In addition, in practice, due to various influencing factors, it is possible that some sensing beams emitted by the transmitting unit are lost and not received by the corresponding receiving unit. Fig.15As shown, the first code reflecting the relative position relationship of the multiple transmitting units 31-34 that emit the sensing light beams is 0101, while only three receiving units 35, 36 and 38 receive the sensing light beams, and the second code reflecting their relative position relationship is "01 empty 1". According to the vacancy, it can be determined that the sensing light beam emitted by the transmitting unit 33 is lost and is not received by the receiving unit 37 at the corresponding position. For this case, the number of groups matched in the relative position relationship is 3, and the matching ratio is 3 / 4. If the preset matching number threshold is 2 and the matching ratio threshold is 1 / 2, it can be determined that the first code matches the second code, that is, the relative position relationship of the multiple sensing light beams reflected back by the ranging target received by the multiple receiving units matches the relative position relationship of the multiple sensing light beams emitted by the multiple transmitting units to the ranging target. In addition, the third code reflecting the relative time relationship of the multiple transmitting units 31-34 emitting the sensing beams is 0101, while only three receiving units 35, 36 and 38 receive the sensing beams, and the fourth code reflecting their relative time relationship is "01 empty 1". The number of time codes 0 in the two codes differs by 1, and the number of time codes 1 is the same. The total number of mismatches is 1, the total number is 4, and the ratio of the number of errors to the total number is 1 / 4. If the preset mismatch number threshold is 2 and the mismatch ratio threshold is 1 / 2, it can be determined that the third code matches the fourth code, that is, the relative time relationship of the multiple receiving units receiving the sensing beams matches the relative time relationship of the corresponding multiple transmitting units emitting the sensing beams.

[0169] Therefore, based on the situation that the first code matches the second code, and the third code matches the fourth code, the photoelectric ranging device 10 can complete the optical ranging according to the reception time of the sensing light beams received by the multiple receiving units 35, 36 and 38, the emission time of the sensing light beams emitted by the corresponding transmitting units 31-34 and the above formula (1).

[0170] Optionally, the preset positional relationship of the multiple emitting units that emit the sensing light beams for preventing crosstalk may include a one-dimensional positional relationship and / or a two-dimensional positional relationship.

[0171] Specifically, Fig.12 As shown, in the photoelectric distance measuring device 10, the multiple emitting units 31-34 that emit the sensing light beams are arranged along the same vertical column, and the preset positional relationship between them is a one-dimensional positional relationship. The multiple receiving units 35-38 that receive the sensing light beams are correspondingly arranged along the same vertical column, and the positional relationship between them is also a one-dimensional positional relationship. Fig.11As shown, in the photoelectric ranging device, a plurality of emitting units 31-34 that emit sensing light beams are arranged along two different vertical columns, respectively, and their preset positional relationship with each other is a two-dimensional positional relationship, and a plurality of receiving units 35-38 that receive sensing light beams are correspondingly arranged along two different vertical columns, and their preset positional relationship with each other is a two-dimensional positional relationship.

[0172] Optionally, in some embodiments, the configuration of the transmitting unit and the receiving unit for preventing crosstalk may also be performed with more than two units as a combination. That is, the relative position relationship and relative time relationship preset for preventing crosstalk are both performed with the combination of more than two transmitting units as a consideration unit, and the preset relative position relationship and relative time relationship of the receiving unit are also correspondingly performed with the combination of more than two receiving units as a consideration unit.

[0173] For example, see Fig.16 , Fig.16 This is the sixth structural diagram of the third embodiment of the photoelectric distance measuring device 10 of the present application. Fig.16 As shown, the multiple emission units on the emission module 1 are arranged in an array, for example, a planar array light source arranged in 4 rows and 4 columns. The position relationship of the emission units and the relative time relationship of the emission are set in columns, and the 4 emission units in the same column act as an emission combination to emit the sensing light beam at the same time. Fig.16 In the embodiment (A), there are 4 columns of transmitting combinations, which are numbered as transmitting combinations A1-A4 from left to right. The multiple receiving units of the receiving module 2 are also arranged in an array, and are also set as receiving combinations B1-B4 in columns. The 4 receiving units in the same column are regarded as a receiving combination to receive the sensing light beams reflected back after being emitted by the corresponding transmitting combination.

[0174] Based on this, the optical crosstalk can be prevented by judging the matching degree of the transmitting and receiving position relationship. For example, one, two or more transmitting combinations at different positions are selected in a detection frame to transmit a sensing light beam. Correspondingly, the matching unit 31 of the processing module judges whether the sensing light beam received by the receiving module 2 is the sensing light beam emitted by the transmitting module 1 of the photoelectric distance measuring device 10 by comparing the relative position relationship of the receiving combinations that receive the sensing light beams with the relative position relationship of the preset transmitting combination. The specific method of comparing and judging the matching can refer to the aforementioned multiple embodiments, which will not be repeated here.

[0175] Optionally, the relative time relationship of emitting the sensing light beams can be considered while determining the matching degree of the transmitting and receiving position relationship to prevent optical crosstalk. Fig.16As shown in (B), the emission assemblies A1 and A3 located at different positions on the emission module 1 emit a sensing light beam at an earlier first time point, and the emission assemblies A2 and A4 located at different positions emit a sensing light beam at a later second time point, and there is a preset time interval △t1 between the first time point and the second time point. If the time code at the first time point is set to 0 and the time code at the second time point is set to 1, according to the coding sequence from left to right, the relative time relationship of the emission assemblies A1-A4 emitting the sensing light beams is the fifth code 0101.

[0176] Correspondingly, the transversely arranged receiving assemblies B1-B4 receive the reflected sensing light beams at different time points respectively. The relative time relationship between the receiving assemblies B1-B4 receiving the sensing light beams is as follows: Fig.16 (C) is shown. Among them, receiving combinations B1 and B3 receive the sensing light beam at an earlier third time point, and receiving units B2 and B4 receive the sensing light beam at a later fourth time point, and there is a preset time interval △t2 between the third time point and the fourth time point. If the time code set at the third time point is 0, and the time code set at the fourth time point is 1, according to the coding order from left to right, the relative time relationship of the receiving combinations B1-B4 receiving the sensing light beam is the sixth code 0101.

[0177] The matching unit 31 of the processing module compares the matching degree between the position relationship of the transmitting combination that emits the sensing light beam at different time points and the position relationship of the receiving combination that receives the sensing light beam at the corresponding different time points, and compares the matching degree between the relative time relationship of the sensing light beam emitted by the transmitting combination at different time points and the relative time relationship of the sensing light beam received by the receiving combination at different time points. After comprehensive consideration, it is determined whether the sensing light beam received by the receiving module 2 is the sensing light beam emitted by the transmitting module 1 of the photoelectric ranging device 10. The specific method of comparing and judging the matching can refer to the aforementioned multiple embodiments, which will not be repeated here.

[0178] In addition to the above examples, the positional relationship may also be other types of one-dimensional spatial positional relationship or two-dimensional spatial positional relationship, which is not limited here.

[0179] Optionally, in some embodiments, in order to allow the emitted sensing light beams with a preset position relationship to irradiate the same ranging target as much as possible, so as to reduce the crosstalk misjudgment caused by the excessive loss of the sensing light beam reflected by the ranging target, the multiple emission combinations with a preset relative position relationship emitted in the same batch on the emission module 1 should not be separated too far from each other. For example, the distance between adjacent emission combinations in the multiple emission combinations with a preset relative position relationship is within a preset first spacing range, and the distance between the two emission combinations farthest apart is within a preset second spacing range. Among them, the distance between adjacent emission combinations may include two emission combinations adjacent in different directions, such as two emission combinations adjacent in the horizontal direction and two emission combinations adjacent in the vertical direction, and the first spacing range satisfied by the distance between two emission combinations adjacent in different directions may also take different values ​​respectively. It should be understood that the specific values ​​of the first spacing range and the second spacing range can be set according to the spatial resolution that the photoelectric ranging device 10 needs to meet within the measurement range, and the present application does not make specific limitations on this.

[0180] Based on the above method, it can be ensured that the sensing light beams emitted by the transmitting combination for preventing crosstalk will not be spaced too far apart in space, so as to avoid the corresponding reflected lights deviating too far from each other and losing their relevance, that is, to avoid the ranging target being unable to simultaneously reflect the multiple sensing light beams to generate corresponding reflected light, so that multiple receiving combinations can accurately receive the corresponding reflected light, thereby improving the reliability of optical ranging.

[0181] Embodiment 4

[0182] The present application also proposes an electronic device, such as Fig.17 As shown, Fig.17 This is one of the structural diagrams of an embodiment of an electronic device 40 of the present application. The electronic device 40 includes an application device 41 and a photoelectric distance measuring device 42. The application device 41 is configured to perform a preset operation or realize a corresponding function based on the distance measurement result of the photoelectric distance measuring device 42, such as but not limited to: judging whether an object appears within a preset detection range in front of the electronic device according to the distance measurement result; or controlling the movement of the electronic device to avoid obstacles according to the distance measurement result; or realizing 3D modeling, face recognition, machine vision, etc. according to the distance measurement result. The photoelectric distance measuring device 42 can be any photoelectric distance measuring device 10 described in the above embodiments, which will not be repeated here.

[0183] The application device 41 may specifically include a processor and a memory.

[0184] It should be understood that the photoelectric distance measuring device 42 or 10 may also include a processor and a memory.

[0185] The processor and the memory are connected to the bus respectively. The memory stores program instructions. The processor is used to execute the program instructions to realize the functions of the photoelectric distance measuring device in the above embodiment.

[0186] In this embodiment, the processor may also be referred to as a CPU (Central Processing Unit). The processor may be an integrated circuit chip having signal processing capabilities. The processor may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0187] See also Fig.18 , Fig.18 This is a second structural diagram of an embodiment of the electronic device of the present application. Fig.18 As shown, in some embodiments, the electronic device 40 is, for example, a car 50, and the photoelectric distance measuring device 42 is, for example, a laser radar 51. The laser radar 51 can be installed at multiple different positions on the car 50 to detect the distance information of objects within the surrounding range of the car and implement driving control accordingly.

[0188] Different from the prior art, in the technical solution of the present application, a group of transmitting units with a preset position relationship among multiple transmitting units of a transmitting module for distance detection can be used to transmit multiple sensing light beams with the preset position relationship to the ranging target, so that the sensing light beams emitted by the present photoelectric ranging device can be distinguished from the sensing light beams emitted by other photoelectric ranging devices, and then the receiving module corresponding to the transmitting module can perform distance measurement calculation based on the received light beams only when receiving the multiple sensing light beams with the preset position relationship, which can reduce the situation of mistaking other irrelevant light for reflected light of the light beam emitted by the transmitting module for ranging, thereby reducing the crosstalk caused by sensing light beams emitted by other transmitting modules, and improving the accuracy of optical ranging.

[0189] Embodiment 5

[0190] The present application also proposes a photoelectric distance measurement method, which is applied to any photoelectric distance measurement device described in the above embodiments or the electronic device described in the above embodiments.

[0191] Photoelectric ranging methods include:

[0192] A group of emitting units having a preset position relationship among the plurality of emitting units is controlled to emit a sensing light beam within a detection frame.

[0193] Specifically, the photoelectric ranging method can be specifically applied to the processing module 3, that is, the processing module 3 is used to execute the photoelectric ranging method to complete the laser ranging.

[0194] Furthermore, the photoelectric ranging method may also specifically include the steps executed by the processing module 3 described in any of the above embodiments, which will not be repeated here.

[0195] Different from the prior art, in the technical solution of the present application, a group of transmitting units with a preset position relationship among multiple transmitting units of a transmitting module for distance detection can be used to transmit multiple sensing light beams with the preset position relationship to the ranging target, so that the sensing light beams emitted by the present photoelectric ranging device can be distinguished from the sensing light beams emitted by other photoelectric ranging devices, and then the receiving module corresponding to the transmitting module can perform distance measurement calculation based on the received light beams only when receiving the multiple sensing light beams with the preset position relationship, which can reduce the situation of mistaking other irrelevant light for reflected light of the light beam emitted by the transmitting module for ranging, thereby reducing the crosstalk caused by sensing light beams emitted by other transmitting modules, and improving the accuracy of optical ranging.

[0196] Embodiment 6

[0197] The present application also proposes a transmitting module, which is configured to transmit a sensing light beam for distance detection within a detection range, and the transmitting module includes a plurality of transmitting units and a control module 4 .

[0198] The plurality of emitting units are configured to emit the sensing light beams. The control module 4 is configured to control a group of emitting units having a preset position relationship among the plurality of emitting units to emit the sensing light beams within a detection frame.

[0199] Specifically, the transmitting module can be any transmitting module 1 described in the above embodiments, which will not be described again here.

[0200] Different from the prior art, in the technical solution of the present application, a group of transmitting units with a preset position relationship among multiple transmitting units of a transmitting module for distance detection can be used to transmit multiple sensing light beams with the preset position relationship to the ranging target, so that the sensing light beams emitted by the present photoelectric ranging device can be distinguished from the sensing light beams emitted by other photoelectric ranging devices, and then the receiving module corresponding to the transmitting module can perform distance measurement calculation based on the received light beams only when receiving the multiple sensing light beams with the preset position relationship, which can reduce the situation of mistaking other irrelevant light for reflected light of the light beam emitted by the transmitting module for ranging, thereby reducing the crosstalk caused by sensing light beams emitted by other transmitting modules, and improving the accuracy of optical ranging.

[0201] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A photoelectric distance measuring device, characterized in that: include: A transmitting module is configured to emit a plurality of sensing light beams having a preset relative position relationship to a detection range within a detection frame to perform distance detection, the transmitting module comprising a plurality of transmitting units and a control module, the transmitting units being configured to emit the sensing light beams, and the control module being configured to control a group of transmitting units having a preset relative position relationship among the plurality of transmitting units to emit the sensing light beams within a detection frame; A receiving module, including a plurality of receiving units, configured to receive a light beam from within the detection range and output a corresponding light sensing signal based on the received light beam; The processing module is configured to analyze and process the light sensing signal to determine the positional relationship of the receiving unit that receives the light beam within the same detection frame, and to determine whether the light beam received by the receiving unit is the sensing light beam emitted by the emitting unit of the photoelectric ranging device based on the degree of spatial matching with the preset relative positional relationship with the emitting unit that emits the sensing light beam.

2. The photoelectric distance measuring device according to claim 1, characterized in that: The group of transmitting units having a preset relative position relationship is all or part of the transmitting units in the multiple transmitting units.

3. The photoelectric distance measuring device according to claim 1, characterized in that: The control module controls the emitting units satisfying different preset relative position relationships to emit the sensing light beams in different detection frames.

4. The photoelectric distance measuring device according to claim 1, characterized in that: The control module is configured to control the group of emission units having a preset relative position relationship to emit the sensing light beam according to a preset relative time relationship within a detection frame.

5. The photoelectric distance measuring device according to claim 4, characterized in that: The relative time relationship includes at least two different emission time points and the time intervals between the different emission time points.

6. The photoelectric distance measuring device according to claim 1, characterized in that: The processing module is configured to determine that the two are matched when the degree of spatial matching between the positional relationship of the receiving unit that receives the light beam and the positional relationship of the emitting unit that emits the sensing light beam is greater than a preset matching threshold, so as to determine that the light beam received by the receiving unit in the current detection frame is the sensing light beam emitted by the emitting unit of the photoelectric ranging device in the same detection frame.

7. The photoelectric distance measuring device according to claim 6, characterized in that: The matching threshold includes a matching quantity threshold or a matching ratio threshold; The processing module is configured to: calculate the number of groups of transmitting units and receiving units whose relative position relationship is consistent among the transmitting units that emit the sensing light beam and the receiving units that receive the light beam to obtain a matching number; if the matching number is greater than the matching number threshold, determine that the position relationship of the receiving units that receive the light beam matches the position relationship of the transmitting units that emit the sensing light beam; or, if the ratio of the matching number to the total number of the receiving units that receive the light beam or the total number of the transmitting units that emit the sensing light beam is greater than the matching ratio threshold, determine that the position relationship of the receiving units that receive the light beam matches the position relationship of the transmitting units that emit the sensing light beam.

8. The photoelectric distance measuring device according to claim 1, characterized in that: The photoelectric distance measuring device presets a spatial coding rule; The control module is configured to encode the preset relative position relationship of the emitting unit that emits the sensing light beam according to the spatial encoding rule to obtain a first code, and control the emitting unit to emit the sensing light beam according to the first code; The processing module is configured to encode the positional relationship of the receiving unit that receives the light beam according to the spatial coding rule to obtain a second code, and determine the degree of spatial matching between the positional relationship of the receiving unit that receives the light beam and the positional relationship of the emitting unit that emits the sensing light beam by comparing the first code with the second code.

9. The photoelectric distance measuring device according to claim 1, characterized in that: A group of emitting units having the preset relative position relationship among the plurality of emitting units emits the sensing light beam according to a preset relative time relationship within a detection frame; The processing module is configured to determine the degree of time matching between the relative time relationship of the received light beam and the relative time relationship of the emitted sensing light beam within the same detection frame, and judge whether the light beam received by the receiving unit is the sensing light beam emitted by the emitting unit of the photoelectric ranging device based on the spatial matching degree and time matching degree between the received light beam and the emitted sensing light beam.

10. The photoelectric distance measuring device according to claim 9, characterized in that: The processing module is configured to determine that the two are matched when the spatial matching degree between the position relationship of the receiving unit that receives the light beam and the position relationship of the emitting unit that emits the sensing light beam is greater than a preset matching threshold, and the temporal mismatch degree between the relative time relationship of the received light beam and the relative time relationship of emitting the sensing light beam is less than a preset mismatch threshold, so as to determine that the light beam received by the receiving unit in the current detection frame is the sensing light beam emitted by the emitting unit of the photoelectric ranging device in the same detection frame.

11. The photoelectric distance measuring device according to claim 10, characterized in that: The mismatch threshold includes a mismatch quantity threshold or a mismatch ratio threshold; The processing module is configured to: calculate the number of groups of transmitting units and receiving units whose relative time relationships in the received light beam and the emitted sensing light beam are inconsistent to obtain a mismatch number; if the mismatch number is less than the mismatch number threshold, determine that the relative time relationship of the received light beam matches the relative time relationship of the emitted sensing light beam; Alternatively, if the ratio of the mismatch number to the total number of received light beams or the total number of emitting units that emit sensing light beams is less than the mismatch ratio threshold, it is determined that the relative time relationship of the received light beams matches the relative time relationship of the emitted sensing light beams.

12. The photoelectric distance measuring device according to claim 9, characterized in that: The photoelectric distance measuring device presets a time coding rule; The control module is configured to encode the relative time relationship of emitting the sensing light beam according to the time encoding rule to obtain a third code, and control the emitting unit to emit the sensing light beam according to the third code; The processing module is configured to encode the relative time relationship of the received light beam according to the time coding rule to obtain a fourth code, and determine the degree of time matching between the relative time relationship of the received light beam and the relative time relationship of the emitted sensing light beam by comparing the third code with the fourth code.

13. The photoelectric distance measuring device according to claim 1, characterized in that: Among the plurality of transmitting units having the preset relative position relationship, the distance between adjacent transmitting units is within a preset first spacing range, and the distance between the two transmitting units that are farthest apart is within a preset second spacing range.

14. An electronic device, characterized in that: It comprises an application device and the photoelectric distance measuring device according to any one of claims 1 to 13, wherein the application device is used to perform a preset operation or realize a corresponding function based on the distance measuring result of the photoelectric distance measuring device.

15. A photoelectric distance measurement method, characterized in that: Applicable to the photoelectric distance measuring device according to any one of claims 1 to 13 or the electronic device according to claim 14; The photoelectric distance measurement method comprises: A group of emitting units having a preset relative position relationship among the plurality of emitting units is controlled to emit the sensing light beam within one detection frame.

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