Direct time-of-flight ranging method and apparatus, electronic device, and readable storage medium

Abstract

The application discloses a direct time-of-flight ranging method and device, an electronic device and a readable storage medium, and is applied to the technical field of ranging. The direct time-of-flight ranging method comprises the following steps: filtering a laser filter signal by using ambient light pulse signals of an environment in which a target to be measured is located; transmitting the laser filter signal to the target to be measured, and receiving a reflection filter signal formed by reflecting the laser filter signal by the target to be measured; and performing ranging on the target to be measured according to a target flight time between the laser filter signal and the reflection filter signal. The application solves the technical problem of low ranging accuracy of the DTOF ranging method.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of distance measurement, in particular to a direct time-of-flight distance measurement method and device, electronic equipment and readable storage medium. BACKGROUND

[0002] With the continuous development of laser radar technology, TOF (Time of flight) distance measurement method is widely used in automatic driving, industrial automation and face recognition and many other fields. As one of the core technical routes of TOF distance measurement method, DTOF (direct Time-of-Flight) distance measurement method also receives more and more attention due to its low power consumption, strong anti-interference and high distance measurement accuracy.

[0003] The principle of DTOF distance measurement method is to emit light pulses to the measured object based on photoelectric detector, and directly calculate the distance of the measured object by measuring the time interval between the emitted light pulse and the reflected light pulse, so as to generate depth information, and then combine with the traditional camera shooting to present the three-dimensional profile of the measured object in the topographic map with different colors corresponding to different distances.

[0004] At present, when measuring the distance of the measured object, a certain number of pulse beams are emitted and received in the natural environment, and the time interval between the emitted pulse and the received pulse is recorded based on TDC (Time Digital Converter), and the most frequent flight time is taken as the flight time for calculating the depth of the measured object. However, due to the interference of ambient light beams in the natural environment, the difference of flight time corresponding to different photon pulse signals recorded by histogram is not obvious, which makes the finally determined flight time inaccurate, and further affects the distance measurement accuracy of the measured object. Therefore, the current DTOF distance measurement method has low distance measurement accuracy. SUMMARY

[0005] The main purpose of the present application is to provide a direct time-of-flight distance measurement method, device, electronic equipment and readable storage medium, which aims to solve the technical problem of low distance measurement accuracy of DTOF distance measurement method in the prior art.

[0006] To achieve the above purpose, the present application provides a direct time-of-flight distance measurement method, which comprises:

[0007] Filtering the to-be-emitted laser pulse signal according to the ambient light pulse signal of the environment where the to-be-measured target is located to obtain a laser filtered signal;

[0008] transmitting the laser filtered signal to the target object, and receiving a reflected filtered signal formed by the target object reflecting the laser filtered signal;

[0009] determining the distance of the target object according to a target flight time between the laser filtered signal and the reflected filtered signal.

[0010] To achieve the above object, the present application provides a direct time-of-flight ranging device, comprising:

[0011] a filtering module configured to filter a laser pulse signal to be transmitted according to an ambient light pulse signal of an environment in which a target object is located, to obtain a laser filtered signal;

[0012] a transmitting module configured to transmit the laser filtered signal to the target object, and receive a reflected filtered signal formed by the target object reflecting the laser filtered signal;

[0013] a ranging module configured to determine the distance of the target object according to a target flight time between the laser filtered signal and the reflected filtered signal.

[0014] The present application also provides an electronic device, comprising a memory, a processor, and a program of the direct time-of-flight ranging method stored in the memory and executable on the processor, wherein the program of the direct time-of-flight ranging method, when executed by the processor, can implement the steps of the direct time-of-flight ranging method as described above.

[0015] The present application also provides a computer readable storage medium having a program of the direct time-of-flight ranging method stored thereon, wherein the program of the direct time-of-flight ranging method, when executed by a processor, implements the steps of the direct time-of-flight ranging method as described above.

[0016] The present application also provides a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the steps of the direct time-of-flight ranging method as described above.

[0017] The present application provides a direct time-of-flight ranging method, device, electronic device, and computer readable storage medium, i.e., filtering a laser pulse signal to be transmitted according to an ambient light pulse signal of an environment in which a target object is located, to obtain a laser filtered signal; transmitting the laser filtered signal to the target object, and receiving a reflected filtered signal formed by the target object reflecting the laser filtered signal; and determining the distance of the target object according to a target flight time between the laser filtered signal and the reflected filtered signal.

[0018] When the photoelectric detector detects that the target to be measured is in a natural environment, the ambient light pulse signal is used to filter the light pulse signal waiting to be emitted, to obtain a filtered laser pulse signal, and then the filtered laser pulse signal is emitted to the target to be measured and the filtered laser pulse signal reflected by the target to be measured is received, so as to determine the direct flight time between the emitted filtered laser pulse signal and the reflected filtered laser pulse signal, and then the direct flight time is substituted into the ranging formula, so as to achieve the purpose of measuring the distance of the target to be measured.

[0019] Since the laser pulse signal waiting to be emitted is filtered according to the ambient light pulse signal of the environment where the target to be measured is located, that is, the direct flight time is calculated by the filtered laser pulse signal, the flight time corresponding to different photon pulse signals recorded by the histogram can objectively reflect the flight time of the pulse emission signal through the target to be measured, and the depth of the target to be measured calculated by the direct flight time between the emitted filtered laser pulse signal and the reflected filtered laser pulse signal is the real distance between the target to be measured and the photoelectric detector, so that the purpose of accurately feeding back the three-dimensional profile of the target to be measured in the topographic map can be achieved.

[0020] Based on this, the application filters the laser pulse signal to be emitted, so that the ambient light interference is removed when determining the flight time, and the accurate recording of the time interval between the emission pulse and the reception pulse can be fully ensured, that is, the technical defect that the difference in flight time corresponding to different photon pulse signals recorded by the histogram is not obvious due to the interference of the ambient light beam in the natural environment, and the finally determined flight time is inaccurate is effectively overcome, so that the ranging accuracy of the DTOF ranging method is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows, and obviously, other drawings can also be obtained by those skilled in the art without creative labor.

[0023] Figure 1 The histogram of the flight time of the laser pulse signal in the ideal measurement scene of the direct flight time ranging method of the present application;

[0024] Figure 2 The histogram of the flight time of the laser pulse signal in the natural measurement scene of the direct flight time ranging method of the present application;

[0025] Figure 3 Flowchart of the first embodiment of the direct time-of-flight ranging method of the present application;

[0026] Figure 4 Scene diagram of the direct time-of-flight ranging method of the present application;

[0027] Figure 5 Comparison diagram of the direct time-of-flight ranging method of the present application before and after the modulation of the to-be-emitted laser pulse signal;

[0028] Figure 6 Flowchart of the second embodiment of the direct time-of-flight ranging method of the present application;

[0029] Figure 7 Diagram of the direct time-of-flight ranging device embodiment of the present application;

[0030] Figure 8 Diagram of the device structure of the hardware running environment involved in the direct time-of-flight ranging method of the embodiment of the present application.

[0031] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0032] In order to make the above objectives, features and advantages of the present application more apparent, clear and complete, the technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0033] Embodiment One

[0034] Firstly, it should be understood that the DTOF ranging method is used to measure the distance of the to-be-measured target, which usually includes a vertical cavity surface emitter, a single photon avalanche diode and a time-to-digital converter. The vertical cavity surface emitter emits a pulse wave to a measurement scene, the single photon avalanche diode receives the pulse wave reflected from the to-be-measured target in the measurement scene, and the time-to-digital converter can record the flight time of each received laser pulse signal, i.e., the time interval between the emission of the laser pulse signal and the reception of the laser pulse signal. The DTOF can emit and receive N times of laser pulse signals within a single frame measurement time, and then make histogram statistics of the flight times corresponding to the N times of laser pulse signals. For example, refer to Figure 1 , Figure 1In order to represent the time-of-flight histogram of the laser pulse signal in an ideal measurement scene, the time-of-flight T0 with the highest occurrence frequency is usually taken as the time-of-flight for calculating the depth of the object to be measured. However, even if the DTOF has strong anti-environmental light interference capability, in some natural measurement scenes, due to the existence of environmental light interference, the time-of-flight difference corresponding to different photon pulse signals recorded by the histogram is not obvious. For example, referring to Figure 2 , Figure 2 In order to represent the time-of-flight histogram of the laser pulse signal in a natural measurement scene, if the time-of-flight T1 with the highest occurrence frequency is still taken as the time-of-flight for calculating the depth of the object to be measured, the distance measurement of the object to be measured will be inaccurate. Therefore, how to avoid the environmental light interference in the DTOF process has become a problem to be solved. That is, there is an urgent need for a method for improving the distance measurement accuracy of the DTOF distance measurement method.

[0035] The embodiments of the present application provide a direct time-of-flight distance measurement method. In a first embodiment of the direct time-of-flight distance measurement method, referring to Figure 3 , the direct time-of-flight distance measurement method comprises the following steps.

[0036] In step S10, the laser pulse signal to be emitted is filtered according to the environmental light pulse signal of the environment in which the object to be measured is located, and a laser filtered signal is obtained.

[0037] In step S20, the laser filtered signal is emitted to the object to be measured, and a reflected filtered signal formed by reflecting the laser filtered signal by the object to be measured is received.

[0038] In step S30, the object to be measured is measured according to the target time-of-flight between the laser filtered signal and the reflected filtered signal.

[0039] In the present embodiment, it should be noted that although Figure 3 the logical sequence is shown, in some cases, the steps shown or described can be performed in an order different from that shown here. The direct time-of-flight distance measurement method is applied to a direct time-of-flight distance measurement device, which can be a DTOF distance measurement module. The object to be measured is an object with reflection characteristics and waiting to be measured, which can be a static object or a dynamic object, etc. The laser pulse signal to be emitted is a laser pulse signal waiting to be emitted, which can be generated by a laser emitter by modulating a special light source. The laser emitter can preset the emission angle to emit the laser pulse signal to be emitted in the DTOF distance measurement scene. Referring to Figure 4 , Figure 4A schematic diagram for representing a scene in which the DTOF technology is used for distance measurement, wherein 11 is a laser emitter, 12 is a target to be measured, 13 is a photoelectric sensor, and 14 is a time-to-digital converter. The laser emitter 11 emits a laser pulse signal to the target to be measured 12. The target to be measured 12 reflects the laser pulse signal. The reflected photons are detected by a photoelectric detection unit on the photoelectric sensor 13 and then enter the time-to-digital converter 14 in the form of an electrical signal. The time-to-digital converter 14 starts timing when the laser emitter 11 emits the laser pulse signal. The arrival time of the recorded photons returned to the photoelectric sensor is the flight time. The flight time of the photons can be saved to a memory unit. A histogram is generated based on the photon count value of the flight time in the memory unit, which is used for peak searching and distance measurement, and thus the distance of the target to be measured 12 is obtained.

[0040] Additionally, it should be noted that the ambient light pulse signal is used to represent the laser pulse signal generated by ambient light. Specifically, it can be collected by a photoelectric sensor. For example, in an implementable manner, the laser pulse signal received by the photoelectric sensor when the laser emitter is turned off is the ambient light pulse signal. Then, the time-to-digital converter can record the emitted laser signal reflected by the target to be measured when the laser emitter is turned on, and record the ambient light pulse signal reflected by the target to be measured when the laser emitter is turned off. Then, the ambient light pulse signal when the laser emitter is turned off is regarded as the ambient light interference received by the target to be measured when it reflects the emitted laser pulse signal when the laser emitter is turned on. Then, by filtering the interference signal, a laser filtered signal that accurately reflects the flight time of the emitted laser pulse signal is obtained. Therefore, the laser filtered signal is used to represent the emitted laser pulse signal after filtering the ambient light interference.

[0041] Additionally, it should be noted that when the direct time-of-flight distance measurement device increases the signal filtering processing logic, the filtering processing can be realized by different signal parameters, such as frequency or photon number. For example, in an implementable manner, assuming that the number of photons received by the photoelectric sensor when the laser emitter is turned on is A, and the number of photons received by the photoelectric sensor when the laser emitter is turned off is B, the difference between A and B is regarded as the laser pulse signal that excludes the ambient light interference of the environment in which the target to be measured is located. Then, histogram statistics are performed based on the laser pulse signal, which can achieve the purpose of accurate distance measurement.

[0042] As an example, steps S10 to S30 include: when detecting a to-be-emitted laser pulse signal modulated by a laser emitter, acquiring a first photon number corresponding to an ambient light pulse signal, acquiring a second photon number of the to-be-emitted laser pulse signal, and taking a photon number difference between the first photon number and the second photon number as a laser filter signal; emitting the to-be-emitted laser filter signal at a preset emission angle, and receiving a reflection filter signal formed by reflecting the laser filter signal by the to-be-measured target, wherein the reflection filter signal is used to represent a reflection laser pulse signal not interfered by ambient light; selecting a target flight time in a direct flight time between the laser filter signal and the reflection filter signal, and performing ranging on the to-be-measured target according to the target flight time, wherein the target flight time is a flight time with the highest frequency in the direct flight time between the laser filter signal and the reflection filter signal, and a calculation formula for performing ranging on the to-be-measured target is as follows:

[0043]

[0044] wherein d is a measurement distance of the to-be-measured target, c is a light speed, and Δt is the target flight time. Since the target flight time is a flight time between a to-be-emitted laser pulse signal removed from ambient light interference and a laser pulse signal removed from ambient light interference formed by reflecting the to-be-emitted laser pulse signal by the to-be-measured target, the target flight time can objectively reflect a flight time of the to-be-emitted laser pulse signal, and thus accurate ranging on the to-be-measured target can be realized according to the target flight time, so that the ranging accuracy of the DTOF ranging method is improved.

[0045] wherein the ambient light pulse signal includes a first ambient light pulse signal and a second ambient light pulse signal, and the step of filtering the to-be-emitted laser pulse signal according to the ambient light pulse signal of an environment where the to-be-measured target is located to obtain a laser filter signal includes:

[0046] Step A10, detecting whether light intensity information of an environment where the to-be-measured target is located meets a preset light intensity condition;

[0047] Step A20, if yes, filtering the to-be-emitted laser pulse signal according to a first ambient signal parameter of the first ambient light pulse signal to obtain a laser filter signal;

[0048] Step A30, if no, determining a second ambient signal parameter of the second ambient light pulse signal by modulating the to-be-emitted laser pulse signal;

[0049] Step A40: Filter the laser pulse signal to be emitted according to the second environmental signal parameters to obtain a filtered laser signal.

[0050] In this embodiment, it should be noted that the required measurement accuracy for the target varies depending on the degree of ambient light interference in different measurement scenarios. For example, in some outdoor measurement scenarios, strong natural light interference exists, and ambient light signals with the same wavelength as the laser pulse signal to be emitted are present. Therefore, high-precision measurement is required to obtain the laser pulse signal emitted by the laser detector. If the ambient light pulse signal from when the laser transmitter is off within the same time period is used for filtering, the interference from ambient light signals emitted by the same wavelength source will result in low reliability of the obtained target flight time. In some indoor... In the test scenario, since there is no interference from natural light, the ambient light pulse signal when the laser emitter is turned off within the same time period is used for filtering. Because the signal changes smoothly in the time domain in the indoor test scenario, the high-frequency components generated by the ambient light source can be avoided, thus easily achieving the purpose of determining the target's flight time. Therefore, the laser pulse signal to be emitted can be filtered in a targeted manner by evaluating the intensity of the ambient light in the test scenario. The intensity of the ambient light in the test scenario can be measured by a light intensity meter. Therefore, the light intensity information is used to characterize the intensity of the ambient light, and the preset light intensity condition is used to characterize the ambient light intensity exceeding a first light intensity threshold.

[0051] Additionally, it should be noted that when the ambient light intensity of the environment in which the target is located exceeds a preset light intensity threshold, the light emitted by the laser emitter typically follows a certain pattern, for example, referring to... Figure 4 , Figure 4 This diagram illustrates the situation where the laser pulse signal to be emitted is a square wave signal. In this case, the laser pulse signal to be emitted has a "switch-on" characteristic. Therefore, the frequency characteristics of the signal can be used to modulate the laser pulse signal to be emitted to obtain a laser filter signal. The reflected filter signal after the laser filter signal is emitted by the target under test still has the frequency characteristics of the laser filter signal. Therefore, the ambient light pulse signal of the environment in which the target under test is located can be determined based on the modulated laser pulse signal to be emitted. Therefore, the first ambient light pulse signal is used to characterize the ambient light pulse signal in a low light intensity measurement scenario, and the second ambient light pulse signal is used to characterize the ambient light pulse signal in a high light intensity measurement scenario.

[0052] As an example, steps A10 to A40 include: detecting whether the ambient light intensity of the environment in which the target to be measured is located is greater than a preset light intensity threshold; if the ambient light intensity is greater than the preset light intensity threshold, filtering the to-be-emitted laser pulse signal according to a first ambient signal parameter of the first ambient light pulse signal to obtain a laser filtered signal; if the ambient light intensity is less than or equal to the preset light intensity threshold, modulating the to-be-emitted laser pulse signal according to a signal frequency characteristic of the emitted laser pulse signal, and determining a second ambient signal parameter of the second ambient light signal according to the modulated to-be-emitted laser pulse signal; filtering the to-be-emitted laser pulse signal according to the second ambient signal parameter to obtain a laser filtered signal.

[0053] The step of filtering the to-be-emitted laser pulse signal according to the first ambient signal parameter of the first ambient light pulse signal to obtain a laser filtered signal includes:

[0054] Step B10: acquiring the first ambient signal parameter in an initial time interval;

[0055] Step B20: emitting the to-be-emitted laser pulse signal after the initial time interval and acquiring a corresponding pulse signal parameter;

[0056] Step B30: determining a first signal filtering parameter according to the pulse signal parameter and the first ambient signal parameter;

[0057] Step B40: modulating the to-be-emitted laser pulse signal with the first signal filtering parameter to obtain the laser filtered signal.

[0058] In this embodiment, it should be noted that, because the ambient light pulse signals acquired at different time periods when the laser emitter is off are different, in order to improve the statistical accuracy of the target time of flight, an initial time interval is set in a certain time period before filtering the to-be-emitted laser pulse signal, and a time-to-digital converter is used to record the to-be-emitted laser signal reflected by the target to be measured in the initial time interval, and the time-to-digital converter is used to record the to-be-emitted laser pulse signal reflected by the target to be measured after the initial time interval. Because the ambient light interference in the measurement scene is relatively stable within a certain time period, the ambient light pulse signal in the initial time interval is taken as the ambient light interference received by the target to be measured when reflecting the to-be-emitted laser pulse signal after the initial time interval, that is, the ambient light pulse signal of the previous time step is taken as the ambient interference received by the target to be measured when reflecting the to-be-emitted laser pulse signal at the current time step.

[0059] As an example, steps B10 to B40 include: when detecting a to-be-emitted laser pulse signal modulated by a laser emitter, acquiring an initial time interval and a third photon number corresponding to an ambient light pulse signal in the initial time interval; emitting the to-be-emitted laser pulse signal after the initial time interval, and when detecting a reflection pulse signal formed by the to-be-measured target reflecting the to-be-emitted laser pulse signal received by a photosensor, acquiring a fourth photon number of the reflection pulse signal, taking a photon number difference between the third photon number and the fourth photon number as the first signal filtering parameter, wherein the signal filtering parameter is used for filtering the to-be-emitted laser pulse signal, and specifically can be a filtered photon number; and generating the laser filtering signal by using the filtered photon number. Since the ambient light interference in a measurement scene is relatively stable within a certain time period, the ambient light pulse signal of the previous time step can be used as the ambient light interference signal of the to-be-emitted laser pulse signal of the next time step, and then the signal parameter of the laser filtering signal is determined according to the signal parameter difference between the to-be-emitted laser pulse signal and the ambient light pulse signal, and then the laser filtering signal is generated by using the signal parameter, so as to achieve the purpose of accurately filtering the to-be-emitted laser pulse signal, thereby laying a foundation for improving the ranging accuracy of the DTOF ranging method.

[0060] Before the step of determining the first signal filtering parameter according to the pulse signal parameter and the first ambient signal parameter, the direct time-of-flight ranging method further includes:

[0061] Step C10: detecting whether a first parameter difference between the pulse signal parameter and the first ambient signal parameter is greater than a first preset parameter difference threshold value;

[0062] Step C20: if yes, taking the adjusted initial time interval as the initial time interval, and returning to execute the step of acquiring the first ambient signal parameter in the initial time interval;

[0063] Step C30: if no, taking the first parameter difference as the first signal filtering parameter, and executing the step of modulating the to-be-emitted laser pulse signal by using the first signal filtering parameter to obtain the laser filtering signal.

[0064] In this embodiment, it should be noted that since the initial time interval is pre-set in the direct flight ranging device, the ambient light interference received by the measurement scene is instantaneously changed, that is, in some special measurement scenes, the ambient light pulse signal of the previous time step cannot accurately reflect the ambient light interference received by the current time step.

[0065] As an example, steps C10 to C30 include: detecting whether a photon number difference between the fourth photon number and the third photon number is greater than a first preset photon number difference threshold; if the photon number difference is greater than the first preset photon number difference threshold, adjusting the initial time interval, taking the adjusted initial time interval as the initial time interval, and returning to execute the step of acquiring the first environmental signal parameter within the initial time interval; and if the photon number difference is less than or equal to the first preset photon number difference threshold, taking the photon number difference as the filtered photon number, and returning to execute the step of modulating the to-be-emitted laser pulse signal with the first signal filtering parameter to obtain the laser filtered signal. Since the difference between the third photon number and the fourth photon number can objectively reflect whether the environment of the to-be-measured target has mutated at the previous time step and the current time step, the initial time interval is adjusted in time when the environment of the to-be-measured target mutates, thereby laying a foundation for accurately determining the target flight time.

[0066] Before the step of emitting the to-be-emitted laser pulse signal after the initial time interval and acquiring the corresponding pulse signal parameter, the direct time-of-flight distance measurement method further includes:

[0067] Step D10, when the reflected pulse signal formed by the to-be-measured target reflecting the ambient light pulse signal is received, a time interval adjustment value of the initial time interval is predicted according to corresponding reflection characteristic information of the reflected pulse signal.

[0068] Step D20, adjusting the initial time interval according to the time interval adjustment value.

[0069] In this embodiment, it should be noted that since the ambient light interference changes in real time, even within a certain time period, the ambient light interference at the previous time step cannot completely and accurately reflect the ambient light interference at the current time step, and the reflection ability of different types of to-be-measured targets is also different, which affects the reflection degree of the ambient light interference at different time steps, and then the direct time-of-flight distance measurement device can be provided with a neural network prediction model, the time interval adjustment value in the current measurement scene is predicted by using the neural network prediction model, and then the real-time dynamic matching of the measurement scene and the initial time interval is realized, instead of applying a fixed initial time interval to all measurement scenes, which affects the accuracy of the statistical target flight time, or adjusting the initial time interval after emitting the to-be-emitted laser pulse signal, thereby affecting the efficiency of measurement.

[0070] Additionally, it should be noted that the reflection feature information is used to represent the influencing factors of the laser pulse signal when reflecting, and specifically includes target attribute information, environment attribute information, and reflection attribute information. The target attribute information can be roughness information, the environment attribute information can be reflectivity information, and the reflection attribute information can be reflection angle information.

[0071] As an example, steps D10 to D20 include: constructing the reflection feature vector according to the roughness information, the reflectivity information, and the reflection angle information carried by the reflection pulse signal, mapping the reflection feature vector to a time interval adjustment value by a preset time interval adjustment value prediction model; and adjusting the initial time interval according to the time interval adjustment value. Since the time interval adjustment value takes into account the influencing factors of the laser pulse signal when reflecting in different measurement scenarios, and then accurately predicts the adjustment amount of the time interval in the current measurement scenario based on the neural network prediction model, the purpose of real-time dynamic matching between the measurement scenario and the initial time interval can be achieved, so as to avoid applying a fixed initial time interval to all measurement scenarios, which affects the accuracy of the statistical target flight time, or adjusting the initial time interval after emitting the to-be-emitted laser pulse signal, which affects the efficiency of the measurement, that is, laying a foundation for improving the ranging accuracy of the DTOF ranging method.

[0072] The step of determining the second environmental signal parameter of the second ambient light pulse signal by modulating the to-be-emitted laser pulse signal includes:

[0073] Step E10, modulating the to-be-emitted laser pulse signal according to the signal feature of the to-be-emitted laser pulse signal to obtain a light pulse modulation signal, wherein the light pulse modulation signal includes at least one periodic modulation signal;

[0074] Step E20, taking the low-frequency modulation signal in each periodic modulation signal as the second environmental signal parameter of the second ambient light pulse signal.

[0075] In this embodiment, it should be noted that in some measurement scenarios with strong ambient light fluctuations, in order to improve the statistical accuracy of the target flight time, the to-be-emitted laser pulse signal can be modulated so that the to-be-emitted laser pulse signal emitted can directly reflect the ambient light interference in the reflection process. The signal feature is used to represent the characteristics of the signal, and can be a frequency, for example, refer to Figure 5 , Figure 5To express the contrast diagram before and after the modulation of the to-be-emitted laser pulse signal, when the photodetector receives light after a delay time, the ambient light interference in each cycle can be counted according to the high and low frequency characteristics of the signal, and then the ambient light interference in each cycle is accumulated as the ambient signal parameter of the second ambient light pulse signal, that is, the second ambient signal parameter.

[0076] As an example, steps E10 to E20 include: modulating the to-be-emitted laser pulse signal according to the signal frequency of the to-be-emitted laser pulse signal to obtain a light pulse modulation signal, wherein the light pulse modulation signal includes at least one periodic modulation signal, and the light pulse modulation signal is modulated; the fifth photon number of the low-frequency modulation signal in each periodic modulation signal is taken as the sixth photon number of the ambient light pulse signal in each signal sub-period.

[0077] Wherein, the step of filtering the to-be-emitted laser pulse signal according to the second ambient signal parameter to obtain a laser filtered signal includes:

[0078] Step F10, according to each second ambient signal parameter and each periodic signal parameter of the periodic modulation signal, determine a second signal filtering parameter;

[0079] Step F20, modulate the to-be-emitted laser pulse signal with the second signal filtering parameter to obtain the laser filtered signal.

[0080] As an example, steps F10 to F20 include: taking the seventh photon number corresponding to the high-frequency signal in each periodic modulation signal as the periodic signal parameter, calculating the second photon number difference between the sixth photon number and each seventh photon number in each signal sub-period, and accumulating each second photon number difference as the second filtered photon number; take the second filtered photon number as the laser filtered signal.

[0081] The embodiment of the present application provides a direct time-of-flight ranging method, that is, filtering a to-be-emitted laser pulse signal according to an ambient light pulse signal of an environment in which a to-be-measured target is located to obtain a laser filtered signal; emitting the laser filtered signal to the to-be-measured target, and receiving a reflected filtered signal formed by reflecting the laser filtered signal by the to-be-measured target; and measuring the distance of the to-be-measured target according to the target flight time between the laser filtered signal and the reflected filtered signal.

[0082] When the photoelectric detector detects that the target to be measured is in a natural environment, the ambient light pulse signal is used to filter the light pulse signal waiting to be emitted, to obtain a filtered laser pulse signal, and then the filtered laser pulse signal is emitted to the target to be measured and the filtered laser pulse signal reflected by the target to be measured is received, so as to determine the direct flight time between the emitted filtered laser pulse signal and the reflected filtered laser pulse signal, and then the direct flight time is substituted into the ranging formula, so as to achieve the purpose of measuring the distance of the target to be measured.

[0083] Since the laser pulse signal waiting to be emitted is filtered according to the ambient light pulse signal of the environment in which the target to be measured is located, that is, the direct flight time is calculated by the filtered laser pulse signal, the flight time corresponding to different photon pulse signals recorded by the histogram can objectively reflect the flight time of the pulse emission signal through the target to be measured, and the depth of the target to be measured calculated by the direct flight time between the emitted filtered laser pulse signal and the reflected filtered laser pulse signal is the real distance between the target to be measured and the photoelectric detector, so that the purpose of accurately feeding back the three-dimensional profile of the target to be measured in the terrain map can be achieved.

[0084] Based on this, the application filters the laser pulse signal to be emitted, so that the ambient light interference is removed when determining the flight time, and the accurate recording of the time interval between the emission pulse and the reception pulse can be fully ensured, that is, the technical defect that the difference in flight time corresponding to different photon pulse signals recorded by the histogram is not obvious due to the interference of the ambient light beam in the natural environment, and the finally determined flight time is inaccurate, is effectively overcome, so that the ranging accuracy of the DTOF ranging method is improved.

[0085] Embodiment two

[0086] Further, with reference to Figure 6 In another embodiment of the application, the same or similar contents as in the above-mentioned embodiment one can be referred to the above introduction, and the subsequent will not be described in detail. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in an order different from that described herein. On this basis, before the step of modulating the laser pulse signal to be emitted with the second signal filtering parameter to obtain the laser filtering signal, the direct flight time ranging method further comprises:

[0087] Step G10, obtaining a to-be-detected environment signal parameter in each of the second environment signal parameters;

[0088] Step G20, detecting whether a second parameter difference between the to-be-detected environment signal parameter and the corresponding periodic signal parameter is greater than a second preset parameter difference threshold;

[0089] Step G30, if yes, deleting the second environmental signal parameter, and performing the step of acquiring a to-be-detected environmental signal parameter in each of the second environmental signal parameters;

[0090] Step G40, if no, returning to perform the step of acquiring a to-be-detected environmental signal parameter in each of the second environmental signal parameters until each of the second environmental signal parameters is detected.

[0091] In this embodiment, it should be noted that the to-be-detected environmental signal parameter is any of the second environmental signal parameters, and specifically can be a to-be-detected photon number. Since the second photon number difference values in different signal sub-periods are different, in order to exclude the interference of signals emitted by external non-laser emitters, a second photon number difference value that is greatly different from other second photon number difference values can be regarded as an interference value, and then the second photon number difference value is removed, so as to ensure the accuracy of the statistical target time of flight. For example, in an implementable manner, assuming that the to-be-emitted laser pulse signal has 4 signal sub-periods, the photon numbers corresponding to each signal sub-period during emission are 100, 120, 150, and 200 in turn, and the photon numbers during emission and reception are 40, 50, 70, and 50 in turn, then the second photon number difference value of the fourth signal sub-period is removed, so as to ensure the consistency of the photon number difference between the emitted light and the received light.

[0092] As an example, steps G10 to G40 include: acquiring a to-be-detected photon number in each of the sixth photon numbers, wherein the to-be-detected photon number is any of the sixth photon numbers; detecting whether a second photon number difference value between the sixth photon number and the corresponding seventh photon number is greater than a second preset photon number difference threshold value; if it is detected that the second photon number difference value is greater than the second preset photon number difference threshold value, deleting the second environmental signal parameter, and performing the step of acquiring a to-be-detected photon number in each of the sixth photon numbers; and if it is detected that the second photon number difference value is less than or equal to the second preset photon number difference threshold value, returning to perform the step of acquiring a to-be-detected photon number in each of the sixth photon numbers until each of the sixth photon numbers is detected.

[0093] The embodiment of the present application provides a kind of environmental signal parameter detection method, that is, in each second environmental signal parameter, the environmental signal parameter to be detected is obtained;Second parameter difference between the environmental signal parameter to be detected and corresponding periodic signal parameter is detected whether greater than second preset parameter difference threshold;If yes, the second environmental signal parameter is deleted, and the step of obtaining the environmental signal parameter to be detected in each second environmental signal parameter is executed;If no, the step of obtaining the environmental signal parameter to be detected in each second environmental signal parameter is returned to execute until each second environmental signal parameter is detected completely.Because the signal parameter difference between high-frequency modulation signal and low-frequency modulation signal in the signal sub-period of optical pulse modulation signal is large, then the signal parameter difference in the signal sub-period can be eliminated, and on the basis of accurately determining the environmental light pulse signal in the emission process of optical pulse modulation signal, the purpose of excluding the interference of signal emitted by external non-laser emitter is realized, so as to lay the foundation for improving the statistical accuracy of target time of flight.

[0094] Embodiment three

[0095] The embodiment of the present application also provides a kind of direct time-of-flight ranging device, referring to Figure 7 , the direct time-of-flight ranging device includes:

[0096] Filter module 101, for filtering the laser pulse signal to be emitted according to the environmental light pulse signal of the environment where the target to be measured is located, to obtain a laser filtered signal;

[0097] Transmission module 102, for emitting the laser filtered signal to the target to be measured, and receiving the reflection filtered signal formed by the target to be measured reflecting the laser filtered signal;

[0098] Ranging module 103, for measuring the distance of the target to be measured according to the target time of flight between the laser filtered signal and the reflection filtered signal.

[0099] Optionally, the environmental light pulse signal includes first environmental light pulse signal and second environmental light pulse signal, and the filter module 101 is further used for:

[0100] Detecting whether the light intensity information of the environment where the target to be measured is located meets the preset light intensity condition;

[0101] If yes, the laser pulse signal to be emitted is filtered according to the first environmental signal parameter of the first environmental light pulse signal to obtain a laser filtered signal;

[0102] If no, the second environmental signal parameter of the second environmental light pulse signal is determined by modulating the laser pulse signal to be emitted;

[0103] filter the to-be-emitted laser pulse signal according to the second environment signal parameter to obtain a laser filtered signal.

[0104] Optionally, the filtering module 101 is further configured to:

[0105] acquire the first environment signal parameter in an initial time interval;

[0106] emit the to-be-emitted laser pulse signal after the initial time interval and acquire a corresponding pulse signal parameter;

[0107] determine a first signal filtering parameter according to the pulse signal parameter and the first environment signal parameter;

[0108] modulate the to-be-emitted laser pulse signal with the first signal filtering parameter to obtain the laser filtered signal.

[0109] Optionally, the direct time-of-flight ranging device is further configured to:

[0110] detect whether a first parameter difference between the pulse signal parameter and the first environment signal parameter is greater than a first preset parameter difference threshold;

[0111] if yes, take an adjusted initial time interval as the initial time interval and return to execute the step of acquiring the first environment signal parameter in the initial time interval;

[0112] if no, take the first parameter difference as the first signal filtering parameter and execute the step of modulating the to-be-emitted laser pulse signal with the first signal filtering parameter to obtain the laser filtered signal.

[0113] Optionally, the direct time-of-flight ranging device is further configured to:

[0114] when receiving a reflected pulse signal formed by reflecting the environment light pulse signal by the to-be-measured target, predict an initial time interval time interval adjustment value according to reflected characteristic information corresponding to the reflected pulse signal;

[0115] adjust the initial time interval according to the time interval adjustment value.

[0116] Optionally, the filtering module 101 is further configured to:

[0117] modulate the to-be-emitted laser pulse signal according to a signal characteristic of the to-be-emitted laser pulse signal to obtain a light pulse modulated signal, wherein the light pulse modulated signal comprises at least one periodic modulated signal;

[0118] The low-frequency modulation signal in each of the periodic modulation signals is taken as a second ambient signal parameter of the second ambient light pulse signal.

[0119] Optionally, the filtering module 101 is further configured to:

[0120] According to each of the second ambient signal parameters and a periodic signal parameter of each of the periodic modulation signals, a second signal filtering parameter is determined.

[0121] The second signal filtering parameter is used to modulate the to-be-emitted laser pulse signal, so as to obtain the laser filtering signal.

[0122] Optionally, the filtering module 101 is further configured to:

[0123] In each of the second ambient signal parameters, a to-be-detected ambient signal parameter is obtained.

[0124] It is detected whether a second parameter difference between the to-be-detected ambient signal parameter and a corresponding periodic signal parameter is greater than a second preset parameter difference threshold.

[0125] If yes, the second ambient signal parameter is deleted, and the step of obtaining the to-be-detected ambient signal parameter in each of the second ambient signal parameters is executed.

[0126] If no, the step of obtaining the to-be-detected ambient signal parameter in each of the second ambient signal parameters is returned to be executed until each of the second ambient signal parameters is detected.

[0127] The direct time-of-flight ranging device provided by the application adopts the direct time-of-flight ranging method in the above embodiment, and solves the technical problem of low ranging accuracy of the DTOF ranging method. Compared with the prior art, the direct time-of-flight ranging device provided by the embodiment has the same beneficial effects as the direct time-of-flight ranging method provided by the above embodiment, and other technical features in the direct time-of-flight ranging device are the same as the features disclosed in the above embodiment method, and will not be repeated here.

[0128] Embodiment Four

[0129] The embodiment of the application provides an electronic device, which comprises at least one processor and a memory connected with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the direct time-of-flight ranging method in the above embodiment one.

[0130] Reference will be made to the following Figure 8The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0131] like Figure 8 As shown, the electronic device may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the electronic device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus.

[0132] Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. The communication devices allow electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0133] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 1009, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0134] The electronic device provided by the present application adopts the direct time-of-flight ranging method in the above embodiment, and solves the technical problem of low ranging accuracy of the DTOF ranging method. Compared with the prior art, the electronic device provided by the embodiment of the present application has the same beneficial effects as the direct time-of-flight ranging method provided by the above embodiment, and other technical features in the electronic device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0135] It should be understood that parts of the present disclosure can be realized by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0136] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0137] Example five

[0138] The present embodiment provides a computer readable storage medium having computer readable program instructions stored thereon, the computer readable program instructions being used to execute the direct time-of-flight ranging method in the above embodiment.

[0139] The computer readable storage medium provided by the embodiment of the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination of the above. More specific examples of computer readable storage media can include, but are not limited to, an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer readable storage medium can be transmitted by any appropriate medium, including but not limited to: electric wire, optical cable, RF (radio frequency), etc., or any suitable combination of the above.

[0140] The above computer readable storage medium can be contained in the electronic device; or can exist separately without being assembled into the electronic device.

[0141] The computer readable storage medium described above carries one or more programs, when the one or more programs are executed by the electronic device, cause the electronic device to: filter a laser pulse signal to be emitted according to an ambient light pulse signal of an environment in which a target to be measured is located, to obtain a laser filtered signal; emit the laser filtered signal to the target to be measured, and receive a reflected filtered signal formed by reflecting the laser filtered signal by the target to be measured; and measure a distance to the target to be measured according to a target flight time between the laser filtered signal and the reflected filtered signal.

[0142] Computer program code for carrying out operations of the present disclosure can be written in any one or more of a variety of programming languages or combinations of languages including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0143] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0144] The modules described in the embodiments of the present disclosure can be implemented by software, or can be implemented by hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0145] The computer readable storage medium provided by the application stores computer readable program instructions for executing the direct time of flight ranging method, and solves the technical problem of low ranging accuracy of the DTOF ranging method. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the embodiment of the application are the same as those of the direct time of flight ranging method provided by the above embodiment, and are not described herein.

[0146] Embodiment six

[0147] The application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the direct time of flight ranging method as described above.

[0148] The computer program product provided by the application solves the technical problem of low ranging accuracy of the DTOF ranging method. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the application are the same as those of the direct time of flight ranging method provided by the above embodiment, and are not described herein.

[0149] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent processing scope of the application.

Claims

1. A direct time-of-flight ranging method, characterized by, The direct time-of-flight ranging method comprises: filtering the laser pulse signal to be emitted according to an ambient light pulse signal of an environment in which the target to be measured is located, to obtain a laser filtered signal; emitting the laser filtered signal to the target to be measured, and receiving a reflected filtered signal formed by the target to be measured reflecting the laser filtered signal; measuring the distance to the target to be measured according to the target time of flight between the laser filtered signal and the reflected filtered signal; The ambient light pulse signal comprises a first ambient light pulse signal and a second ambient light pulse signal, and the step of filtering the laser pulse signal to be emitted according to an ambient light pulse signal of an environment in which the target to be measured is located, to obtain a laser filtered signal comprises: determining whether the light intensity information of the environment in which the target to be measured is located meets a preset light intensity condition; if yes, filtering the laser pulse signal to be emitted according to the first ambient signal parameter of the first ambient light pulse signal to obtain a laser filtered signal; if no, determining the second ambient signal parameter of the second ambient light pulse signal by modulating the laser pulse signal to be emitted; filtering the laser pulse signal to be emitted according to the second ambient signal parameter to obtain a laser filtered signal.

2. The direct time-of-flight ranging method of claim 1, wherein, The step of filtering the laser pulse signal to be emitted according to the first ambient signal parameter of the first ambient light pulse signal to obtain a laser filtered signal comprises: acquiring the first ambient signal parameter within an initial time interval; emitting the laser pulse signal to be emitted after the initial time interval, and acquiring a corresponding pulse signal parameter; determining a first signal filtering parameter according to the pulse signal parameter and the first ambient signal parameter; modulating the laser pulse signal to be emitted with the first signal filtering parameter to obtain the laser filtered signal.

3. The direct time-of-flight ranging method of claim 2, wherein, Before the step of determining a first signal filtering parameter according to the pulse signal parameter and the first ambient signal parameter, the direct time-of-flight ranging method further comprises: determining whether a first parameter difference between the pulse signal parameter and the first ambient signal parameter is greater than a first preset parameter difference threshold; if yes, taking an adjusted initial time interval as the initial time interval, and returning to the step of acquiring the first ambient signal parameter within an initial time interval; if no, taking the first parameter difference as the first signal filtering parameter, and executing the step of modulating the laser pulse signal to be emitted with the first signal filtering parameter to obtain the laser filtered signal.

4. The direct time-of-flight ranging method of claim 2, wherein, Before the step of emitting the laser pulse signal to be emitted after the initial time interval, and acquiring a corresponding pulse signal parameter, the direct time-of-flight ranging method further comprises: when the reflected pulse signal formed by the target to be measured reflecting the ambient light pulse signal is received, predicting a time interval adjustment value of the initial time interval according to the reflection characteristic information corresponding to the reflected pulse signal; adjusting the initial time interval according to the time interval adjustment value.

5. The direct time-of-flight ranging method of claim 1, wherein, The step of determining the second ambient signal parameter of the second ambient light pulse signal by modulating the laser pulse signal to be emitted comprises: According to a signal feature of the to-be-emitted laser pulse signal, the to-be-emitted laser pulse signal is modulated to obtain a light pulse modulation signal, wherein the light pulse modulation signal comprises at least one periodic modulation signal. A low-frequency modulation signal in each of the periodic modulation signals is taken as a second environmental signal parameter of the second ambient light pulse signal.

6. The direct time-of-flight ranging method of claim 5, wherein, The step of filtering the to-be-emitted laser pulse signal according to the second environmental signal parameter to obtain a laser filtered signal comprises: According to each of the second environmental signal parameters and a periodic signal parameter of each of the periodic modulation signals, a second signal filtering parameter is determined; The to-be-emitted laser pulse signal is modulated by the second signal filtering parameter to obtain the laser filtered signal.

7. The direct time-of-flight ranging method of claim 6, wherein, Before the step of modulating the to-be-emitted laser pulse signal by the second signal filtering parameter to obtain the laser filtered signal, the direct time-of-flight ranging method further comprises: In each of the second environmental signal parameters, a to-be-detected environmental signal parameter is obtained; It is detected whether a second parameter difference between the to-be-detected environmental signal parameter and a corresponding periodic signal parameter is greater than a second preset parameter difference threshold value; If yes, the second environmental signal parameter is deleted, and the step of obtaining a to-be-detected environmental signal parameter in each of the second environmental signal parameters is executed; If no, the step of obtaining a to-be-detected environmental signal parameter in each of the second environmental signal parameters is returned to be executed until each of the second environmental signal parameters is detected.

8. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the direct time-of-flight ranging method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for implementing a direct time-of-flight ranging method, and the program for implementing a direct time-of-flight ranging method is executed by a processor to implement the steps of the direct time-of-flight ranging method according to any one of claims 1 to 7.

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