Laser ranging method, device, controller and laser ranging sensor

Abstract

The application discloses a laser ranging method and device, a controller and a laser ranging sensor, and belongs to the optical field. The laser ranging method is applied to the controller of the laser ranging sensor. The second laser receiving unit in the laser ranging sensor is arranged away from the laser emitter compared with the first laser receiving unit. The laser ranging method comprises the following steps: in the case that the distance between the laser ranging sensor and a target object is measured by using the laser ranging sensor, and the first laser receiving unit and the second laser receiving unit are in a working state, the predicted distance is calculated based on the output data of the reflected light received by the first laser receiving unit and the second laser receiving unit, and the reflected light is the reflected light of the laser emitted by the laser emitter; in the case that the predicted distance is less than a near distance detection threshold value, the distance between the laser ranging sensor and the target object is recalculated based on the output data of the reflected light received by the second laser receiving unit, and the ranging result is obtained.

Description

Technical Field

[0001] This application belongs to the field of optics, specifically relating to a laser ranging method, device, controller, and laser ranging sensor. Background Technology

[0002] With the development of terminal technology, people have increasingly higher requirements for the performance of terminal shooting, which has led to the emergence of high-performance camera modules with autofocus (AF) function. In order to improve its focusing efficiency, such camera modules are usually equipped with a laser rangefinder sensor, which uses the distance between the camera module and the object to be photographed to measure the distance between the camera module and the object to be photographed, so as to achieve precise focusing.

[0003] like Figure 1 As shown, a typical camera module 100 includes a lens 101 and a laser rangefinder 102. The lens 101 is positioned on the light-emitting side of the laser rangefinder 102. The laser emitted from the emitting end of the laser rangefinder 102 can be transmitted to the object to be photographed through the lens 101. The receiving end of the laser rangefinder 102 can receive the reflected light from the object to be photographed, and use this reflected light to determine the distance between the camera module and the object. However, this structure, where the lens is positioned on the light-emitting side of the laser rangefinder, may cause some laser light not to be transmitted to the object to be photographed, but instead to be reflected back to the receiving end of the laser rangefinder after reflection from the upper and / or lower surfaces of the lens. This reflected light from the lens can interfere with the reflected light from the object to be photographed, leading to crosstalk problems. In long-distance ranging scenarios, the distance between the camera module and the object to be photographed is relatively large. Therefore, the transmission time of the reflected light from the object to be photographed and the reflected light from the lens differs significantly. Thus, the two types of reflected light can be distinguished based on the reception time of the reflected light.

[0004] However, in close-range ranging scenarios, the distance between the camera module and the object being photographed is relatively short. Therefore, the difference in transmission time between the reflected light from the object and the reflected light from the lens is small. This difference is particularly pronounced the closer the distance, the smaller the difference in transmission time between the reflected light from the object and the lens, while the interference from the reflected light from the lens on the reflected light from the object becomes greater. Consequently, the laser rangefinder cannot accurately utilize the reflected light from the object for distance calculation, affecting the accuracy of the laser rangefinder's ranging capabilities. Summary of the Invention

[0005] The purpose of this application is to provide a laser ranging method, device, controller, and laser ranging sensor that can solve the problem of poor ranging accuracy of laser ranging sensors in close-range ranging scenarios.

[0006] In a first aspect, embodiments of this application provide a laser ranging method applied to a controller of a laser ranging sensor. The laser ranging sensor further includes: a laser emitter, a first laser receiving unit, and a second laser receiving unit. Both the first and second laser receiving units are connected to the controller. The second laser receiving unit is positioned further away from the laser emitter than the first laser receiving unit. The method includes:

[0007] When the laser rangefinder is used to measure the distance between itself and the target object, and the first laser receiving unit and the second laser receiving unit are in working condition, the predicted distance is calculated based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light. The reflected light is the reflected light of the laser emitted by the laser emitter.

[0008] If the predicted distance is less than the near-range detection threshold, the distance between the laser ranging sensor and the target object is recalculated based on the output data of the second laser receiving unit after receiving the reflected light, and the ranging result is obtained.

[0009] Secondly, embodiments of this application provide a laser ranging device applied to a controller of a laser ranging sensor. The laser ranging sensor further includes: a laser emitter, a first laser receiving unit, and a second laser receiving unit. Both the first and second laser receiving units are connected to the controller. The second laser receiving unit is positioned further away from the laser emitter than the first laser receiving unit. The device includes:

[0010] The calculation module is used to calculate the predicted distance based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light, when the distance between the laser ranging sensor and the target object is measured by the laser ranging sensor and the first laser receiving unit and the second laser receiving unit are in working state; the reflected light is the reflected light of the laser emitted by the laser emitter.

[0011] The calculation module is also used to recalculate the distance between the laser ranging sensor and the target object based on the output data after the second laser receiving unit receives the reflected light, when the predicted distance is less than the near-range detection threshold, so as to obtain the ranging result.

[0012] Thirdly, embodiments of this application provide an electronic device including a processor and a memory, wherein the memory stores programs or instructions executable on the processor, and the programs or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0013] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0014] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0015] In a sixth aspect, embodiments of this application provide a computer program product stored in a storage medium, which is executed by at least one processor to implement the method described in the first aspect.

[0016] In a seventh aspect, embodiments of this application provide a laser ranging sensor, which includes: a controller, a laser emitter, a first laser receiving unit, and a second laser receiving unit. The second laser receiving unit is disposed away from the laser emitter relative to the first laser receiving unit. The laser emitter is used to emit laser light. The first laser receiving unit and the second laser receiving unit are used to receive the reflected light of the laser light and transmit the output data after receiving the reflected light to the controller. The controller is used to implement the steps of the laser ranging method as described in the first aspect.

[0017] Eighthly, embodiments of this application provide a camera module, the camera module including: a laser rangefinder sensor as described in the seventh aspect.

[0018] Ninthly, embodiments of this application provide an electronic device, the electronic device including: a camera module as described in the eighth aspect.

[0019] In this embodiment, when a laser rangefinder is used to measure the distance between itself and a target object, a predicted distance is calculated based on the output data of the first and second laser receiving units after receiving reflected light, while both units are operational. If the predicted distance is less than a near-range detection threshold, the distance between the laser rangefinder and the target object is recalculated based on the output data of the second laser receiving unit after receiving reflected light, yielding the final distance measurement result. In this solution, the second laser receiving unit receives less crosstalk light than the first. Therefore, in near-range ranging scenarios, using only the output data of the second laser receiving unit after receiving reflected light for distance calculation allows the laser rangefinder to use the reflected light from the target object, which is less affected by crosstalk, for distance measurement, thus improving accuracy. Attached Figure Description

[0020] Figure 1 This is a structural diagram of a camera module in related technologies;

[0021] Figure 2 This is a schematic diagram of the structure of a camera module provided in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the receiver of a laser ranging sensor provided in an embodiment of this application;

[0023] Figure 4 This is a peak-valley diagram of reflected light and crosstalk light of a target object provided in an embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the structure of a laser ranging sensor provided in an embodiment of this application;

[0025] Figure 6 This is a schematic diagram of another laser ranging sensor provided in an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the structure of another laser ranging sensor provided in the embodiments of this application;

[0027] Figure 8 This is a flowchart of a laser ranging method provided in an embodiment of this application;

[0028] Figure 9 This is a flowchart of another laser ranging method provided in the embodiments of this application;

[0029] Figure 10 This is a block diagram of a laser ranging device provided in an embodiment of this application;

[0030] Figure 11 This is a block diagram of a controller provided in an embodiment of this application;

[0031] Figure 12 This is a block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0033] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0034] The laser ranging method, device, controller, and laser ranging sensor provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0035] Please refer to Figure 2 This illustrates a structural schematic diagram of a camera module provided in an embodiment of this application. Figure 2 As shown, the camera module 100 includes: a lens 101 and a laser rangefinder 102 provided in this embodiment of the application.

[0036] The laser rangefinder 102 includes a laser emitter 1021, a first laser receiving unit 1022, and a second laser receiving unit 1023. The second laser receiving unit 1023 is positioned further away from the laser emitter 1021 than the first laser receiving unit 1022.

[0037] The laser emitter 1021 emits laser light α towards the target object to be ranged. The first laser receiving unit 1022 and the second laser receiving unit 1023 receive the reflected laser light. Since some laser light is not transmitted to the object being photographed, but is reflected back to the receiving end of the laser range sensor (i.e., the first laser receiving unit 1022 and the second laser receiving unit 1023) after reflection from the upper and / or lower surfaces of the lens, the reflected light received by the first laser receiving unit 1022 and the second laser receiving unit 1023 includes: the reflected light β from the target object and the reflected light γ from the lens.

[0038] For long-distance ranging scenarios, the transmission time difference between the reflected light β from the target object and the reflected light γ from the lens is significant, meaning the laser ranging sensor receives the reflected light β and γ over a longer period. Therefore, the laser ranging sensor can distinguish between the two types of reflected light based on their reception time. However, for short-distance ranging scenarios, especially when the shooting distance between the camera module and the target object (i.e., the distance between the laser ranging sensor and the target object) is closer, the transmission time between the reflected light β from the target object and the reflected light γ from the lens becomes closer. This increases the probability that the first laser receiving unit 1022 and the second laser receiving unit 1023 simultaneously receive both reflected light β and γ. Consequently, the closer the distance between the laser ranging sensor and the target object, the less accurately the laser ranging sensor can calculate the distance using the reflected light from the object being photographed, resulting in lower ranging accuracy.

[0039] Because the first laser receiving unit 1022 is closer to the laser emitter 1021 than the second laser receiving unit 1023, the first laser receiving unit 1022 receives more reflected light γ from the mirrors than the second laser receiving unit 1023. Therefore, the first laser receiving unit 1022 contributes more to the crosstalk problem of the laser rangefinder than the second laser receiving unit 1023. Especially in close-range ranging scenarios, the distance between the laser rangefinder and the target object is shorter, resulting in the second laser receiving unit 1023 receiving a larger amount of reflected light β signal compared to the first laser receiving unit 1022.

[0040] For example, please refer to Figure 2 and Figure 3 The laser ranging sensor 102 includes a laser emitter 1021 that is a vertical-cavity surface-emitting laser (VCSEL). The first laser receiving unit 1022 includes a first single-photon avalanche diode (SPAD) 10221 and a second SPAD 10222. The second laser receiving unit 1023 includes a third SPAD 10231 and a fourth SPAD 10232.

[0041] Laser rangefinders primarily calculate the time difference between the emitted laser beam and the reflected light's echo to determine the photon's flight time during ranging. Based on the photon's flight time, velocity, and a target formula, the distance between the laser rangefinder and the target object is calculated. The target formula is: L = C × (T2 - T1) / 2. Here, L is the distance between the laser rangefinder and the target object. T1 is the laser emission start time, determined based on the peak value of the crosstalk light (γ, reflected from the mirror). T2 is the laser return time, determined based on the peak value of the reflected light β from the target object.

[0042] However, as Figure 4 As shown, this diagram illustrates the peak-valley plot of reflected and crosstalk light from a target object. The closer the laser rangefinder is to the target object, the larger the peak value (β) of the reflected light (β) becomes, but the greater the broadening of β also becomes. This makes it easier for the peak of the crosstalk light to overlap with the peak of the reflected light, and the greater the overlap. Consequently, this has a greater impact on the ranging accuracy of the laser rangefinder.

[0043] Furthermore, such as Figure 5 As shown in the embodiment of this application, the laser ranging sensor 102 further includes a controller 1024. The controller 1024 is connected to the first laser receiving unit 1022 and the second laser receiving unit 1023, respectively. The controller 1024 is used at least to control the opening and closing of the first laser receiving unit 1022 and the second laser receiving unit 1023.

[0044] When the first laser receiving unit 1022 and the second laser receiving unit 1023 are SPADs, the first terminals of both the first laser receiving unit 1022 and the second laser receiving unit 1023 are connected to the power supply terminal VDD. The power supply terminal VDD is used to supply power to the devices connected to it. The second terminals of both the first laser receiving unit 1022 and the second laser receiving unit 1023 are connected to the controller 1024.

[0045] In one alternative implementation, such as Figure 6 As shown, compared to Figure 5 The laser rangefinder sensor shown is Figure 6 The improvement of the laser rangefinder sensor shown is that the controller 1024 also includes a control unit 10241 and a data processing unit 10242.

[0046] The control unit 10241 is connected to both the first laser receiving unit 1022 and the second laser receiving unit 1023. The control unit 10241 controls the activation and deactivation of both the first laser receiving unit 1022 and the second laser receiving unit 1023. The data processing unit 10242 is also connected to both the first laser receiving unit 1022 and the second laser receiving unit 1023. The data processing unit 10242 receives the output data from the first laser receiving unit 1022 and the second laser receiving unit 1023 after receiving reflected light, and obtains the ranging result based on the output data from the first laser receiving unit 1022 and / or the second laser receiving unit 1023.

[0047] When both the first laser receiving unit 1022 and the second laser receiving unit 1023 are SPADs, the first terminals of both are connected to the power supply terminal VDD. The second terminals of both are connected to the control unit 10241. The control unit 10241 is used to control the start-up and shutdown of the first laser receiving unit 1022 and the second laser receiving unit 1023 by controlling whether the second terminals of the first laser receiving unit 1022 and the second laser receiving unit 1023 are connected to the ground terminal VDD.

[0048] Alternatively, the first terminals of both the first laser receiving unit 1022 and the second laser receiving unit 1023 can be connected to the ground terminal GND. The second terminals of both the first laser receiving unit 1022 and the second laser receiving unit 1023 can be connected to the control unit 10241. Accordingly, the control unit 10241 is used to control the start-up and shutdown of the first laser receiving unit 1022 and the second laser receiving unit 1023 by controlling whether the second terminals of the first laser receiving unit 1022 and the second laser receiving unit 1023 are connected to the power supply terminal VDD.

[0049] In one alternative implementation, such as Figure 7 As shown, compared to Figure 5 The laser rangefinder sensor shown is Figure 7 The improvement of the laser rangefinder sensor shown is that the controller 1024 also includes a control unit 10241 and a data processing unit 10242.

[0050] The data processing unit 10242 is connected to the first laser receiving unit 1022 and the second laser receiving unit 1023. The data processing unit 10242 is used to receive the output data of the first laser receiving unit 1022 and the second laser receiving unit 1023 after receiving the reflected light, and to obtain the ranging result based on the output data of the first laser receiving unit 1022 and / or the second laser receiving unit 1023.

[0051] It should be noted that, Figure 5 , Figure 6 and Figure 7 The laser controller 1021 is not shown in either of the embodiments. Furthermore, in an alternative implementation, Figure 5 and Figure 6 In the illustrated structure, both the control unit 10241 and the data processing unit 10242 are connected to the AP processing module 103. The AP processing module 103 transmits an enable signal EN and operation data INT to the control unit 10241. The enable signal EN can be used to control the control unit 10241 to start and stop operation. The data processing unit 10242 also transmits ranging results to the AP processing module 103 via the Inter-Integrated Circuit (I2C) bus between itself and the AP processing module 103.

[0052] Based on the above description, this application provides a laser ranging method that can reduce the impact of crosstalk light on the ranging accuracy of the laser ranging sensor to a certain extent, as detailed below.

[0053] Please refer to Figure 8 The diagram illustrates a flowchart of a laser ranging method provided in an embodiment of this application. The laser ranging method can be applied to, for example... Figure 5 , Figure 6 and Figure 7 The laser rangefinder shown is controlled by a controller within the laser rangefinder. Figure 8 As shown, laser ranging methods include:

[0054] Step 801: When the distance between the laser rangefinder and the target object is measured using a laser rangefinder, and the first laser receiving unit and the second laser receiving unit are in working condition, the predicted distance is calculated based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light.

[0055] The reflected light is the reflected light from the laser emitted by the laser emitter. As mentioned earlier, this reflected light may include the reflected light β from the target object and the reflected light γ from the lens.

[0056] Optionally, when the first and second laser receiving units are SPADs, the output data of the first and second laser receiving units are electrical signals, which reflect the waveform of the reflected light received by the first / second laser receiving unit. The controller determines multiple peaks of the reflected light received by the laser ranging sensor based on the output data, and determines the laser return time based on these peaks. Then, it calculates the predicted distance between the laser ranging sensor and the target object using the target formula. For example, the controller determines the receiving time corresponding to the highest peak among the multiple peaks as the return time.

[0057] In this embodiment, after calculating the predicted distance, the controller can determine whether the predicted distance is less than the near-range detection threshold. The near-range detection threshold, also known as the near-range detection limit, reflects the minimum measurement distance within which the ranging error of the laser ranging sensor is within an acceptable range when both the first and second laser receiving units are operational. If the predicted distance is greater than or equal to the near-range detection threshold, it indicates that the laser ranging sensor is less affected by crosstalk light during ranging calculation, and the accuracy of the predicted distance is high. The controller can then determine this predicted distance as the ranging result.

[0058] Step 802: When the predicted distance is less than the near-range detection threshold, the distance between the laser ranging sensor and the target object is recalculated based on the output data of the reflected light received by the second laser receiving unit, and the ranging result is obtained.

[0059] In this embodiment, when the predicted distance is less than the near-range detection threshold, it indicates that the laser ranging sensor is significantly affected by crosstalk light during the ranging calculation process, resulting in low accuracy of the predicted distance. The controller can recalculate the distance between the laser ranging sensor and the target object based on the output data after the second laser receiving unit receives the reflected light. Since the second laser receiving unit receives less crosstalk light than the first laser receiving unit, using only the output data after the second laser receiving unit receives the reflected light for distance calculation allows the laser ranging sensor to use the reflected light from the target object, which is less affected by crosstalk light, for distance calculation. This improves the accuracy, precision, and confidence of the ranging measurement.

[0060] In one alternative implementation, a near-range detection threshold can be determined before using a laser rangefinder to measure the distance between itself and the target object.

[0061] In the first optional scenario, the near-range detection threshold is the shortest measurement distance within which the ranging error of the laser rangefinder falls within the acceptable error range, assuming both the first and second laser receiving units are operational. That is, if the ranging result obtained by the laser rangefinder when both units are operational is within the near-range detection threshold, then the ranging error of the laser rangefinder is the maximum error within the acceptable error range. The ranging error of the laser rangefinder is the difference between the measured distance between the laser rangefinder and the object being measured and the actual distance. The measured distance is the distance between the laser rangefinder and the object being measured as measured by the laser rangefinder. The actual distance is the true distance between the laser rangefinder and the object being measured.

[0062] Thus, when the predicted distance is greater than or equal to the near-range detection threshold, it indicates that the difference between the predicted distance and the actual distance is within an acceptable error range, and the accuracy of the predicted distance is relatively high. This actual distance is the true distance between the laser rangefinder and the target object. When the predicted distance is less than the near-range detection threshold, it indicates that the difference between the predicted distance and the actual distance exceeds the maximum error within the acceptable error range, and the accuracy of the predicted distance is relatively low.

[0063] In the second optional scenario, the near-range detection threshold is the shortest measurement distance from which the confidence level of the ranging result falls within the acceptable confidence range, assuming both the first and second laser receiving units are operational. That is, if the ranging result obtained by the laser ranging sensor when both the first and second laser receiving units are operational is at the near-range detection threshold, then the confidence level of the ranging result from the laser ranging sensor is the minimum confidence level within the acceptable confidence range.

[0064] Thus, when the predicted distance is greater than or equal to the near-field detection threshold, it indicates that the confidence level of the predicted distance is within the acceptable confidence level range, and the accuracy of the predicted distance is relatively high. When the predicted distance is less than the near-field detection threshold, it indicates that the confidence level of the predicted distance is less than the minimum confidence level within the acceptable confidence level range, and the accuracy of the predicted distance is relatively low.

[0065] In a third optional configuration, the near-range detection threshold is the measurement distance when the difference between the first and second reception times equals a threshold value, provided both the first and second laser receiving units are operational. The first reception time is the initial reception time of the reflected light from the object being measured by the first laser receiving unit. The second reception time is the initial reception time of crosstalk light received by the first laser receiving unit. Crosstalk light is any light received by the first laser receiving unit other than the reflected light from the object being measured.

[0066] Thus, when the predicted distance is greater than or equal to the near-range detection threshold, it indicates that the time period between the crosstalk light and the reflected light from the target object simultaneously by the first laser receiving unit is short, the interference of the crosstalk light on the reflected light from the target object is low, and the accuracy of the predicted distance is high. When the predicted distance is less than the near-range detection threshold, it indicates that the time period between the crosstalk light and the reflected light from the target object simultaneously by the first laser receiving unit is long, the interference of the crosstalk light on the reflected light from the target object is high, and the accuracy of the predicted distance is low.

[0067] Specifically, during the testing phase, the laser rangefinder can measure the test distances between itself and multiple objects while both the first and second laser receiving units are operational. The test distance from these multiple distances is then selected as the near-range detection threshold from the three scenarios described above. The actual distances between the multiple objects and the laser rangefinder are different.

[0068] For the first scenario described above, calculate the ranging error for each of the multiple test distances. Determine the test distance corresponding to the target ranging error among these multiple ranging errors as the near-range detection threshold. The target ranging error is the maximum error within the acceptable error range.

[0069] For the second scenario described above, the confidence level for each of the multiple test distances is calculated, and the test distance corresponding to the target confidence level among these multiple confidence levels is determined as the near-range detection threshold. The target confidence level is the minimum confidence level within the acceptable confidence level range.

[0070] For the third scenario mentioned above, the laser rangefinder sensor acquires its reception time data during the measurement of distances between itself and multiple objects, obtaining reception time data corresponding to each of the multiple test distances. The reception time data includes a first reception time and a second reception time. The difference between the first and second reception times in each set of reception time data is calculated sequentially to obtain the difference corresponding to each test distance. The test distance corresponding to the target difference among the multiple differences is determined as the near-range detection threshold. The target difference is equal to the difference threshold.

[0071] The embodiments of this application further illustrate the laser ranging method provided in this application through the following examples, demonstrating the application of the laser ranging method in... Figure 8 The laser rangefinder sensor shown is an example.

[0072] When a laser rangefinder is used to measure the distance between itself and a target object, and both the first and second laser receiving units are operational, the data processing unit can calculate a predicted distance based on the output data from the reflected light received by the first and second laser receiving units. The data processing unit can determine the predicted distance as the ranging result if it is greater than or equal to the near-range detection threshold. If the predicted distance is less than the near-range detection threshold, the distance between the laser rangefinder and the target object is recalculated based solely on the output data from the second laser receiving unit after receiving the reflected light, thus obtaining the final ranging result.

[0073] In summary, the laser ranging method provided in this application, when using a laser ranging sensor to measure the distance between itself and a target object, calculates a predicted distance based on the output data of the first and second laser receiving units after receiving reflected light, while both units are in operation. If the predicted distance is less than a near-range detection threshold, the distance between the laser ranging sensor and the target object is recalculated based on the output data of the second laser receiving unit after receiving reflected light, yielding the ranging result. In this technical solution, the second laser receiving unit receives less crosstalk light than the first. Therefore, in near-range ranging scenarios, using only the output data of the second laser receiving unit after receiving reflected light for distance calculation allows the laser ranging sensor to use the reflected light from the target object, which is less affected by crosstalk, for distance calculation, improving ranging accuracy, precision, and confidence. Furthermore, since there is no need to pre-calibrate the laser ranging sensor due to crosstalk, the ranging steps of the laser ranging sensor are simplified, improving ranging efficiency.

[0074] Please refer to Figure 9 The diagram illustrates a flowchart of another laser ranging method provided in an embodiment of this application. Laser ranging methods can be applied to, for example... Figure 6 The laser rangefinder shown is controlled by a controller within the laser rangefinder. Figure 9 As shown, laser ranging methods include:

[0075] Step 901: When the distance between the laser rangefinder and the target object is measured using a laser rangefinder, and the first laser receiving unit and the second laser receiving unit are in working condition, the predicted distance is calculated based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light.

[0076] The explanation and implementation of this step can be found in the explanation and implementation of step 601 above, and will not be repeated here in this embodiment. It should be noted that the data processing unit calculates the predicted distance based on the output data of the reflected light received by the first laser receiving unit and the second laser receiving unit.

[0077] In an alternative implementation, prior to step 901, the method further includes: the control unit activating the first laser receiving unit and the second laser receiving unit when the distance between itself and the target object is measured using a laser rangefinder.

[0078] For example, when using a laser rangefinder to measure the distance between itself and a target object, the control unit controls the second terminals of the first and second laser receiving units to connect to the ground terminal to activate the first and second laser receiving units.

[0079] Step 902: If the predicted distance is less than the near-range detection threshold, turn off the first laser receiving unit.

[0080] In this embodiment, when the predicted distance is less than the near-range detection threshold, the control unit shuts down the first laser receiving unit. For example, the control unit disconnects the second terminal of the first laser receiving unit from the ground terminal to shut down the first laser receiving unit.

[0081] Step 903: Based on the output data of the second laser receiving unit after receiving the reflected light in the target time period, recalculate the distance between the laser ranging sensor and the target object to obtain the ranging result. The start time of the target time period is the turn-off time of the first laser receiving unit.

[0082] In this embodiment, the method by which the data processing unit recalculates the distance between the laser range sensor and the target object based on the output data of the second laser receiving unit after receiving the reflected light during the target time period can refer to the method in step 801 above for calculating the predicted distance based on the output data of the first and second laser receiving units after receiving the reflected light. This embodiment will not elaborate on this method.

[0083] In summary, the laser ranging method provided in this application, when using a laser ranging sensor to measure the distance between itself and a target object, calculates a predicted distance based on the output data of the first and second laser receiving units after receiving reflected light, while both units are in operation. If the predicted distance is less than a near-range detection threshold, the first laser receiving unit is turned off. Then, based on the output data of the second laser receiving unit after the first unit is turned off, the distance between the laser ranging sensor and the target object is recalculated to obtain the ranging result. Although this technical solution is different from the aforementioned... Figure 8 The laser ranging method shown requires the second laser receiving unit to receive the reflected light an additional time and obtain output data based on the reflected light. However, in close-range ranging scenarios, this technical solution only uses the output data after the second laser receiving unit receives the reflected light for distance calculation. This allows the laser ranging sensor to use the reflected light from the target object, which is less affected by crosstalk, for distance calculation, improving ranging accuracy, precision, and confidence. Furthermore, since there is no need to pre-calibrate the laser ranging sensor due to the presence of crosstalk, the ranging steps of the laser ranging sensor are simplified, improving ranging efficiency.

[0084] The laser ranging method provided in this application can be executed by a laser ranging device. This application uses a laser ranging device executing the laser ranging method as an example to illustrate the laser ranging device provided in this application.

[0085] Please refer to Figure 10 This diagram illustrates a block diagram of a laser ranging device according to an embodiment of this application. The laser ranging device is applied to a controller of a laser ranging sensor. The laser ranging sensor further includes: a laser emitter, a first laser receiving unit, and a second laser receiving unit. Both the first and second laser receiving units are connected to the controller, and the second laser receiving unit is positioned further away from the laser emitter than the first laser receiving unit. The laser ranging device 1000 includes:

[0086] The calculation module 1001 is used to calculate the predicted distance based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light, when the distance between the laser range sensor and the target object is measured by the laser range sensor and the first laser receiving unit and the second laser receiving unit are in working state. The reflected light is the reflected light of the laser emitted by the laser emitter.

[0087] The calculation module 1001 is also used to recalculate the distance between the laser range sensor and the target object based on the output data after the second laser receiving unit receives the reflected light when the predicted distance is less than the near-range detection threshold, so as to obtain the ranging result.

[0088] Optionally, the laser ranging device 1000 further includes: a control module for shutting down the first laser receiving unit;

[0089] The calculation module 1001 is also used to recalculate the distance between the laser ranging sensor and the target object based on the output data of the second laser receiving unit after receiving the reflected light in the target time period, and obtain the ranging result. The start time of the target time period is the turn-off time of the first laser receiving unit.

[0090] Optionally, the first laser receiving unit and the second laser receiving unit are SPADs. The first terminals of both the first and second laser receiving units are connected to a power supply terminal, and the second terminals of both the first and second laser receiving units are connected to a controller.

[0091] The control module is also configured to connect the second terminal to the ground terminal to activate the first laser receiving unit and the second laser receiving unit when the distance between the laser rangefinder and the target object is measured by the laser rangefinder; and is also configured to disconnect the second terminal of the first laser receiving unit from the ground terminal.

[0092] Optionally, the near-range detection threshold is the shortest measurement distance at which the error of the ranging result is within the acceptable error range when the first laser receiving unit and the second laser receiving unit of the laser ranging sensor are in working condition.

[0093] Alternatively, the short-range detection threshold is the shortest measurement distance whose confidence level of the ranging result falls within the acceptable confidence range when the first and second laser receiving units of the laser ranging sensor are in working condition.

[0094] Alternatively, the near-range detection threshold is the distance that the laser rangefinder sensor measures when the difference between the first and second receiving times equals a threshold value, provided that both the first and second laser receiving units are operational.

[0095] Wherein, the first receiving time is the starting time when the first laser receiving unit receives the reflected light from the ranging object, and the second receiving time is the starting time when the first laser receiving unit receives the crosstalk light, which is the light received by the first laser receiving unit other than the reflected light from the ranging object.

[0096] In this embodiment, when a laser rangefinder is used to measure the distance between itself and a target object, a predicted distance is calculated based on the output data of the first and second laser receiving units after receiving reflected light, while both units are operational. If the predicted distance is less than a near-range detection threshold, the distance between the laser rangefinder and the target object is recalculated based on the output data of the second laser receiving unit after receiving reflected light, yielding the final distance measurement result. In this solution, the second laser receiving unit receives less crosstalk light than the first. Therefore, in near-range ranging scenarios, using only the output data of the second laser receiving unit after receiving reflected light for distance calculation allows the laser rangefinder to use the reflected light from the target object, which is less affected by crosstalk, for distance measurement, thus improving accuracy.

[0097] The laser ranging device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.

[0098] The laser ranging device provided in this application embodiment can achieve... Figures 8 to 9 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0099] Optionally, such as Figure 11 As shown, this application embodiment also provides a controller 1100 for a laser ranging sensor, including a processor 1101 and a memory 1102. The memory 1102 stores a program or instructions that can run on the processor 1101. When the program or instructions are executed by the processor 1101, they implement the various steps of the above-described laser ranging method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0100] Optionally, embodiments of this application also provide an electronic device, which includes the laser ranging sensor provided in embodiments of this application. For example, the electronic device includes, Figures 2 to 7 The laser ranging sensor provided in any of the embodiments described in this application.

[0101] It should be noted that the electronic devices in the embodiments of this application include mobile electronic devices and non-mobile electronic devices. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, handheld computer, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM or self-service machine, etc. The embodiments of this application do not specifically limit the scope.

[0102] Figure 12 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. The electronic device 1200 includes, but is not limited to, components such as: a radio frequency unit 1201, a network module 1202, an audio output unit 1203, an input unit 1204, a sensor 1205, a display unit 1206, a user input unit 1207, an interface unit 1208, a memory 1209, and a processor 1210. The electronic device also includes the laser ranging sensor provided in this embodiment. For example, the electronic device includes, for example... Figures 2 to 7 The laser ranging sensor provided in any of the embodiments described in this application.

[0103] Those skilled in the art will understand that the electronic device 1200 may also include a power supply (such as a battery) for powering various components. The power supply can be logically connected to the processor 1210 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. 12 The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0104] The controller of the laser rangefinder is used to calculate the predicted distance based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light, when the laser rangefinder measures the distance between itself and the target object and the first laser receiving unit and the second laser receiving unit are in working condition. The reflected light is the reflected light of the laser emitted by the laser emitter.

[0105] If the predicted distance is less than the near-range detection threshold, the distance between the laser ranging sensor and the target object is recalculated based on the output data of the second laser receiving unit after receiving the reflected light, and the ranging result is obtained.

[0106] In this embodiment, when a laser rangefinder is used to measure the distance between itself and a target object, a predicted distance is calculated based on the output data of the first and second laser receiving units after receiving reflected light, while both units are operational. If the predicted distance is less than a near-range detection threshold, the distance between the laser rangefinder and the target object is recalculated based on the output data of the second laser receiving unit after receiving reflected light, yielding the final distance measurement result. In this solution, the second laser receiving unit receives less crosstalk light than the first. Therefore, in near-range ranging scenarios, using only the output data of the second laser receiving unit after receiving reflected light for distance calculation allows the laser rangefinder to use the reflected light from the target object, which is less affected by crosstalk, for distance measurement, thus improving accuracy.

[0107] Optionally, the controller for the laser rangefinder sensor is also used for:

[0108] Turn off the first laser receiving unit;

[0109] Based on the output data of the second laser receiving unit after receiving reflected light during the target time period, the distance between the laser ranging sensor and the target object is recalculated to obtain the ranging result. The start time of the target time period is the turn-off time of the first laser receiving unit.

[0110] Optionally, the controller of the laser rangefinder is further configured to: control the second terminal to connect to the ground terminal to start the first laser receiving unit and the second laser receiving unit when the laser rangefinder is used to measure the distance between itself and the target object; and is further configured to control the second terminal of the first laser receiving unit to disconnect from the ground terminal.

[0111] Optionally, the near-range detection threshold is the shortest measurement distance where the error of the ranging result is within an acceptable error range when the first laser receiving unit and the second laser receiving unit are in working condition.

[0112] Alternatively, the near-range detection threshold is the shortest measurement distance whose confidence level of the ranging result is within an acceptable range when the first laser receiving unit and the second laser receiving unit are in working condition.

[0113] Alternatively, the near-range detection threshold can be the measured distance when the difference between the first and second receiving times equals a difference threshold, provided that the first and second laser receiving units are both operational.

[0114] Wherein, the first receiving time is the starting time when the first laser receiving unit begins to receive the reflected light from the ranging object, and the second receiving time is the starting time when the first laser receiving unit begins to receive crosstalk light, wherein the crosstalk light is light other than the reflected light from the ranging object received by the first laser receiving unit.

[0115] In this embodiment, when a laser rangefinder is used to measure the distance between itself and a target object, a predicted distance is calculated based on the output data of the first and second laser receiving units after receiving reflected light, while both units are operational. If the predicted distance is less than a near-range detection threshold, the distance between the laser rangefinder and the target object is recalculated based on the output data of the second laser receiving unit after receiving reflected light, yielding the final distance measurement result. In this solution, the second laser receiving unit receives less crosstalk light than the first. Therefore, in near-range ranging scenarios, using only the output data of the second laser receiving unit after receiving reflected light for distance calculation allows the laser rangefinder to use the reflected light from the target object, which is less affected by crosstalk, for distance measurement, thus improving accuracy.

[0116] It should be understood that, in this embodiment, the input unit 1204 may include a graphics processing unit (GPU) 12041 and a microphone 12042. The GPU 12041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 1206 may include a display panel 12061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1207 includes a touch panel 12071 and at least one of other input devices 12072. The touch panel 12071 is also called a touch screen. The touch panel 12071 may include a touch detection device and a touch controller. Other input devices 12072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0117] The memory 1209 can be used to store software programs and various data. The memory 1209 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 1209 may include volatile memory or non-volatile memory, or it may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1209 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0118] Processor 1210 may include one or more processing units; optionally, processor 1210 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 1210.

[0119] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described laser ranging method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0120] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0121] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described laser ranging method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0122] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0123] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the laser ranging method embodiments described above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0124] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0126] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A laser ranging method, characterized in that, A controller for a laser ranging sensor, the laser ranging sensor further comprising: a laser emitter, a first laser receiving unit, and a second laser receiving unit, both the first and second laser receiving units being connected to the controller, the second laser receiving unit being positioned further away from the laser emitter than the first laser receiving unit; the method comprising: When the laser rangefinder is used to measure the distance between itself and the target object, and the first laser receiving unit and the second laser receiving unit are in working condition, the predicted distance is calculated based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light. The reflected light is the reflected light of the laser emitted by the laser emitter, and the reflected light includes the reflected light β of the target object and the reflected light γ of the lens. If the predicted distance is less than the near-range detection threshold, the distance between the laser ranging sensor and the target object is recalculated based on the output data of the second laser receiving unit after receiving the reflected light, and the ranging result is obtained. The step of calculating the predicted distance based on the output data of the reflected light received by the first laser receiving unit and the second laser receiving unit includes: When the first laser receiving unit and the second laser receiving unit are SPADs, multiple peaks of the reflected light received by the laser ranging sensor are determined based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light, and the return time of the laser is determined based on the multiple peaks. Then, the predicted distance is calculated using the target formula. The output data is an electrical signal, which is used to reflect the waveform of the reflected light received by the first laser unit and / or the second laser receiving unit. The target formula is: L = C×(T2 - T1) / 2; L is the distance between the laser ranging sensor and the target object; T1 is the laser emission start time, which is determined based on the peak value of the crosstalk light, which is the reflected light γ from the lens; T2 is the laser return time, which is determined based on the peak value of the reflected light β from the target object.

2. The method according to claim 1, characterized in that, The distance between the laser ranging sensor and the target object is recalculated based on the output data of the reflected light received by the second laser receiving unit to obtain the ranging result, including: Turn off the first laser receiving unit; Based on the output data of the second laser receiving unit after receiving reflected light during the target time period, the distance between the laser ranging sensor and the target object is recalculated to obtain the ranging result. The start time of the target time period is the turn-off time of the first laser receiving unit.

3. The method according to claim 2, characterized in that, The first laser receiving unit and the second laser receiving unit are single-photon avalanche diodes (SPADs). The first terminals of both the first and second laser receiving units are connected to a power supply terminal, and the second terminals of both are connected to the controller. The method further includes: When the laser rangefinder is used to measure the distance between itself and the target object, the second terminal is connected to the ground terminal to start the first laser receiving unit and the second laser receiving unit. The step of shutting down the first laser receiving unit includes: controlling the second end of the first laser receiving unit to disconnect from the grounding end.

4. The method according to any one of claims 1 to 3, characterized in that, The near-range detection threshold is the shortest measurement distance within which the error of the ranging result of the laser ranging sensor is within an acceptable error range when the first laser receiving unit and the second laser receiving unit are in working condition. Alternatively, the near-range detection threshold is the shortest measurement distance whose confidence level of the ranging result is within an acceptable range when the first laser receiving unit and the second laser receiving unit are in working condition. Alternatively, the near-range detection threshold can be the measured distance when the difference between the first and second receiving times equals a difference threshold, provided that the first and second laser receiving units are both operational. Wherein, the first receiving time is the starting time when the first laser receiving unit begins to receive the reflected light from the ranging object, and the second receiving time is the starting time when the first laser receiving unit begins to receive crosstalk light, wherein the crosstalk light is light other than the reflected light from the ranging object received by the first laser receiving unit.

5. A laser ranging device, characterized in that, A controller for a laser ranging sensor, the laser ranging sensor further comprising: a laser emitter, a first laser receiving unit, and a second laser receiving unit, both the first and second laser receiving units being connected to the controller, the second laser receiving unit being disposed further away from the laser emitter than the first laser receiving unit; the device includes: The calculation module is used to calculate the predicted distance based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light, when the distance between the laser rangefinder and the target object is measured by the laser rangefinder and the first laser receiving unit and the second laser receiving unit are in working state. The reflected light is the reflected light of the laser emitted by the laser emitter, and the reflected light includes the reflected light β of the target object and the reflected light γ of the lens. The calculation module is also used to recalculate the distance between the laser ranging sensor and the target object based on the output data after the second laser receiving unit receives the reflected light, when the predicted distance is less than the near-range detection threshold, so as to obtain the ranging result. The calculation module is specifically used, when the first laser receiving unit and the second laser receiving unit are SPADs, to determine multiple peaks of the reflected light received by the laser ranging sensor based on the output data of the first laser receiving unit and the second laser receiving unit after receiving the reflected light, and to determine the return time of the laser based on the multiple peaks, and then calculate the predicted distance using the target formula; wherein, the output data is an electrical signal, and the electrical signal is used to reflect the waveform of the reflected light received by the first laser unit and / or the second laser receiving unit; The target formula is: L = C×(T2 - T1) / 2; L is the distance between the laser ranging sensor and the target object; T1 is the laser emission start time, which is determined based on the peak value of the crosstalk light, which is the reflected light γ from the lens; T2 is the laser return time, which is determined based on the peak value of the reflected light β from the target object.

6. The apparatus according to claim 5, characterized in that, The device further includes: The control module is used to shut down the first laser receiving unit; The calculation module is also used to recalculate the distance between the laser ranging sensor and the target object based on the output data of the second laser receiving unit after receiving reflected light in the target time period, and obtain the ranging result. The start time of the target time period is the turn-off time of the first laser receiving unit.

7. The apparatus according to claim 6, characterized in that, The first laser receiving unit and the second laser receiving unit are single-photon avalanche diodes (SPADs). The first terminals of both the first and second laser receiving units are connected to a power supply, and the second terminals of both are connected to the controller. The control module is further configured to, when the distance between the laser rangefinder and the target object is measured using the laser rangefinder, control the second terminal to connect to the ground terminal to start the first laser receiving unit and the second laser receiving unit; and is further configured to control the second terminal of the first laser receiving unit to disconnect from the ground terminal.

8. A controller for a laser rangefinder sensor, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the laser ranging method as described in any one of claims 1 to 4.

9. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the laser ranging method as described in any one of claims 1 to 4.

10. A laser rangefinder sensor, characterized in that, The laser ranging sensor includes: a controller, a laser emitter, a first laser receiving unit, and a second laser receiving unit. The second laser receiving unit is positioned further away from the laser emitter than the first laser receiving unit. The laser emitter is used to emit laser light. The first laser receiving unit and the second laser receiving unit are used to receive the reflected light from the laser and transmit the output data after receiving the reflected light to the controller. The controller is used to implement the steps of the laser ranging method as described in any one of claims 1 to 4.

11. A camera module, characterized in that, The camera module includes: the laser rangefinder sensor as described in claim 10.

12. An electronic device, characterized in that, The electronic device includes: the camera module as described in claim 11.

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