A DTOF sensor

Abstract

This application discloses a DTOF sensor for use in the field of photoelectric detection technology. The DTOF sensor includes: an external signal input port, a working window generation module, a receiving module, a transmitting module, a histogram module, a collision detection and interference detection module, and a decision state machine. In the DTOF sensor, the working time period is determined based on the working indication signal sent by an external passive photoelectric detection sensor, thus avoiding external interference from the external passive photoelectric detection sensor. Furthermore, based on the characteristics of homogeneous or heterogeneous interference, an interference avoidance strategy is determined. By adjusting the transmission parameters of the DTOF sensor through the interference avoidance strategy, the DTOF sensor can avoid both homogeneous and heterogeneous interference. Therefore, the DTOF sensor in this application can avoid multiple types of interference in the same wavelength band during detection.

Description

Technical Field

[0001] This application relates to the field of photoelectric detection technology, and more particularly to a DTOF sensor. Background Technology

[0002] Existing DTOF area or dot array ranging imaging devices are active photoelectric sensors. Active photoelectric sensors actively emit infrared light and consist of two parts: a transmitter and a receiver. The transmitter emits visible or invisible light (infrared light), and the receiver receives the corresponding light. The corresponding signal is output based on the amount of light blocked or reflected by an object.

[0003] In applications of DTOF sensors, passive photoelectric sensors and other active photoelectric sensors are typically used. Passive photoelectric sensors passively receive external light to obtain corresponding information. When a DTOF sensor emits light, it inevitably affects passive photoelectric sensors in the same wavelength band. Furthermore, DTOF sensors may also experience interference from other active photoelectric sensors in the same wavelength band due to receiving light that is not emitted by the sensor itself. This is especially true for heterogeneous active photoelectric sensors (such as ITOF), which are more difficult to eliminate with direct anti-interference methods.

[0004] Therefore, there is an urgent need for a solution to avoid interference between DTOF sensors and various photoelectric sensors. Summary of the Invention

[0005] This application provides a DTOF sensor that can avoid various co-band interferences during detection.

[0006] This application provides a DTOF sensor, characterized in that it includes: an external signal input port, a working window generation module, a receiving module, a transmitting module, a histogram module, a collision detection and interference detection module, and a decision state machine;

[0007] The external signal input port is connected to an external passive photoelectric detection sensor and is used to receive the working indication signal sent by the external passive photoelectric detection sensor;

[0008] The working window generation module is used to determine the changed working time period of the DTOF sensor according to the working instruction signal, or to send the current working time period of the DTOF sensor to the external passive photoelectric detection sensor.

[0009] The histogram module is used to receive a photon trigger signal through the receiving module, use it as an interference signal transmitted to the DTOF sensor by other active photoelectric sensors, and generate a histogram by statistically analyzing the interference signal.

[0010] The collision detection and interference detection module is used to determine, based on the histogram of the interference signal, whether the interference of other active photoelectric sensors on the DTOF sensor is homogeneous interference or heterogeneous interference.

[0011] The decision state machine is used to determine the interference avoidance strategy based on the characteristics of the homogeneous or heterogeneous interference.

[0012] The working window generation module is also used to determine the changed working time period of the DTOF sensor according to the interference avoidance strategy.

[0013] The transmission module is used to adjust the transmission parameters according to the changed working time period.

[0014] Furthermore, the DTOF sensor also includes: an operating status output port;

[0015] The operating status output port is connected to the passive photoelectric detection sensor and is used to send the current operating time period of the DTOF sensor to the passive photoelectric detection sensor so that the passive photoelectric detection sensor can avoid interference.

[0016] Furthermore, the other active photoelectric sensors include: homogeneous active photoelectric sensors or heterogeneous active photoelectric sensors.

[0017] Furthermore, the external passive photoelectric detection sensor is an infrared camera;

[0018] The external signal input port is specifically used to receive the row and column synchronization signal and the flash fill light signal sent by the infrared camera.

[0019] Furthermore, the DTOF sensor also includes: a carrier listening module connected to the receiving module, used to extract features from the received photon triggering information when the transmitting module of the DTOF sensor is not working; the collision detection and interference detection module is used to determine, based on the features extracted by the carrier listening module, whether the interference of other active photoelectric sensors to the DTOF sensor is homogeneous interference or heterogeneous interference.

[0020] Furthermore, the carrier listening module is specifically used to extract features from photon triggering information to obtain interference level, triggering probability, duty cycle, and starting phase.

[0021] Furthermore, the DTOF sensor also includes a control module, which is used to obtain the characteristics of more complex interference signals based on the output of the collision detection and interference detection module, thereby formulating a better interference avoidance strategy, and controlling the working window generation module to determine the changed working time period of the DTOF sensor.

[0022] Furthermore, the launch parameters include launch period and launch timing.

[0023] Furthermore, the decision state machine is also used for:

[0024] Determine whether there is a working indication signal sent by an external passive photoelectric detection sensor;

[0025] If so, do not conduct a detection;

[0026] Otherwise, determine whether there are interference signals transmitted to the DTOF sensor from other active photoelectric sensors;

[0027] If not, the DTOF sensor detects normally;

[0028] If so, determine whether the duty cycle space of the interference signal is sufficient;

[0029] If so, the DTOF sensor detects normally in time slots without interference signals;

[0030] If not, determine whether the interference from other active photoelectric sensors to the DTOF sensor is isomorphic interference;

[0031] If so, an interference avoidance strategy is determined, and the DTOF sensor detects normally;

[0032] If not, determine whether the non-isomorphic interference has temporal characteristics;

[0033] If so, the DTOF sensor can perform normal detection by utilizing the timing characteristics of non-isomorphic interference.

[0034] If not, the DTOF sensor will attempt to detect.

[0035] Furthermore, the histogram module is used to adjust the photon count accumulation time according to the emission period of the emission module.

[0036] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0037] In a DTOF sensor, the operating time period is determined based on the operating indication signal sent by an external passive photodetector, thus avoiding external interference in the same wavelength band as the external passive photodetector. Furthermore, based on the characteristics of active homogeneous or heterogeneous interference, an interference avoidance strategy is determined. By adjusting the transmission parameters of the DTOF sensor through this interference avoidance strategy, the DTOF sensor can avoid both homogeneous and heterogeneous interference in the same wavelength band. Therefore, the DTOF sensor in this application can avoid various types of interference in the same wavelength band during detection. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0039] Figure 1 This is a structural diagram of a DTOF sensor disclosed in an embodiment of this application;

[0040] Figure 2 This is a structural diagram of another DTOF sensor disclosed in an embodiment of this application;

[0041] Figure 3 This is a schematic diagram showing the position of a photoelectric sensor disclosed in an embodiment of this application;

[0042] Figure 4 This is a diagram illustrating the interference avoidance effect of an external photoelectric sensor disclosed in an embodiment of this application.

[0043] Figure 5 This is an output waveform diagram of a carrier sensing module disclosed in an embodiment of this application;

[0044] Figure 6 This is a histogram corresponding to an isomorphic interference disclosed in an embodiment of this application;

[0045] Figure 7 This is a waveform diagram corresponding to a heterogeneous interference disclosed in an embodiment of this application;

[0046] Figure 8 This is a flowchart of a decision state machine disclosed in an embodiment of this application. Detailed Implementation

[0047] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0048] In the description of the embodiments of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0049] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0050] In existing applications of DTOF sensors, passive photoelectric sensors and other active photoelectric sensors in the same wavelength band are typically also used. Passive photoelectric sensors do not actively emit light; they can only passively receive external light to obtain corresponding information. When a DTOF sensor emits light, it inevitably affects the passive photoelectric sensors in the same wavelength band. Furthermore, DTOF sensors may also experience interference from other active photoelectric sensors in the same wavelength band due to receiving light that is not emitted by the sensor itself, especially heterogeneous active photoelectric sensors (such as ITOF), which are difficult to eliminate directly with anti-interference measures. This application provides a DTOF sensor that can avoid various types of interference in the same wavelength band during detection, such as... Figure 1 As shown, the details are as follows:

[0051] The DTOF sensor in this embodiment includes an external signal input port (External control) 101, a work window generation module (Work window Gen) 102, a receiving module (Spd array) 103, a transmitting module (DTOF tx control, i.e., a transmission control module) 107, a histogram module (hist) 104, a collision detection and interference classification module (collision detection & Interference classification) 105, and a decision state machine 106. It can be understood that the DTOF sensor is an active photoelectric sensor; that is, when performing detection, the DTOF sensor emits a light signal to the external environment and receives the photon trigger signal (light signal) reflected back from the external environment for detection.

[0052] Interference can occur between DTOF sensors and other photoelectric sensors operating in the same band, such as interference between the DTOF sensor and an external passive photodetector. To avoid this interference, the DTOF sensor needs to be interconnected with the external passive photodetector. Specifically, the external signal input port 101 of the DTOF sensor can be connected to an external passive photodetector to receive a working indication signal sent by the external passive photodetector. This external passive photodetector can be an RGB camera or an infrared camera (IR camera), the specific type is not limited here. The working indication signal can be the frame synchronization signal of the RGB camera or the infrared camera. This working indication signal is used to indicate the working window period for the external passive photodetector to receive external light signals. The working window generation module can determine the changed working time period of the DTOF sensor based on the working indication signal, or send the current working time period of the DTOF sensor to the external passive photodetector. That is, the working window generation module can change the working time period of the DTOF sensor to forcibly avoid the working window period of the external passive photodetector, so as to avoid the photon trigger signal emitted by the DTOF sensor from affecting the detection of the external passive photodetector; or, send the current working time period of the DTOF sensor to the external passive photodetector so that the external passive photodetector avoids the current working time period of the DTOF sensor and avoids being affected by the DTOF sensor.

[0053] For non-interconnected active photoelectric sensors in the same band, i.e., other active sensors that are not physically connected to the DTOF sensor, interference avoidance requires determining whether the interference is homogeneous or heterogeneous to decide on the interference avoidance strategy. When other active photoelectric sensors interfere with the DTOF sensor, they typically emit photon trigger signals, affecting the DTOF sensor's detection operation. Therefore, the receiving module 103 of the DTOF sensor can receive photon trigger signals. The histogram module 104, connected to the receiving module 103, receives the photon trigger signals and treats them as interference signals transmitted from other active photoelectric sensors to the DTOF sensor. It then generates a histogram of the interference signals and sends it to the connected collision detection and interference detection module 105. The collision detection and interference detection module 105 determines, based on the histogram of the interference signals, whether the interference from other active photoelectric sensors to the DTOF sensor is homogeneous or heterogeneous.

[0054] It is understood that other active photoelectric sensors include: homogeneous active photoelectric sensors or heterogeneous active photoelectric sensors; that is, the homogeneous interference is interference generated by another homogeneous DTOF sensor. When a photon trigger signal is emitted during the emission cycle of another homogeneous DTOF sensor, it is easy to interfere with that DTOF sensor. The collision detection and interference detection module 105 can detect the emission cycle corresponding to the abnormal light intensity through a histogram. On the other hand, the active photoelectric sensor corresponding to heterogeneous interference is an active photoelectric sensor of a different type than the DTOF sensor, such as an ITOF sensor. In this case, the collision detection and interference detection module 105 can detect whether there is corresponding heterogeneous interference based on the transmission characteristics of the photon trigger signal emitted on the ITOF sensor. Once the collision detection and interference detection module 105 determines the presence of homogeneous or heterogeneous interference, it can send the characteristics of the homogeneous or heterogeneous interference to the decision state machine 106. The decision state machine 106 determines the interference avoidance strategy based on the characteristics of the homogeneous or heterogeneous interference. The working window generation module 102 determines the changed working time period of the DTOF sensor based on the interference avoidance strategy. The transmission module 107, connected to the working window generation module 102, is used to adjust the transmission parameters according to the changed working time period. That is, the decision state machine 106 determines the time period during which homogeneous or heterogeneous interference causes interference based on the characteristics of the homogeneous or heterogeneous interference, sets the corresponding interference avoidance strategy, and adjusts the transmission parameters of the DTOF sensor during operation so that the DTOF sensor avoids the interference time period.

[0055] As can be seen, in the DTOF sensor, the operating time period is determined based on the operating indication signal sent by the external passive photodetector, which can avoid external interference in the same band as the external passive photodetector. Furthermore, based on the characteristics of homogeneous or heterogeneous interference, an interference avoidance strategy is determined. By adjusting the transmission parameters of the DTOF sensor through the interference avoidance strategy, the DTOF sensor can avoid both homogeneous and heterogeneous interference in the same band. Therefore, the DTOF sensor in this application can avoid various types of interference in the same band during detection.

[0056] Furthermore, the DTOF sensor in the embodiments of this application is as follows: Figure 2 As shown, the DTOF sensor also includes a work status output port, and Rdout is a data readout module. The work status output port is connected to a passive photodetector sensor and is used to send the current working time period of the DTOF sensor to the passive photodetector sensor so that the passive photodetector sensor can avoid interference. The external passive photodetector sensor can be an infrared camera. The external signal input port of the DTOF sensor is specifically used to receive the row and column synchronization signal and the flash fill light signal sent by the infrared camera, so that the DTOF actively avoids the data acquisition cycle of the infrared camera. Figure 3 As shown, three photoelectric detection devices operate in the same wavelength band. A Single-Pot DTOF sensor is used for active ranging, an infrared camera (IR camera) acquires high-precision images, and other active photoelectric sensors (Array TOF) act as interference sources in space. The DTOF sensor receives row and column synchronization signals and flash illumination signals from the infrared camera via an external signal input port (External control), ensuring that it does not emit light of the same wavelength band for detection during the infrared camera's data acquisition period, thus avoiding interference with the infrared camera's data acquisition. In one feasible implementation, the DTOF sensor can also detect the operating characteristics of other active photoelectric sensors, calculate their operating range, and provide this information to the infrared camera via a work status output port to guide the infrared camera in interference avoidance. If the timing of the infrared camera cannot be adjusted, this information can be used to guide the infrared camera in frame dropping processing, resulting in the following effect: Figure 4 As shown.

[0057] Furthermore, the DTOF sensor also includes: a carrier sense module; the carrier sense module, connected to the receiving module, is used to extract features from the received photon triggering information when the DTOF sensor's transmitting module is not working; and a collision detection and interference detection module, used to determine, based on the features extracted by the carrier sense module, whether the interference from other active photoelectric sensors to the DTOF sensor is homogeneous or heterogeneous interference. In other words, if the DTOF sensor receives photon triggering information when its transmitting module is not working, it indicates the presence of interference from other active photoelectric sensors.

[0058] The carrier listening module is specifically used to extract features from photon triggering information, thereby obtaining the interference level, triggering probability, duty cycle, and initial phase. This allows the collision detection and interference detection module to determine whether the interference is homogeneous or heterogeneous based on the features extracted by the carrier listening module. The waveform output by the carrier listening module is as follows: Figure 5 As shown in the figure, the horizontal axis represents time and the vertical axis represents luminous intensity. The figure shows the output waveform when there is no interference, the output waveform with a certain interference duty cycle, and the output waveform with full time interference. By comparing with the waveform without interference, the carrier listening module can judge the interference and extract its features based on the output waveform corresponding to the interference.

[0059] Furthermore, the DTOF sensor also includes a control module (MCU). This control module, connected to the collision detection and interference detection module, obtains more complex interference signal characteristics based on the output of the collision detection and interference detection module, thereby formulating a better interference avoidance strategy. This controls the operating window generation module to determine the changed operating time period of the DTOF sensor. In other words, the control module can obtain the characteristics of multiple interference signals to more comprehensively analyze interference features and formulate a better interference avoidance strategy.

[0060] Furthermore, the collision detection and interference detection module determines whether the interference is homogeneous. Figure 6 As shown, after obtaining the histogram output by the histogram module, the collision detection and interference detection module can detect the presence of isomorphic interference sources (such as pulsed DTOF sensors) by adjusting the emission period (exposure period) of the DTOF sensor. It is evident that isomorphic interference exists during emission period T3, with an interference signal containing a high number of photons (up to 120). In other periods, there is only less than 50 stray interference. Therefore, when adjusting the emission parameters, emission period T3 can be omitted to allow the DTOF sensor to avoid isomorphic interference.

[0061] Furthermore, the collision detection and interference detection module determines whether the interference is heterogeneous, such as... Figure 7 As shown, after obtaining the histogram, the collision detection and interference detection module can determine the interference range (the range with higher amplitude in the figure). The left figure is the global view, and the right figure is a magnified view of the local area. The collision detection and interference detection module can detect heterogeneous interference. Specifically, when the emission period of the emission module is adjusted, the histogram module can adjust the photon accumulation time according to the emission period. Specifically, the emission period of the emission module can be shortened to obtain more feedback, thus determining whether heterogeneous interference exists in the interference range. As shown in the right figure, the continuous emission time of the laser is 0.1µs, and the continuous emission time of the ITOF sensor is also 0.1µs, which meets the emission characteristics of the heterogeneous photoelectric sensor ITOF. At this point, heterogeneous interference can be determined. This can be mitigated by adjusting the emission timing of the DTOF sensor's emission module, so that the DTOF sensor's operating time period avoids the ITOF sensor's operating time period, allowing detection to occur in the low output range of the ITOF sensor.

[0062] Furthermore, such as Figure 8As shown, the decision state machine is also used to: determine whether there is a working indication signal sent by an external passive photoelectric sensor before the DTOF sensor performs active detection. This can be determined by checking the external signal input port of the DTOF sensor to see if a working indication signal is received. If a working indication signal from an external passive photoelectric sensor is present, the DTOF sensor is controlled not to perform detection to avoid the operating period of the external passive photoelectric sensor. If no working indication signal is present, the system further determines whether there are interference signals transmitted to the DTOF sensor from other active photoelectric sensors. This can be determined by checking the output waveform of the carrier listening module to see if any interference signals are received. If no interference signals are present... If interference signals are detected, the DTOF sensor will continue to detect normally. If interference signals are present, the output waveform of the carrier listening module can be used to determine whether the duty cycle space of the interference signal is sufficient, i.e., whether there is enough non-interference time for detection. If the duty cycle space is sufficient, the DTOF sensor will continue to detect normally in the time slots without interference signals. If the duty cycle space is insufficient, it will be further determined whether the interference from other active photoelectric sensors to the DTOF sensor is isomorphic interference. If it is isomorphic interference, an interference avoidance strategy will be determined, and the DTOF sensor will continue to detect normally. That is, by using time slots without interference sources as much as possible, interference resistance strategies (different emission periods, pseudo-random exposure mechanisms) will be used to complete active detection. If the interference is not homogeneous, determine if the non-homogeneous interference has timing characteristics, i.e., determine if it is heterogeneous interference. If so, utilize the timing characteristics of the non-homogeneous interference to complete the normal detection of the DTOF sensor, i.e., avoid heterogeneous interference during detection, such as performing ranging detection in the low output range of the ITOF sensor. If not, the DTOF sensor will force detection, i.e., actively detect in a limited time slot without interference sources, or after a random wait. In other words, when heterogeneous interference exists, if the low output range of the heterogeneous photoelectric sensor can be found, then the low output range is used for detection; if the low output range of the heterogeneous photoelectric sensor cannot be found, then hard detection is performed.

[0063] In this invention, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0064] The above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them. Although the embodiments of this application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of the embodiments of this application.

Claims

1. A DTOF sensor, characterized in that, include: External signal input port, working window generation module, receiving module, transmitting module, histogram module, collision detection and interference detection module, decision state machine; The external signal input port is connected to an external passive photoelectric detection sensor and is used to receive the working indication signal sent by the external passive photoelectric detection sensor; The working window generation module is used to determine the changed working time period of the DTOF sensor according to the working instruction signal, or to send the current working time period of the DTOF sensor to the external passive photoelectric detection sensor. The histogram module is used to receive a photon trigger signal through the receiving module, use it as an interference signal transmitted to the DTOF sensor by other active photoelectric sensors, and generate a histogram by statistically analyzing the interference signal. The collision detection and interference detection module is used to determine, based on the histogram of the interference signal, whether the interference of other active photoelectric sensors on the DTOF sensor is homogeneous interference or heterogeneous interference. The decision state machine is used to determine the interference avoidance strategy based on the characteristics of the homogeneous or heterogeneous interference. The working window generation module is also used to determine the changed working time period of the DTOF sensor according to the interference avoidance strategy. The transmission module is used to adjust the transmission parameters according to the changed working time period.

2. The DTOF sensor according to claim 1, characterized in that, The DTOF sensor also includes: a working status output port; The operating status output port is connected to the passive photoelectric detection sensor and is used to send the current operating time period of the DTOF sensor to the passive photoelectric detection sensor so that the passive photoelectric detection sensor can avoid interference.

3. The DTOF sensor according to claim 1, characterized in that, The other active photoelectric sensors include: homogeneous active photoelectric sensors or heterogeneous active photoelectric sensors.

4. The DTOF sensor according to claim 1, characterized in that, The external passive photoelectric detection sensor is an infrared camera; The external signal input port is specifically used to receive the row and column synchronization signal and the flash fill light signal sent by the infrared camera.

5. The DTOF sensor according to claim 1, characterized in that, The DTOF sensor further includes: a carrier listening module connected to the receiving module, used to extract features from the received photon triggering information when the transmitting module of the DTOF sensor is not working; the collision detection and interference detection module is used to determine, based on the features extracted by the carrier listening module, whether the interference of other active photoelectric sensors on the DTOF sensor is homogeneous interference or heterogeneous interference.

6. The DTOF sensor according to claim 5, characterized in that, The carrier monitoring module is specifically used to extract features from photon triggering information to obtain interference level, triggering probability, duty cycle, and starting phase.

7. The DTOF sensor according to claim 5, characterized in that, The DTOF sensor also includes a control module, which is used to obtain the characteristics of more complex interference signals based on the output of the collision detection and interference detection module, thereby formulating a better interference avoidance strategy, and controlling the working window generation module to determine the changed working time period of the DTOF sensor.

8. The DTOF sensor according to claim 1, characterized in that, The launch parameters include launch period and launch timing.

9. The DTOF sensor according to claim 6, characterized in that, The decision state machine is also used for: Determine whether there is a working indication signal sent by an external passive photoelectric detection sensor; If so, do not conduct a detection; Otherwise, determine whether there are interference signals transmitted to the DTOF sensor from other active photoelectric sensors; If not, the DTOF sensor detects normally; If so, determine whether the duty cycle space of the interference signal is sufficient; If so, the DTOF sensor detects normally in time slots without interference signals; If not, determine whether the interference from other active photoelectric sensors to the DTOF sensor is isomorphic interference; If so, an interference avoidance strategy is determined, and the DTOF sensor detects normally; If not, determine whether the non-isomorphic interference has temporal characteristics; If so, the DTOF sensor can perform normal detection by utilizing the timing characteristics of non-isomorphic interference. If not, the DTOF sensor will attempt to detect.

10. The DTOF sensor according to claim 1, characterized in that, The histogram module is used to adjust the photon accumulation time according to the emission period of the emission module.

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