Sampling method and ranging method for ranging and ranging device

Abstract

The application provides a sampling method for distance measurement, comprising: determining one of first sampling data in a first sampling array as first effective data; transmitting first output data obtained by cutting the first effective data to a digital integrated circuit to determine a distance interval of a target object relative to a reference position; determining second sampling data in a second sampling array matching the distance interval as second effective data; transmitting second output data obtained by cutting the second effective data to the digital integrated circuit to determine a distance measurement result of the target object relative to the reference position. The application performs two-stage sampling and processes the sampling data in one distance measurement of a target object, and selects sampling data from a sampling array and transmits a part of the sampling data to reduce the bandwidth of data transmission in a separated architecture on the basis of ensuring the accuracy of the measurement result.

Description

Technical Field

[0001] This application relates to the field of 3D (three-dimensional) ranging technology. Specifically, this application relates to a sampling method for ranging, a ranging method, a ranging device, and an electronic device for ranging. Background Technology

[0002] In the field of 3D ranging technology, light signals can be emitted toward a target object, and by using the sampling data generated by the reflected light after the light signal is reflected by the target object in response to the photosensitive array, the distance measurement result of the target object can be obtained.

[0003] As the demand for higher accuracy in sampling data continues to increase, the array size of photosensitive arrays is gradually expanding to improve their planar resolution. This also means a greater volume of sampling data generated by the photosensitive array. Such a massive amount of data cannot be stored entirely within the photosensitive array and must be output from it. Consequently, the output of large amounts of data implies a huge bandwidth requirement between the photosensitive array and the receiving end.

[0004] If the photosensitive array and the receiver are two independent chips, then the board-level connection or package-level connection between the two chips is difficult to meet the high bandwidth requirements of the sampled data.

[0005] If the photosensitive array and the receiver adopt a chip stacking integration scheme based on Cu-Cu interconnect, although the Cu-Cu interconnect between the stacked photosensitive array and the receiver can provide greater bandwidth for board-level or package-level connections, the required manufacturing cost and manufacturing process complexity are much higher than the scheme using two independent chips.

[0006] As can be seen above, existing technologies can only meet the bandwidth requirements of photosensitive array output sampling data at the cost of high costs and complex processes. Summary of the Invention

[0007] In view of this, this application aims to provide a sampling method for ranging, a ranging method, a ranging device, and an electronic device for ranging, which helps to reduce the cost and process complexity required by the bandwidth requirements of the output sampling data of the photosensitive array.

[0008] This application provides a sampling method for ranging, comprising: in response to a first sampling array generated by a photosensitive array, determining one of at least two first sampling data included in the first sampling array as first valid data; transmitting first output data extracted from the first valid data to a digital integrated circuit, the first output data being used by the digital integrated circuit to determine a distance interval of a target object relative to a reference position; in response to a second sampling array generated by the photosensitive array after the first sampling array, determining second sampling data matching the distance interval from at least two second sampling data included in the second sampling array as second valid data, wherein the second sampling data matching the distance interval represents a measured distance of the target object relative to the reference position within the distance interval; transmitting second output data extracted from the second valid data to the digital integrated circuit, the second output data being used by the digital integrated circuit to determine a distance measurement result of the target object relative to the reference position.

[0009] In one embodiment, determining one of at least two first sampled data points included in the first sampled array as first valid data in response to the first sampled array generated by the photosensitive array includes: determining one of the first sampled data points in each group of first sampled arrays generated periodically by the photosensitive array as the first valid data point of that group of first sampled arrays; wherein the first output data transmitted to the digital integrated circuit includes at least two first output data points obtained from the first valid data points of at least two groups of first sampled arrays; and the distance interval is determined by the digital integrated circuit based on the at least two first output data points.

[0010] In one embodiment, determining a first sample data in each group of the first sample arrays generated periodically by the photosensitive array as the first valid data of that group of the first sample arrays includes: determining a first sample data randomly selected from each group of the first sample arrays as the first valid data.

[0011] In one embodiment, determining a first sampled data in each group of the first sampled arrays periodically generated by the photosensitive array as the first valid data of that group of the first sampled arrays includes: determining a first sampled data in each group of the first sampled arrays as the first valid data based on obtaining the periodic sorting position of the sampling period of each group of the first sampled arrays in a periodic cyclic sorting, wherein the first sampled data selected as the valid data has the same intra-group sorting position in the group of the first sampled arrays as the periodic sorting position of the group of the first sampled arrays.

[0012] In one embodiment, determining a first sampled data in each group of the first sampled arrays generated periodically by the photosensitive array as the first valid data of that group of the first sampled arrays includes: determining a first sampled data located at a specified sorting position within a specified group in each group of the first sampled arrays as the first valid data.

[0013] In one embodiment, determining second sample data matching the distance interval from at least two second sample data included in the second sample array as second valid data in response to a second sample array generated by the photosensitive array after the first sample array includes: in response to each group of second sample arrays periodically generated by the photosensitive array, filtering second valid data matching the distance interval from at least two second sample data in that group of second sample data using the distance interval; wherein the second output data transmitted to the digital integrated circuit includes at least two second output data extracted from at least two second valid data; and the distance measurement result is determined by the digital integrated circuit based on at least two second output data.

[0014] In one embodiment, transmitting the first output data extracted from the first valid data to the digital integrated circuit includes: extracting a first data segment located in a preset binary high-order interval from the first valid data as the first output data and transmitting it to the digital integrated circuit; transmitting the second output data extracted from the second valid data to the digital integrated circuit includes: extracting a second data segment located in a preset binary low-order interval from the second valid data as the second output data and transmitting it to the digital integrated circuit.

[0015] In one embodiment, the sampling method further includes: switching data transmitted to the digital integrated circuit from the first output data to the second output data in response to an interface signal characterizing the distance interval detected from the digital integrated circuit.

[0016] Another aspect of this application provides a ranging method, comprising: acquiring first output data transmitted from an analog integrated circuit, wherein the first output data is obtained by the analog integrated circuit from first valid data, the first valid data being one of at least two first sampled data included in a first sampling array, and the first sampling array being generated by a photosensitive array in the analog integrated circuit; determining a distance interval of a target object relative to a reference position based on the first output data; acquiring second output data transmitted from the analog integrated circuit, wherein the second output data is obtained by the analog integrated circuit from second valid data, the second valid data being second sampled data matching the distance interval from at least two second sampled data included in a second sampling array, the sampled data matching the distance interval representing a measured distance of the target object relative to the reference position being within the distance interval, and the second sampled data being generated by the photosensitive array after the first sampling array; and determining a distance measurement result of the target object relative to the reference position based on the second output data.

[0017] In one embodiment, acquiring the first output data transmitted from the analog integrated circuit includes: acquiring at least two first output data obtained by the analog integrated circuit from the first valid data of at least two sets of the first sampling array; and determining the distance interval of the target object relative to the reference position based on the first output data includes: determining the distance interval of the target object relative to the reference position based on a first statistical result of the coarse distance of the target object relative to the reference position represented by the at least two first output data.

[0018] In one embodiment, determining the distance interval of the target object relative to the reference position based on statistical results of the coarse distance of the target object relative to the reference position represented by at least two first output data includes: creating a first histogram using at least two first output data, the first histogram being used to represent the frequency of occurrence of different values ​​of the coarse distance represented by at least two first output data, the first statistical results including the frequency of occurrence of the different values ​​of the coarse distance; and determining the distance interval of the target object relative to the reference position based on the frequency of occurrence of the different values ​​of the coarse distance.

[0019] In one embodiment, acquiring the second output data transmitted from the analog integrated circuit includes: acquiring at least two first output data obtained by the analog integrated circuit from the second valid data of at least two sets of the second sampling array; and determining the distance measurement result of the target object relative to the reference position based on the second output data includes: determining the distance measurement result of the target object relative to the reference position based on a second statistical result of the precise distance of the target object relative to the reference position characterized by the at least two second output data.

[0020] In one embodiment, determining the distance measurement result of the target object based on a second statistical result of the precise distance of the target object relative to the reference position, characterized by at least two sets of second output data, includes: creating a second histogram using the second output data, the second histogram being used to characterize the frequency of occurrence of different values ​​of the precise distance of the target object relative to the reference position, the second statistical result including the frequency of occurrence of the different values ​​of the precise distance; and determining the distance measurement result of the target object relative to the reference position based on the frequency of occurrence of the different values ​​of the precise distance.

[0021] Another aspect of this application provides a ranging device, comprising: an analog integrated circuit including a photosensitive array and a processing circuit, wherein the processing circuit is used to perform the sampling method described above; and a digital integrated circuit used to perform the ranging method described above; wherein a data transmission path is provided between the analog integrated circuit and the digital integrated circuit.

[0022] In one embodiment, the analog integrated circuit and the digital integrated circuit are each independently packaged, the analog integrated circuit and the digital integrated circuit are mounted on the same circuit board, and the data transmission path is a board-level interconnection path of the circuit board; or, the analog integrated circuit and the digital integrated circuit are integrated into a single package, and the data transmission path is a package-level interconnection path within the integrated package.

[0023] In one embodiment, the photosensitive array includes a single-photon avalanche diode (SPAD) array.

[0024] Another aspect of this application provides an electronic device for ranging, including a light source emitter and a ranging device as described above, wherein the light source emitter is used to generate a light signal projected onto the target object, and the photosensitive array generates a first sampling array and a second sampling array in response to the reflected light of the light signal after being reflected by the target object.

[0025] As can be seen from the above technical solution, this application can adopt a separate architecture for analog and digital integrated circuits to avoid the high cost and process complexity required for chip stacking integration based on Cu-Cu interconnects. In this case, the sampling data output of the photosensitive array in the analog integrated circuit can be divided into two stages. The first stage's first sampling output can include only a portion of the first sampling data from each group of first sampling arrays. This portion can be used to determine the distance range of the target object. The second stage's second sampling output can include only a portion of the second sampling data falling within this distance range, used to determine the distance measurement result within the distance range. Thus, by filtering the first and second sampling arrays separately, and then truncating and transmitting the filtered data, it is possible to avoid the analog integrated circuit and digital transmission of all sampling data from each group of sampling arrays, thereby reducing the bandwidth requirements of the photosensitive array's output sampling data while simultaneously ensuring ranging accuracy. Attached Figure Description

[0026] The following figures are for illustrative purposes only and do not limit the scope of this application:

[0027] Figure 1 This is an exemplary structural diagram of a ranging device provided in one embodiment of this application;

[0028] Figure 2 Is it like this? Figure 1 A schematic diagram of an example of the ranging device shown;

[0029] Figure 3 Is it like this? Figure 1 The diagram shown is a first deployment structure of the ranging device when applied to an electronic device for ranging provided in another embodiment of this application;

[0030] Figure 4 Is it like this? Figure 1 The diagram shown illustrates a second deployment structure when the ranging device is applied to an electronic device for ranging provided in another embodiment of this application;

[0031] Figure 5 Is it like this? Figure 1 The diagram shown is a third deployment structure when the ranging device is applied to an electronic device for ranging provided in another embodiment of this application;

[0032] Figure 6 This is an exemplary flowchart illustrating a sampling method for ranging provided in another embodiment of this application;

[0033] Figure 7 This is an exemplary flowchart of a ranging method provided in another embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments.

[0035] In the accompanying drawings, the thickness, size, and shape of the objects have been slightly exaggerated for ease of illustration. The drawings are for illustrative purposes only and are not drawn to scale.

[0036] It should also be understood that the terms "comprising," "including," "having," "containing," and / or "comprising," when used in this specification, indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. Furthermore, when a statement such as "at least one of..." appears after a list of listed features, it modifies the entire listed feature, not individual elements in the list. Additionally, when describing embodiments of this application, the word "may" is used to indicate "one or more embodiments of this application." And, the term "exemplary" is intended to refer to an example or illustration. "First sample data" may also be referred to as "second sample data," and "second sample data" may also be referred to as "first sample data."

[0037] As used herein, the terms “basically,” “approximately,” and similar terms are used as terms of approximation rather than terms of degree, and are intended to describe inherent biases in measured or calculated values ​​that will be recognized by those skilled in the art.

[0038] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms (e.g., those defined in common dictionaries) shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art and shall not be interpreted in an idealized or overly formal sense unless expressly so specified herein.

[0039] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] Figure 1 This is an exemplary structural diagram of a ranging device provided in one embodiment of this application. Please refer to... Figure 1 The ranging device may include analog integrated circuits and digital integrated circuits.

[0041] Analog integrated circuits may include a photosensitive array and a processing circuit. For example, in the embodiments of this application, the photosensitive array may be a SPAD (Single Photon Avalanche Diode) array, which can sense the light signal and convert it into an electrical signal. Furthermore, the processing circuit may be an analog circuit integrally formed on the same analog DIE (wafer die) as the photosensitive array.

[0042] Digital integrated circuits and analog integrated circuits are not integrated using a chip stacking method based on Cu-Cu interconnects, and there is a data transmission path between analog integrated circuits and digital integrated circuits (non-Cu-Cu interconnects).

[0043] For each ranging operation targeting the same object, the data transmission between the analog and digital integrated circuits involves two stages.

[0044] In the first stage, the processing circuit in the analog integrated circuit can be used to: determine one of at least two first sampled data included in the first sampled array as first valid data in response to the first sampled array generated by the photosensitive array; and transmit first output data extracted from the first valid data to the digital integrated circuit (e.g., via the aforementioned data transmission path), the first output data being used by the digital integrated circuit to determine the distance range of the target object relative to the reference position.

[0045] Accordingly, in the first stage, the digital integrated circuit can be used to: acquire first output data transmitted from the analog integrated circuit (e.g., transmitted via the aforementioned data transmission path), wherein the first output data is extracted by the analog integrated circuit from first valid data, the first valid data being one of at least two first sampled data included in the first sampled array, and the first sampled array being generated by a photosensitive array in the analog integrated circuit; and, based on the first output data, determine the distance range of the target object relative to the reference position.

[0046] In other words, by transmitting the first output data in the first stage, the distance range of the target object relative to the reference position can be determined. This distance range can be regarded as a coarse measurement result of the range attribute. Therefore, the first stage can also be called the coarse measurement stage.

[0047] Furthermore, once the distance range is determined, the second phase can begin.

[0048] In the second stage, the processing circuit in the analog integrated circuit can be used to: in response to a second sampling array generated after the first sampling array by the photosensitive array, determine second sampling data with matching distance intervals among at least two second sampling data included in the second sampling array as second valid data, wherein the second sampling data with matching distance intervals represents the measured distance of the target object relative to the reference position within the distance interval; and transmit second output data extracted from the second valid data to the digital integrated circuit (e.g., via the aforementioned data transmission path), the second output data being used by the digital integrated circuit to determine the distance measurement result of the target object relative to the reference position.

[0049] Accordingly, in the second stage, the digital integrated circuit can be used to: acquire second output data transmitted from the analog integrated circuit (e.g., transmitted via the aforementioned data transmission path), wherein the second output data is extracted by the analog integrated circuit from second valid data, the second valid data being second sample data matching a distance interval among at least two second sample data included in the second sample array, the sample data matching the distance interval representing the measured distance of the target object relative to the reference position being within the distance interval, and the second sample data being generated by the photosensitive array after the first sample array; and, based on the second output data, determine the distance measurement result of the target object relative to the reference position.

[0050] In other words, after the second stage, the distance measurement result of the target object relative to the reference position can be obtained. This distance measurement result can be a distance value that meets the preset accuracy level. Therefore, the second stage can also be called the precision measurement stage.

[0051] As can be seen above, this application can adopt a separate architecture for analog and digital integrated circuits to avoid the high cost and process complexity required for chip stacking integration based on Cu-Cu interconnects. In this case, the sampling data output of the photosensitive array in the analog integrated circuit can be divided into two stages. The first stage's first sampling output can include only a portion of the first sampling data from each group of first sampling arrays. This portion can be used to determine the distance range of the target object. The second stage's second sampling output can include only a portion of the second sampling data falling within this distance range, used to determine the distance measurement result within the range. Thus, by filtering the first and second sampling arrays separately, and then truncating and transmitting the filtered data, it is possible to avoid the analog integrated circuit and digital transmission of all sampling data from each group of sampling arrays, thereby reducing the bandwidth requirements of the photosensitive array's output sampling data while simultaneously ensuring ranging accuracy.

[0052] Regardless of whether the photosensitive array is a SPAD array or other array, the sampling data of the photosensitive array can be generated periodically according to a preset sampling period. That is, each first sampling array mentioned above can be at least two first sampling data generated by the photosensitive array within one sampling period. Similarly, each second sampling array mentioned above can be at least two second sampling data generated by the photosensitive array within one sampling period.

[0053] Furthermore, in some examples of this application, after the analog integrated circuit selects a first valid data, the portion of the data extracted from the first valid data for use as the first sampling output can be the high 1 / 2 bit of the first valid data. In this case, if each group of first sampling arrays has n (n is a positive integer greater than or equal to 2) first sampling data, the bandwidth requirement required to transmit only a portion of the first valid data (i.e., the first sampling output) can be reduced to 1 / 2n of the data transmission amount of all first sampling data compared to transmitting all the first sampling data in each group of first sampling arrays. For example, when n = 20, the bandwidth requirement for data transmission can be significantly reduced to 1 / 40 of the data transmission amount of all first sampling data.

[0054] Similarly, during the transmission of the second sampled data mentioned above, the data extracted from the second valid data and used as part of the second sampled output can be the lower 1 / 2 bit of the second valid data. Taking the data length of both the first and second sampled data as 12 bits as an example, the distance resolution of the lower 1 / 2 bit used in the fine measurement stage can produce a 64-fold improvement compared to the distance resolution of the higher 1 / 2 bit used in the coarse measurement stage.

[0055] In addition, in some examples of this application, the sampling period and sampling frequency of the photosensitive array in the analog integrated circuit can be controlled by the digital integrated circuit.

[0056] Figure 2 Is it like this? Figure 1 The diagram shows an example of the ranging device's structural structure. Please refer to [link / reference]. Figure 2 In some examples of this application:

[0057] The processing circuit in an analog integrated circuit can include an analog front-end circuit and a TDC (Time Digital Converter) circuit. The analog front-end circuit can perform filtering of the first sampled data and the second sampled data. The TDC circuit is used to initiate the transmission of the first sampled output and the second sampled output obtained after filtering. In this case, both the first sampled data and the second sampled data can be analog electrical signals, while the intercepted first sampled output and the second sampled output used for transmission can be digital electrical signals processed by the TDC. This digital electrical signal can also be called TDC raw data. Furthermore, the data transmission path can use a high-speed serial bus.

[0058] The digital integrated circuit may include a timing control module and a signal processing module. The digital integrated circuit may have a timing signal interface (interface B). The timing control module in the digital integrated circuit can send timing control signals to the analog integrated circuit through the timing signal interface to control the sampling period and frequency of the photosensitive array, the processing frequency of the analog front-end circuit, and the transmission frequency of the TDC circuit. Furthermore, the signal processing module can be used to determine the distance range and the final distance measurement result in the manner mentioned above.

[0059] In some examples, in the first stage, the processing circuitry in the analog integrated circuit may be specifically used to: determine a first sample data in each first sample array as the first valid data of that first sample array in response to each first sample array periodically generated by the photosensitive array; wherein the first output data transmitted to the digital integrated circuit includes at least two first output data obtained from the first valid data of at least two first sample arrays; and the distance interval is determined by the digital integrated circuit based on the at least two first output data.

[0060] In other words, the photosensitive array can periodically generate light signals in the first stage. The light signals are processed by the photosensitive array to obtain a first sampling array. The first sampling array includes at least two groups, and each group of the first sampling array contains at least two first sampling data. The analog integrated circuit determines one of the first sampling data in each group of the first sampling array as the first valid data based on a pre-configured filtering strategy. By filtering each group of the first sampling array, at least two first valid data are obtained. Then, by the truncation processing of the first valid data mentioned above, at least two first output data corresponding to the at least two first valid data are determined, and the first output data is transmitted to the digital integrated circuit.

[0061] For example, the screening strategies mentioned above may include "random selection", "sequential selection", and "selection by specified number".

[0062] "Random selection method" can refer to randomly selecting one first sampled data point from each first sampled array and determining it as the first valid data. For example, random numbers can be sampled using pseudo-random or true random sequences. In practical applications, this strategy helps to resist scenes with strong background light accumulation.

[0063] The "sequential selection method" refers to determining the first valid data based on the periodic sorting position of the sampling period of each first sampling array in a periodic cyclic sorting. The selected valid first sampling data's intra-group sorting position within the first sampling array is the same as its periodic sorting position. In other words, the first valid data in the first group of first sampling arrays is determined as the first valid data, the second valid data in the second group of first sampling arrays is determined as the second valid data, and so on. In practical applications, this strategy can be applied to scenarios with strong background light accumulation and can save on the overhead of random number generation and selection on the processing circuitry, meaning the cost to the processing circuitry is relatively small.

[0064] The "specified sequence number selection method" refers to determining the first valid data as the first sampled data at a specified sorting position within each group of first sampled arrays. In other words, if each group of first sampled arrays contains n first sampled data, a natural number X between 1 and n can be specified as the sorting position within the group, and the Xth first sampled data in each group is determined as the first valid data. For example, n can be 20, and X can be 5. In this case, the first sampled data at the 5th sorting position within the group of 20 first sampled data in each group is determined as the first valid data. In practical applications, the closer X is to 1, the more advantageous it is for close-range target detection; the closer X is to n, the more advantageous it is for long-range target detection.

[0065] Accordingly, in the first stage, the digital integrated circuit can be specifically used to: acquire at least two first output data obtained by the analog integrated circuit from the first valid data of at least two sets of first sampling arrays; and, in order to determine the distance interval of the target object relative to the reference position based on the first output data, the digital integrated circuit can be specifically used to: determine the distance interval of the target object relative to the reference position based on the first statistical result of the coarse distance of the target object relative to the reference position represented by the at least two first output data.

[0066] In some examples, in the second stage, the processing circuit in the analog integrated circuit may be specifically used to: in response to each set of second sample arrays periodically generated by the photosensitive array, filter second valid data matching the distance interval from at least two second sample data of the set of second sample data; wherein the second output data transmitted to the digital integrated circuit may include at least two second output data obtained from at least two second valid data; and the distance measurement result may be determined by the digital integrated circuit based on at least two second output data.

[0067] In other words, unlike the method of using a filtering strategy to select a first sample data from the first sample array, when the processing circuit processes the second sample array, it can use the distance interval mentioned above to filter each second sample data in each group of the second sample array. If any second sample data matches the distance interval, then the second sample data can be determined as the second valid data.

[0068] In some examples, the number of second sample data points determined as second valid data in each group of second sample arrays can be different; the number can be 0, 1, or more. For example, it can be set that second sample data points of all matching distance intervals in each group of second sample arrays can be determined as second valid data, or it can be set that a maximum of a preset number of matching distance intervals of second sample data points in each group of second sample arrays are allowed to be determined as second valid data.

[0069] After determining all the second valid data in the sampling period, at least two first output data corresponding to at least two first valid data are determined through the truncation process mentioned above, and the first output data are transmitted to the digital integrated circuit.

[0070] Accordingly, in the second stage, the digital integrated circuit can be specifically used to: determine the distance measurement result of the target object relative to the reference position based on the second statistical result of the precise distance of the target object relative to the reference position characterized by at least two second output data.

[0071] See also Figure 2 Digital integrated circuits may also include a statistical module, which can generate first and second statistical results using a histogram method. Therefore, in Figure 2 In the diagram, the histogram module represents the statistical module. This module obtains the first output data and the second output data of the analog integrated circuit through the interactive interface (interface A) in the diagram.

[0072] In this case, in the first stage, the digital integrated circuit (e.g., a statistical module) can use at least two first output data to create a first histogram, which is used to characterize the frequency of occurrence of different values ​​of the coarse distance represented by the at least two first output data, and the first statistical result includes the frequency of occurrence of different values ​​of the coarse distance.

[0073] Based on the frequency of occurrence of different values ​​of the coarse distance measurement, digital integrated circuits can determine the distance range of the target object relative to the reference position.

[0074] In practical applications, the distance interval represented by the peak position of the first histogram can be determined as the distance interval of the target object relative to the reference position.

[0075] In the second stage, the digital integrated circuit (e.g., the statistical module) can use the second output data to create a second histogram. The second histogram is used to characterize the frequency of occurrence of different values ​​of the precision distance of the target object relative to the reference position. The second statistical result includes the frequency of occurrence of different values ​​of the precision distance.

[0076] Based on the frequency of occurrence of different values ​​of the precision distance, digital integrated circuits can determine the distance measurement result of the target object relative to the reference position.

[0077] In practical applications, the distance represented by the peak of the second histogram can be determined as the distance measurement result of the target object relative to the reference position.

[0078] Furthermore, the distance range determined by the digital integrated circuit needs to be fed back to the analog integrated circuit. Therefore, to facilitate feedback interaction between the analog and digital integrated circuits, the digital integrated circuit can have an information feedback interface. After determining the aforementioned distance range in the first stage, the digital integrated circuit feeds back the distance range data to the analog integrated circuit through the information feedback interface. In response to the interface signal representing the distance range detected by the digital integrated circuit, the analog integrated circuit switches the data transmitted to the digital integrated circuit from the first output data to the second output data.

[0079] Another aspect of this application provides an electronic device for ranging, including a light source emitter and a ranging device as described above, wherein the light source emitter is used to generate a light signal projected onto a target object, and a photosensitive array generates a first sampling array and a second sampling array in response to the reflected light after the light signal is reflected by the target object.

[0080] Figure 3 Is it like this? Figure 1 The diagram shown is a first deployment structure schematic of the ranging device when applied to an electronic device for ranging provided in another embodiment of this application.

[0081] refer to Figure 3 Another embodiment of this application provides an electronic device for ranging, which may further include an optical lens group. This optical lens group may include a transmitting lens for transmitting light signals and a receiving lens for allowing reflected light from the target object to be transmitted to a photosensitive array. A laser and driving device (light source emitter) project light signals onto the target object via the transmitting lens. The receiving lens receives the reflected light from the target object. The photosensitive array in the analog integrated circuit can generate a first sampling array and a second sampling array from the received light signals. Furthermore, the processing circuit in the analog integrated circuit can generate a first sampling output based on the first sampling array and a second sampling output based on the second sampling array. In addition to determining a distance range based on the first sampling output and obtaining a distance measurement result based on the second sampling output, the digital integrated circuit can further interact with a host computer / terminal device. That is, the analog integrated circuit and the digital integrated circuit can be packaged independently. For example, the analog integrated circuit can be packaged as a SPAD analog chip, and the digital integrated circuit can be a programmable logic device such as an FPGA (Field Programmable Gate Array). Furthermore, analog integrated circuits and digital integrated circuits can be mounted on the same circuit board (PCB). In this case, the data transmission path between analog integrated circuits and digital integrated circuits can be the board-level interconnection path of the circuit board.

[0082] Figure 4 Is it like this? Figure 1 The diagram shown illustrates a second deployment structure when the ranging device is applied to an electronic device for ranging provided in another embodiment of this application. (Refer to...) Figure 4 Unlike Figure 3 The first deployment structure shown is shown. In the second deployment structure, the digital integrated circuit can be selected as a SPAD digital chip. The circuit structure inside the chip is fixed and cannot be modified again. In application scenarios that require large-scale use, SPAD digital chips can balance performance and reduce costs compared to FPGA.

[0083] Figure 5 Is it like this? Figure 1 The diagram shown illustrates a third deployment structure when the ranging device is applied to an electronic device for ranging provided in another embodiment of this application. (See reference...) Figure 5 Unlike Figure 3 The first deployment structure shown and as Figure 4The second deployment structure shown is different from the third deployment structure, in which analog integrated circuits and digital integrated circuits can be integrated and packaged into a single chip, for example, using a System In Package (SIP), and the data transmission path between the analog integrated circuits and digital integrated circuits can be a package-level interconnect path within the integrated package.

[0084] The SPAD array in this application adopts a discrete architecture. The entire solution is implemented through analog chips and digital chips (or FPGAs). However, the two chips can be connected via board-level interconnection or SIP packaging, achieving normal data transmission and interaction functions through a special detection mechanism at a connection density far lower than that of Hybrid Bonding in Cu-Cu interconnection. Because the two chips only need to be interconnected through post-packaging or PCB board-level interconnection, the process requirements are low, thus achieving lower costs; and the digital chip can be replaced with an FPGA, making system construction more flexible.

[0085] In addition to the sampling device, ranging device, and electronic device described above, other embodiments of this application also provide a sampling method for ranging and a ranging method.

[0086] Figure 6 This is an exemplary flowchart illustrating a sampling method for ranging provided in another embodiment of this application. Figure 6 As shown, the sampling methods used for distance measurement specifically include:

[0087] S101, in response to the first sampling array generated by the photosensitive array, determine one of the at least two first sampling data included in the first sampling array as the first valid data.

[0088] S102, The first output data extracted from the first valid data is transmitted to the digital integrated circuit. The first output data is used by the digital integrated circuit to determine the distance range of the target object relative to the reference position.

[0089] S103. In response to the second sampling array generated after the first sampling array by the photosensitive array, the second sampling data of the matching distance interval among the at least two second sampling data included in the second sampling array is determined as the second valid data, wherein the second sampling data of the matching distance interval represents the measured distance of the target object relative to the reference position within the distance interval.

[0090] S104. The second output data extracted from the second valid data is transmitted to the digital integrated circuit. The second output data is used by the digital integrated circuit to determine the distance measurement result of the target object relative to the reference position.

[0091] In embodiments of this application, the sampling method for ranging can be primarily executed by a processing circuit in an analog integrated circuit containing a photosensitive array; if so, then:

[0092] This application employs a separate architecture for analog and digital integrated circuits to avoid the high costs and process complexity required for chip stacking integration based on Cu-Cu interconnects. In this case, the sampling data output of the photosensitive array in the analog integrated circuit can be divided into two stages. The first stage's first sampling output can include only a portion of the first sampling data from each group of first sampling arrays; this portion can be used to determine the distance range of the target object. The second stage's second sampling output can include only a portion of the second sampling data falling within this distance range, used to determine the distance measurement result within the range. Therefore, by filtering the first and second sampling arrays separately, and then truncating and transmitting the filtered data, it is possible to avoid the analog integrated circuit and digital transmission of all sampling data from each group of sampling arrays, thereby reducing the bandwidth requirements of the photosensitive array's output sampling data while simultaneously maintaining ranging accuracy.

[0093] For each distance measurement targeting the same object, such as Figure 6 The sampling method shown can include two stages.

[0094] In the first stage including S101 and S102, S101 may specifically include: in response to the first sampling array generated by the photosensitive array, determining one of at least two first sampling data included in the first sampling array as first valid data; and transmitting first output data extracted from the first valid data to the digital integrated circuit (e.g., via the aforementioned data transmission path), the first output data being used by the digital integrated circuit to determine the distance range of the target object relative to the reference position.

[0095] In other words, by transmitting the first output data in the first stage, the distance range of the target object relative to the reference position can be determined. This distance range can be regarded as a coarse measurement result of the range attribute. Therefore, the first stage can also be called the coarse measurement stage.

[0096] In some examples, in the first stage, S101 may specifically include: in response to each set of first sample arrays periodically generated by the photosensitive array, determining a first sample data in each set of first sample arrays as the first valid data of that set of first sample arrays; wherein the first output data transmitted to the digital integrated circuit includes at least two first output data obtained from the first valid data of at least two sets of first sample arrays; and the distance interval is determined by the digital integrated circuit based on the at least two first output data.

[0097] In other words, the photosensitive array can periodically generate light signals in the first stage. The light signals are processed by the photosensitive array to obtain a first sampling array. The first sampling array includes at least two groups, and each group of the first sampling array contains at least two first sampling data. S101 can determine one of the first sampling data in each group of the first sampling array as the first valid data based on a pre-configured filtering strategy. By filtering each group of the first sampling array, at least two first valid data are obtained. Then, by the truncation processing of the first valid data mentioned above, at least two first output data corresponding to the at least two first valid data are determined, and the first output data is transmitted to the digital integrated circuit.

[0098] For example, the screening strategies mentioned above may include "random selection", "sequential selection", and "selection by specified number".

[0099] "Random selection method" can refer to randomly selecting one first sampled data point from each first sampled array and determining it as the first valid data. For example, random numbers can be sampled using pseudo-random or true random sequences. In practical applications, this strategy helps to resist scenes with strong background light accumulation.

[0100] The "sequential selection method" refers to determining the first valid data based on the periodic sorting position of the sampling period of each first sampling array in a periodic cyclic sorting. The selected valid first sampling data's intra-group sorting position within the first sampling array is the same as its periodic sorting position. In other words, the first valid data in the first group of first sampling arrays is determined as the first valid data, the second valid data in the second group of first sampling arrays is determined as the second valid data, and so on. In practical applications, this strategy can be applied to scenarios with strong background light accumulation and can save on the overhead of random number generation and selection on the processing circuitry, meaning the cost to the processing circuitry is relatively small.

[0101] The "specified sequence number selection method" refers to determining the first valid data as the first sampled data at a specified sorting position within each group of first sampled arrays. In other words, if each group of first sampled arrays contains n first sampled data, a natural number X between 1 and n can be specified as the sorting position within the group, and the Xth first sampled data in each group is determined as the first valid data. For example, n can be 20, and X can be 5. In this case, the first sampled data at the 5th sorting position within the group of 20 first sampled data in each group is determined as the first valid data. In practical applications, the closer X is to 1, the more advantageous it is for close-range target detection; the closer X is to n, the more advantageous it is for long-range target detection.

[0102] Furthermore, after determining the distance range, the second stage, which includes S103 and S104, can begin.

[0103] In the second stage, S103 may specifically include: in response to a second sampling array generated after the first sampling array by the photosensitive array, determining second sampling data with a matching distance interval among at least two second sampling data included in the second sampling array as second valid data, wherein the second sampling data with the matching distance interval represents the measured distance of the target object relative to the reference position within the distance interval; and transmitting second output data extracted from the second valid data to the digital integrated circuit (e.g., via the aforementioned data transmission path), the second output data being used by the digital integrated circuit to determine the distance measurement result of the target object relative to the reference position.

[0104] In other words, after the second stage, the distance measurement result of the target object relative to the reference position can be obtained. This distance measurement result can be a distance value that meets the preset accuracy level. Therefore, the second stage can also be called the precision measurement stage.

[0105] In some examples, in the second stage, in order to determine the second sampled data matching the distance interval among the at least two second sampled data included in the second sampled array as the second valid data, S103 may specifically include: in response to each set of second sampled arrays periodically generated by the photosensitive array, filtering the second valid data matching the distance interval from at least two second sampled data in that set of second sampled data using the distance interval; wherein, the second output data transmitted to the digital integrated circuit may include at least two second output data obtained from at least two second valid data; and the distance measurement result may be determined by the digital integrated circuit based on at least two second output data.

[0106] In other words, unlike the method of using a filtering strategy to select a first sample data from the first sample array, when processing the second sample array in S103, the distance interval mentioned above can be used to filter each second sample data in each group of the second sample array. If any second sample data matches the distance interval, then the second sample data can be determined as the second valid data.

[0107] In some examples, the number of second sampled data points determined as second valid data in each group of second sampled arrays can be different; the number can be 0, 1, or more. For example, it can be set that second sampled data points of all matching distance intervals in each group of second sampled arrays can be determined as second valid data, or it can be set that only a preset number of matching distance intervals of second sampled data points are allowed to be determined as second valid data in each group of second sampled arrays.

[0108] After determining all the second valid data in the sampling period, at least two first output data corresponding to at least two first valid data are determined through the truncation process mentioned above, and the first output data are transmitted to the digital integrated circuit.

[0109] Figure 7 This is an exemplary flowchart illustrating a ranging method provided in another embodiment of this application. Figure 7 As shown, the distance measurement methods specifically include:

[0110] S201. Acquire first output data transmitted from the analog integrated circuit, wherein the first output data is obtained by the analog integrated circuit from first valid data, the first valid data is one of at least two first sampled data included in the first sampled array, and the first sampled array is generated by the photosensitive array in the analog integrated circuit.

[0111] S202. Based on the first output data, determine the distance range of the target object relative to the reference position.

[0112] S203. Acquire second output data transmitted from the analog integrated circuit, wherein the second output data is obtained by the analog integrated circuit from the second valid data, the second valid data is the second sample data of the matching distance interval among at least two second sample data included in the second sampling array, the sample data of the matching distance interval represents the measured distance of the target object relative to the reference position within the distance interval, and the second sample data is generated by the photosensitive array after the first sampling array.

[0113] S204. Based on the second output data, determine the distance measurement result of the target object relative to the reference position.

[0114] In the embodiments of this application, the sampling method for ranging is executed primarily by a processing circuit in an analog integrated circuit; if so, then:

[0115] This application employs a separate architecture for analog and digital integrated circuits to avoid the high costs and process complexity required for chip stacking integration based on Cu-Cu interconnects. In this case, the sampling data output of the photosensitive array in the analog integrated circuit can be divided into two stages. The first stage's first sampling output can include only a portion of the first sampling data from each group of first sampling arrays; this portion can be used to determine the distance range of the target object. The second stage's second sampling output can include only a portion of the second sampling data falling within this distance range, used to determine the distance measurement result within the range. Therefore, by filtering the first and second sampling arrays separately, and then truncating and transmitting the filtered data, it is possible to avoid the analog integrated circuit and digital transmission of all sampling data from each group of sampling arrays, thereby reducing the bandwidth requirements of the photosensitive array's output sampling data while simultaneously maintaining ranging accuracy.

[0116] For each distance measurement targeting the same object, such as Figure 7 The steps in the distance measurement method shown can include two stages.

[0117] In the first stage including S201 and S202, S201 may specifically include: acquiring at least two first output data obtained by analog integrated circuit from first valid data of at least two sets of first sampling arrays; and S202 may specifically include: determining the distance range of the target object relative to the reference position based on a first statistical result of the coarse distance of the target object relative to the reference position represented by the at least two first output data.

[0118] For example, in order to determine the distance interval based on the first statistical result, S202 can use at least two first output data to create a first histogram, which is used to characterize the frequency of occurrence of different values ​​of the coarse distance represented by the at least two first output data, and the first statistical result includes the frequency of occurrence of different values ​​of the coarse distance.

[0119] Therefore, based on the frequency of occurrence of different values ​​of the coarse distance measurement, S202 can determine the distance range of the target object relative to the reference position.

[0120] In practical applications, the distance interval represented by the peak position of the first histogram can be determined as the distance interval of the target object relative to the reference position.

[0121] In other words, by transmitting the first output data in the first stage, the distance range of the target object relative to the reference position can be determined. This distance range can be regarded as a coarse measurement result of the range attribute. Therefore, the first stage can also be called the coarse measurement stage.

[0122] After determining the distance range, the second phase, which includes S203 and S204, can begin.

[0123] In the second stage, S203 may specifically include: acquiring second output data transmitted from the analog integrated circuit (e.g., transmitted through the aforementioned data transmission path), wherein the second output data is extracted by the analog integrated circuit from the second valid data, the second valid data being the second sampled data matching a distance interval among at least two second sampled data included in the second sampled array, the sampled data matching the distance interval representing the measured distance of the target object relative to the reference position being within the distance interval, and the second sampled data being generated by the photosensitive array after the first sampled array.

[0124] In the second stage, S204 may specifically include: determining the distance measurement result of the target object relative to the reference position based on the second statistical result of the precise distance of the target object relative to the reference position characterized by at least two second output data.

[0125] For example, in order to determine the distance measurement result based on the second statistical result, S204 can use the second output data to create a second histogram. The second histogram is used to characterize the frequency of occurrence of different values ​​of the precise distance of the target object relative to the reference position. The second statistical result includes the frequency of occurrence of different values ​​of the precise distance.

[0126] Based on the frequency of occurrence of different values ​​of the precision distance, S204 can determine the distance measurement result of the target object relative to the reference position.

[0127] In practical applications, the distance represented by the peak of the second histogram can be determined as the distance measurement result of the target object relative to the reference position.

[0128] In other words, after the second stage, the distance measurement result of the target object relative to the reference position can be obtained. This distance measurement result can be a distance value that meets the preset accuracy level. Therefore, the second stage can also be called the precision measurement stage.

[0129] In addition, as such Figure 7 The distance range determined by the digital integrated circuit, the execution body of the ranging method shown, needs to be directed to a source such as... Figure 6 The sampling method shown is implemented by an analog integrated circuit that provides feedback. Therefore, in order to facilitate feedback interaction between analog and digital integrated circuits, the digital integrated circuit can have an information feedback interface.

[0130] Therefore, as Figure 7 The distance measurement method shown can be further improved after S202, that is, after determining the distance interval mentioned above in the first stage, by feeding back the distance interval data to the analog integrated circuit through the information feedback interface.

[0131] Accordingly, such as Figure 6 The acquisition method shown may further include: in response to an interface signal representing a distance range detected from the digital integrated circuit, the analog integrated circuit switches the data transmitted to the digital integrated circuit from first output data to second output data, that is, steps S103 and S104 are executed.

[0132] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A sampling method for ranging, characterized in that, include: In response to a first sampling array generated by a photosensitive array, one of at least two first sampling data included in the first sampling array is determined as a first valid data; The first output data extracted from the first valid data is transmitted to the digital integrated circuit. The first output data is used by the digital integrated circuit to determine the distance range of the target object relative to the reference position. In response to a second sampling array generated by the photosensitive array after the first sampling array, the second sampling data that matches the distance interval among at least two second sampling data included in the second sampling array is determined as second valid data, wherein the measured distance of the target object relative to the reference position represented by the second sampling data that matches the distance interval is located within the distance interval; The second output data extracted from the second valid data is transmitted to the digital integrated circuit. The second output data is used by the digital integrated circuit to determine the distance measurement result of the target object relative to the reference position.

2. The sampling method according to claim 1, characterized in that, The first sampling array generated in response to the photosensitive array is used to determine one of at least two first sampled data items included in the first sampling array as first valid data, including: In response to each set of the first sampling arrays periodically generated by the photosensitive array, one of the first sampled data in each set of the first sampling arrays is determined as the first valid data of that set of the first sampling arrays; The first output data transmitted to the digital integrated circuit includes at least two first output data obtained from the first valid data of at least two sets of the first sampling array; Furthermore, the distance range is determined by the digital integrated circuit based on at least two of the first output data.

3. The sampling method according to claim 2, characterized in that, The step of determining a first sample data point from each group of the first sample arrays periodically generated by the photosensitive array as the first valid data point of that group of the first sample arrays includes: One of the first sampled data points randomly selected from each group of the first sampled arrays is determined as the first valid data.

4. The sampling method according to claim 2, characterized in that, The step of determining a first sample data point from each group of the first sample arrays periodically generated by the photosensitive array as the first valid data point of that group of the first sample arrays includes: Based on the periodic sorting position of the sampling period of each group of the first sampling array in the periodic cyclic sorting, one of the first sampled data in each group of the first sampling array is determined as the first valid data, wherein the sorting position of the first sampled data selected as the valid data within the group of the first sampling array is the same as the periodic sorting position of the group of the first sampling array.

5. The sampling method according to claim 2, characterized in that, The step of determining a first sample data point from each group of the first sample arrays periodically generated by the photosensitive array as the first valid data point of that group of the first sample arrays includes: The first sampled data located at the specified sorting position within the first sampled array of each group is determined as the first valid data.

6. The sampling method according to claim 1, characterized in that, The second sampling array generated by the photosensitive array after the first sampling array, in response to the second sampling array, determines the second sampling data that matches the distance interval from at least two second sampling data included in the second sampling array as second valid data, including: In response to each set of second sample arrays periodically generated by the photosensitive array, second valid data matching the distance interval is selected from at least two second sample data sets of that set of second sample data sets; The second output data transmitted to the digital integrated circuit includes at least two second output data segments obtained from at least two second valid data segments; Furthermore, the distance measurement result is determined by the digital integrated circuit based on at least two of the second output data.

7. The sampling method according to claim 1, characterized in that, The step of transmitting the first output data extracted from the first valid data to the digital integrated circuit includes: extracting a first data segment located in a preset binary high-order interval from the first valid data as the first output data and transmitting it to the digital integrated circuit; The step of transmitting the second output data extracted from the second valid data to the digital integrated circuit includes: extracting the second data segment located in the preset binary low-order interval of the second valid data as the second output data and transmitting it to the digital integrated circuit.

8. The sampling method according to claim 1, characterized in that, The sampling method further includes: In response to an interface signal representing the distance range detected from the digital integrated circuit, the data transmitted to the digital integrated circuit is switched from the first output data to the second output data.

9. A distance measurement method, characterized in that, include: Acquire first output data transmitted from an analog integrated circuit, wherein the first output data is obtained by the analog integrated circuit from first valid data, the first valid data is one of at least two first sampled data included in a first sampled array, and the first sampled array is generated by a photosensitive array in the analog integrated circuit; Based on the first output data, determine the distance range of the target object relative to the reference position; Acquire second output data transmitted from the analog integrated circuit, wherein the second output data is obtained by the analog integrated circuit from second valid data, the second valid data is the second sample data that matches the distance interval among at least two second sample data included in the second sample array, the second sample data that matches the distance interval represents the measured distance of the target object relative to the reference position that is within the distance interval, and the second sample data is generated by the photosensitive array after the first sample array; Based on the second output data, the distance measurement result of the target object relative to the reference position is determined.

10. The ranging method according to claim 9, characterized in that, The step of acquiring the first output data transmitted from the analog integrated circuit includes: acquiring at least two sets of first output data obtained by the analog integrated circuit from the first valid data of at least two sets of the first sampling array; and... Determining the distance range of the target object relative to the reference position based on the first output data includes: Based on a first statistical result of the coarse distance measurement of the target object relative to the reference position, represented by at least two of the first output data, a distance range of the target object relative to the reference position is determined.

11. The ranging method according to claim 10, characterized in that, The step of determining the distance interval of the target object relative to the reference position based on statistical results of the coarse distances of the target object relative to the reference position represented by at least two of the first output data includes: A first histogram is created using at least two of the first output data. The first histogram is used to characterize the frequency of occurrence of different values ​​of the coarse distance represented by at least two of the first output data. The first statistical result includes the frequency of occurrence of the different values ​​of the coarse distance. Based on the frequency of occurrence of different values ​​of the coarse distance measurement, the distance range of the target object relative to the reference position is determined.

12. The ranging method according to claim 9, characterized in that, The step of acquiring the second output data transmitted from the analog integrated circuit includes: acquiring at least two sets of first output data obtained by the analog integrated circuit from the second valid data of at least two sets of the second sampling array; and... The step of determining the distance measurement result of the target object relative to the reference position based on the second output data includes: The distance measurement result of the target object relative to the reference position is determined based on a second statistical result of the precise distance of the target object relative to the reference position characterized by at least two second output data.

13. The ranging method according to claim 12, characterized in that, The determination of the distance measurement result of the target object based on the second statistical result of the precise distance of the target object relative to the reference position characterized by at least two second output data includes: Using the second output data, a second histogram is created. The second histogram is used to characterize the frequency of occurrence of different values ​​of the precise distance between the target object and the reference position. The second statistical result includes the frequency of occurrence of the different values ​​of the precise distance. Based on the frequency of occurrence of different values ​​of the precise distance, the distance measurement result of the target object relative to the reference position is determined.

14. A ranging device, characterized in that, include: An analog integrated circuit, the analog integrated circuit comprising a photosensitive array and a processing circuit, wherein the processing circuit is configured to perform the sampling method as described in any one of claims 1 to 8; A digital integrated circuit, said digital integrated circuit being used to perform the ranging method as described in claims 9 to 13; The analog integrated circuit and the digital integrated circuit have a data transmission path between them.

15. The ranging device according to claim 14, characterized in that, The analog integrated circuit and the digital integrated circuit are each independently packaged, and the analog integrated circuit and the digital integrated circuit are mounted on the same circuit board, and the data transmission path is a board-level interconnection path of the circuit board; or, The analog integrated circuit and the digital integrated circuit are integrated into a single package, and the data transmission path is a package-level interconnect path within the integrated package.

16. The ranging device according to claim 14, characterized in that, The photosensitive array includes a single-photon avalanche diode (SPAD) array.

17. An electronic device for ranging, characterized in that, The device includes a light source emitter and a ranging device as described in claim 15 or 16, wherein the light source emitter is used to generate a light signal projected onto the target object, and the photosensitive array generates the first sampling array and the second sampling array in response to the reflected light of the light signal after being reflected by the target object.

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