Anti-interference method for optical ranging device, optical ranging device and electronic device

Abstract

The present application discloses an anti-interference method for an optical ranging device, an optical ranging device, and an electronic device. The optical ranging method includes: controlling the light-emitting state of at least one transmitting unit within a first sub-frame time of the optical ranging device, and using at least one receiving unit corresponding to the at least one transmitting unit for sensing to generate first sensing data; controlling the light-emitting state of at least one transmitting unit within a second sub-frame time of the optical ranging device, and using at least one receiving unit for sensing to generate second sensing data; taking the light-emitting state and the corresponding first sensing data in the first sub-frame time as a first set of data, taking the light-emitting state and the corresponding second sensing data in the second sub-frame time as a second set of data, comparing the first set of data and the second set of data, and obtaining a result of whether the ranging of the optical ranging device is interfered. Based on the above method, the reliability of the optical ranging device can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of measurement technologies, and particularly to an anti-interference method for an optical ranging device, an optical ranging device, and an electronic device. Background Art

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

[0003] An optical ranging device implementing the direct time of flight technology includes a transmitting end, a receiving end, and a data processing end. The transmitting end emits a sensing light beam for ranging, the receiving end is used to receive and sense the sensing light beam reflected by the ranging target, and the data processing end determines the distance information of the ranging target that reflects the sensing light beam based on the flight time and the speed of light between the emission moment and the reception moment of the sensing light beam.

[0004] The defect of the prior art is that in some complex scenarios, there are multiple optical ranging devices working simultaneously, and the sensing light beams respectively emitted by different optical ranging devices will cause mutual interference, making it impossible for the optical ranging device to determine whether the received sensing light beam is emitted by itself or by other optical ranging devices. Therefore, the existing optical ranging device cannot determine whether it is interfered, nor can it determine whether the received data is the actual required data or interference data, resulting in poor reliability. Summary of the Invention

[0005] The main technical problem to be solved by this application is how to improve the reliability of an optical ranging device.

[0006] To solve the above technical problem, the first technical solution adopted by this application is: an anti-interference method for an optical ranging device, including: within the first sub-frame time of ranging of the optical ranging device, the optical ranging device controls the light-emitting state of at least one transmitting unit, and the optical ranging device uses at least one receiving unit corresponding to at least one transmitting unit for sensing to generate first sensing data; within the second sub-frame time of ranging of the optical ranging device, the optical ranging device controls the light-emitting state of at least one transmitting unit, and the optical ranging device uses at least one receiving unit for sensing to generate second sensing data; taking the light-emitting state and the corresponding first sensing data in the first sub-frame time as the first group of data, and taking the light-emitting state and the corresponding second sensing data in the second sub-frame time as the second group of data, comparing the first group of data and the second group of data to obtain the result of whether the ranging of the optical ranging device is interfered.

[0007] Further, each of the at least one transmitting unit emits light at least once during the first sub-frame time and the second sub-frame time. The light-emitting states in the first group of data and the second group of data are either emitting light or not emitting light. The first sensing data and the second sensing data are light intensity values or distance values respectively generated by at least one receiving unit based on sensing.

[0008] Further, the transmitting unit emits light once and does not emit light once during the first sub-frame time and the second sub-frame time. By comparing the first group of data and the second group of data, the result of whether the ranging of the optical ranging device is interfered is obtained, including: determining whether there is a difference in the light intensity values corresponding to a receiving unit in the first sensing data and the second sensing data that is less than the first threshold. If so, the result that the ranging of the optical ranging device is interfered is obtained; or determining whether there is a difference in the distance values corresponding to a receiving unit in the first sensing data and the second sensing data that is less than the second threshold. If so, the result that the ranging of the optical ranging device is interfered is obtained.

[0009] Further, the transmitting unit emits light during both the first sub-frame time and the second sub-frame time. By comparing the first group of data and the second group of data, the result of whether the ranging of the optical ranging device is interfered is obtained, including: determining whether there is a difference in the light intensity values corresponding to a receiving unit in the first sensing data and the second sensing data that is not less than the first threshold. If so, the result that the ranging of the optical ranging device is interfered is obtained; or determining whether there is a difference in the distance values corresponding to a receiving unit in the first sensing data and the second sensing data that is not less than the second threshold. If so, the result that the ranging of the optical ranging device is interfered is obtained.

[0010] Further, the optical ranging method further includes: during the third sub-frame time of the ranging of the optical ranging device, the optical ranging device controls the light-emitting state of at least one transmitting unit, and the optical ranging device uses at least one receiving unit for sensing to generate third sensing data; taking the light-emitting state and the corresponding first sensing data of the first sub-frame as the first group of data, taking the light-emitting state and the corresponding second sensing data of the second sub-frame as the second group of data, and comparing the first group of data and the second group of data to obtain the result of whether the ranging of the optical ranging device is interfered, including: taking the light-emitting state and the corresponding first sensing data of the first sub-frame time as the first group of data, taking the light-emitting state and the corresponding second sensing data of the second sub-frame time as the second group of data, taking the light-emitting state and the corresponding third sensing data of the third sub-frame time as the third group of data, and comparing the first group of data, the second group of data, and the third group of data to obtain the result of whether the ranging of the optical ranging device is interfered.

[0011] Further, each of the at least one transmitting unit emits light at least twice during the first sub-frame time, the second sub-frame time, and the third sub-frame time. The light emission states in the first set of data, the second set of data, and the third set of data are either light emission or non-light emission. The first sensing data, the second sensing data, and the third sensing data are light intensity values or distance values respectively generated by at least one receiving unit based on sensing.

[0012] Further, the transmitting unit emits light twice and does not emit light once during the first sub-frame time, the second sub-frame time, and the third sub-frame time. By comparing the first set of data, the second set of data, and the third set of data, the result of whether the ranging of the optical ranging device is interfered is obtained, including: determining whether there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light that is less than a first threshold, and whether there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the first threshold. If there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light that is less than the first threshold or there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the first threshold, the result that the ranging of the optical ranging device is interfered is obtained; or determining whether there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light that is less than a second threshold, and whether there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the second threshold. If there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light that is less than the second threshold or there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the second threshold, the result that the ranging of the optical ranging device is interfered is obtained.

[0013] Further, the transmitting unit emits light during the first sub-frame time, the second sub-frame time, and the third sub-frame time. By comparing the first set of data, the second set of data, and the third set of data, the result of whether the ranging of the optical ranging device is interfered is obtained, including: determining whether there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than a first threshold. If so, the result that the ranging of the optical ranging device is interfered is obtained; or determining whether there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than a second threshold. If so, the result that the ranging of the optical ranging device is interfered is obtained.

[0014] To solve the above technical problems, the second technical solution adopted in this application is as follows: An optical ranging device, comprising a transmitting module, a receiving module, and a processing module; the transmitting module is configured to control the light-emitting state of at least one transmitting unit during the first sub-frame time of the optical ranging device for ranging, the receiving module is configured to sense using at least one receiving unit corresponding to at least one transmitting unit to generate first sensing data; the transmitting module is further configured to control the light-emitting state of at least one transmitting unit during the second sub-frame time of the optical ranging device for ranging, and the receiving module is further configured to sense using at least one receiving unit to generate second sensing data; the processing module is configured to: use the light-emitting state and the corresponding first sensing data in the first sub-frame time as the first set of data, use the light-emitting state and the corresponding second sensing data in the second sub-frame time as the second set of data, compare the first set of data and the second set of data, and obtain the result of whether the ranging of the optical ranging device is interfered.

[0015] To solve the above technical problems, the third technical solution adopted in this application is as follows: An electronic device, comprising an application device and the above optical ranging device, where the application device is configured to perform ranging based on the optical ranging device.

[0016] The beneficial effects of this application are as follows: Different from the prior art, during the first sub-frame time when the optical ranging device in this application's technical solution is used for ranging, the optical ranging device controls the light-emitting state of at least one transmitting unit and senses using the corresponding at least one receiving unit to generate first sensing data. During the second sub-frame time, the optical ranging device controls the light-emitting state of at least one transmitting unit and senses using the corresponding at least one receiving unit to generate second sensing data. The light-emitting state and the first sensing data in the first sub-frame time, and the light-emitting state and the second sensing data in the second sub-frame time are respectively recorded as the first set of data and the second set of data. Based on the comparison of the first set of data and the second set of data, it is possible to determine whether the optical ranging device is interfered according to the comparison result. Based on the above method, most of the situations where the optical ranging device is interfered can be detected, reducing the occurrence of the optical ranging device performing wrong ranging based on the interfered sensing data, and thus improving the reliability of the optical ranging device. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the ranging principle of the optical ranging device;

[0019] Figure 2 It is a comparison schematic diagram of the transmitting module and the receiving module in the optical ranging device of the present application;

[0020] Figure 3 It is one of the structural schematic diagrams of an embodiment of the optical ranging device of the present application;

[0021] Figure 4 It is one of the schematic diagrams of the interference detection process of the optical ranging device of the present application;

[0022] Figure 5 It is the second schematic diagram of the interference detection process of the optical ranging device of the present application;

[0023] Figure 6 It is the third schematic diagram of the interference detection process of the optical ranging device of the present application;

[0024] Figure 7 It is the fourth schematic diagram of the interference detection process of the optical ranging device of the present application;

[0025] Figure 8 It is the fifth schematic diagram of the interference detection process of the optical ranging device of the present application;

[0026] Figure 9 It is the sixth schematic diagram of the interference detection process of the optical ranging device of the present application;

[0027] Figure 10 It is the seventh schematic diagram of the interference detection process of the optical ranging device of the present application;

[0028] Figure 11 It is the eighth schematic diagram of the interference detection process of the optical ranging device of the present application;

[0029] Figure 12 It is the ninth schematic diagram of the interference detection process of the optical ranging device of the present application;

[0030] Figure 13 It is the tenth schematic diagram of the interference detection process of the optical ranging device of the present application;

[0031] Figure 14 It is the structural schematic diagram of an embodiment of the electronic device of the present application;

[0032] Figure 15 It is the structural schematic diagram of an embodiment of the anti-interference method of the optical ranging device of the present application. Detailed implementation manners

[0033] To make the above objects, features, and advantages of the present application more apparent and understandable, the following will describe the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining the present application and not for limiting the present application. Additionally, it should be noted that for the sake of description, only the parts related to the present application rather than all the structures are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0034] The terms "first", "second", etc. in the present application are used to distinguish different objects rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0035] Referring to "embodiments" herein means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0036] Introduction to the Basic Principle of Optical Ranging

[0037] As Figure 1 shown, Figure 1 is a schematic diagram of the ranging principle of an optical ranging device. An optical ranging device generally includes a transmitting end and a receiving end. The transmitting end emits a sensing beam towards the ranging target in the measurement scene and records the emission time of the sensing beam. Some or all of the sensing beams are reflected by the ranging target and return. The receiving end receives the returned sensing beam and simultaneously records the reception time of the returned sensing beam. Next, the flight time of the sensing beam can be determined based on the difference between the emission time and the reception time of the sensing beam reflected by the ranging target, and half of the product of the flight time of the sensing beam and the speed of light is determined as the distance between the ranging target of the reflected sensing beam and the optical ranging device.

[0038] Specifically, the distance to be measured as shown in Figure 1 can be determined according to Equation (1):

[0039] d = (t2 - t1) × c ÷ 2 = T × c ÷ 2 (1)

[0040] Wherein, d is the distance to be measured, t1 is the transmission time, t2 is the reception time, T is the laser flight time, and c is the speed of light.

[0041] The above optical ranging device may be a lidar device or a part of a lidar device, or other types of optical ranging devices, which can be specifically determined according to actual requirements and are not limited herein.

[0042] Embodiment 1

[0043] The present application first proposes an optical ranging device, which includes a transmitting module, a receiving module, and a processing module. The transmitting module includes at least one transmitting unit, and the receiving module includes at least one receiving unit.

[0044] Specifically, as Figure 2 shown, Figure 2 is a comparison schematic diagram of the transmitting module and the receiving module in the optical ranging device of the present application. In this figure, the circular frame may represent the transmitting unit, and the square frame may represent the receiving unit.

[0045] As Figure 2 (A) shows, multiple transmitting units correspond to one receiving unit. In this example, 9 transmitting units correspond to 1 receiving unit. That is, there are reflected beams of the sensing beams emitted by 9 transmitting units that are reflected by the ranging target after hitting the ranging target, and all of them will be received by the corresponding 1 receiving unit. In practical applications, the process may be as follows: 9 transmitting units corresponding to the same receiving unit sequentially emit sensing beams to the ranging target within a sub-frame time, and the 1 receiving unit sequentially receives the reflected beams of the sensing beams of the 9 corresponding transmitting units to respectively obtain optical ranging-related information corresponding to the 9 transmitting units (for example: the duration from the emission to the reception of the sensing beam of each transmitting unit). Furthermore, the processing module can be enabled to process based on this optical ranging-related information to complete the operation of optical ranging. Based on the above method, ranging of a point cloud surface can be performed based on the array formed by the transmitting units and the array formed by the receiving units as shown in Figure 2 (A). In the case where multiple transmitting units correspond to one receiving unit, the point cloud resolution corresponding to the point cloud surface is determined by the arrangement density of the transmitting units.

[0046] As Figure 2As shown in (B), one transmitting unit corresponds to multiple receiving units. In this example, 1 transmitting unit corresponds to 4 receiving units. That is, there is a reflected beam of the sensing beam emitted by 1 transmitting unit after hitting the ranging target and being reflected by the ranging target, which is respectively received by the corresponding 4 receiving units. In practical applications, the process can be as follows: 1 transmitting unit corresponding to 4 receiving units emits a sensing beam to the ranging target within a sub-frame time, and the 4 receiving units receive the reflected beam of the sensing beam to respectively obtain corresponding optical ranging related information (for example: the duration from the emission to the reception of the sensing beam of each receiving unit). Then, the processing module can perform processing based on the optical ranging related information to complete the operation of optical ranging. Based on the above method, ranging of a point cloud surface can be performed based on the array composed of transmitting units and the array composed of receiving units as shown in Figure 2 (B). When one transmitting unit corresponds to multiple receiving units, the point cloud resolution corresponding to the point cloud surface is determined by the density of the arrangement of the receiving units.

[0047] As Figure 3 shown, Figure 3 is one of the structural schematic diagrams of an embodiment of the optical ranging device of the present application. In the optical ranging device 10 as shown in Figure 3 , the transmitting module 11 is used to control the light-emitting state of at least one transmitting unit 111 within the first sub-frame time of the ranging of the optical ranging device 10, and the receiving module 12 is used to sense by using at least one receiving unit 121 corresponding to at least one transmitting unit 111 to generate first sensing data.

[0048] The transmitting module 11 is also used to control the light-emitting state of at least one transmitting unit 111 within the second sub-frame time of the ranging of the optical ranging device 10, and the receiving module 12 is also used to sense by using at least one receiving unit 121 to generate second sensing data.

[0049] The processing module 13 is used to: take the light-emitting state and the corresponding first sensing data in the first sub-frame time as the first group of data, take the light-emitting state and the corresponding second sensing data in the second sub-frame time as the second group of data, compare the first group of data and the second group of data, and obtain the result of whether the ranging of the optical ranging device is interfered.

[0050] Among them, it is possible to determine whether each emission unit 111 in at least one emission unit 111 emits light based on the light emission state at the first sub-frame time, and determine the data corresponding to at least one emission unit 111 received by at least one receiving unit 121 based on the second sensing data. Denote the determined content above as the first set of data. Similarly, obtain the second set of data, and then compare the first set of data with the second set of data to determine whether each light emission state matches the corresponding sensing data and is free of abnormalities, thereby determining whether the optical ranging device is interfered with.

[0051] Specifically, as Figure 3 shown, the emission module 11 includes 4 emission units 111 (such as Figure 3 the emission units A1 - A4 in Figure 3 ), and the receiving module 12 includes 4 receiving units 121 (such as

[0052] the receiving units B1 - B4 in

[0053] There are three corresponding situations between the emission units 111 of the emission module 11 and the receiving units 121 of the receiving module 12:

[0054] The first situation: one-to-one correspondence between the emission unit and the receiving unit.

[0054] There are actually 4 emission units in the emission module 11, and the 4 emission units are respectively emission units A1 - A4. There are actually 4 receiving units in the receiving module 12, and the 4 receiving units are respectively receiving units B1 - B4. For example, the reflected light beam of the sensing light beam emitted by emission unit A1 is received by receiving unit B1, the reflected light beam of the sensing light beam emitted by emission unit A2 is received by receiving unit B2, the reflected light beam of the sensing light beam emitted by emission unit A3 is received by receiving unit B3, and the reflected light beam of the sensing light beam emitted by emission unit A4 is received by receiving unit B4.

[0055] The second situation: multiple emission units correspond to one receiving unit.

[0056] There are actually 4 emission units in the emission module 11, and the 4 emission units are respectively emission units A1 - A4. There is actually 1 receiving unit in the receiving module 12. When this 1 receiving unit receives the reflected light beams of the sensing light beams emitted by emission units A1 - A4 respectively, it serves as receiving units B1 - B4 respectively. That is, when this 1 receiving unit corresponds to emission units A1 - A4 respectively at 4 times, it will serve as receiving units B1 - B4 respectively.

[0057] The third situation: one emission unit corresponds to multiple receiving units.

[0058] There is actually 1 transmitting unit provided in the transmitting module 11, and there is actually 1 receiving unit provided in the receiving module 12. The 4 receiving units are respectively receiving units B1 - B4. When this 1 transmitting unit emits sensing beams for the receiving units B1 - B4 to receive respectively, it serves as transmitting units A1 - A4 respectively. That is, at the 4 times when this 1 transmitting unit corresponds to the receiving units B1 - B4 respectively, it will serve as transmitting units A1 - A4 respectively.

[0059] The number of transmitting units in the transmitting module 11 can be 4, or any other arbitrary number. The number of receiving units in the receiving module 12 can be 4, or any other arbitrary number, which is not limited here.

[0060] The following embodiments are all defaulted to be described in the first case, but the corresponding relationship between the transmitting unit 111 and the receiving unit 121 can also be replaced with the second case or the third case, which is not limited here.

[0061] Optionally, each transmitting unit in at least one transmitting unit emits light at least once in the first sub - frame time and the second sub - frame time. The light - emitting states in the first group of data and the second group of data are light - emitting or non - light - emitting. The first sensing data and the second sensing data are light intensity values or distance values respectively generated by at least one receiving unit based on sensing.

[0062] Specifically, the receiving unit 121 can determine the corresponding distance value according to the emission time of the sensing beam emitted by the corresponding transmitting unit 111, its own receiving time of the beam, and the speed of light, or can directly determine the light intensity value of the beam received by itself. Among them, when two beams emitted by the same transmitting unit 111 that have traveled the same distance without being interfered are received by the receiving unit 121, the above - mentioned light intensity value or the above - mentioned distance value is relatively small or the same. When two beams emitted by the same transmitting unit 111 that have traveled the same distance and are interfered are received by the receiving unit 121, the above - mentioned light intensity value or the above - mentioned distance value is very likely to be quite different.

[0063] For example, as Figure 4 shown, Figure 4 is one of the schematic diagrams of the interference detection process of the optical distance measuring device of the present application. An optical distance measuring device 10 as shown in Figure 3 can be adopted, so that the transmitting units A1 - A4 in the transmitting module 11 all emit light within the first sub - frame time T1, and the transmitting units A2, A3 emit light within the second sub - frame time T2 and the transmitting units A1, A4 do not emit light within the second sub - frame time T2 (as Figure 4As shown, the emitting units represented by the dark frames are the emitting units that emit light, while the emitting units represented by the light frames / frames without filled color are the emitting units that do not emit light). In addition, the receiving units B1 - B4 in the receiving module 11 are also made to receive the reflected light beams of the sensing light beams emitted by the corresponding emitting units A1 - A4 within the first sub-frame time T1, and to receive the reflected light beams of the sensing light beams emitted by the corresponding emitting units A1 - A4 within the second sub-frame time T2.

[0064] The processing module 13 can determine whether the optical ranging device 10 is interfered with based on two sets of data received by the receiving module 13 within the first sub-frame time T1 and the second sub-frame time T2, such as Figure 4 As shown, the receiving units B1 - B4 generate corresponding data based on the received light within the first sub-frame time T1 and the second sub-frame time T2 respectively. Since the combination of the emitting or non-emitting states of the emitting units A1 - A4 within the first sub-frame time T1 and the second sub-frame time T2 is different, when the optical ranging device 10 is not interfered with, it should be as Figure 4 shown, the data generated by the receiving unit B1 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should differ significantly (as Figure 4 shown, the receiving units represented by the crossed boxes generate significantly different data based on the received light beams within the first sub-frame time and the second sub-frame time. For example Figure 4 the receiving unit B1 in the second sub-frame time T2 in Figure 4 ), the data generated by the receiving unit B2 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should differ less or be the same (as Figure 4 shown, the receiving units represented by the ticked boxes generate data that differ less or are the same based on the received light beams within the first sub-frame time and the second sub-frame time. For example Figure 4 the receiving unit B2 in the second sub-frame time T2 in

[0065] From Figure 4 it can be seen that the receiving situations of the receiving units B1 - B4 are consistent with the situation when not interfered as in the above example. Therefore, through Figure 4 the interference detection process shown in the example, it can be determined that the optical ranging device 10 is not interfered with.

[0066] In contrast, as Figure 5 shown, Figure 5 is the second schematic diagram of the interference detection process of the optical ranging device of the present application. Figure 5 In the interference detection process shown, compared with Figure 4The only difference is that the data generated by the receiving unit B3 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should differ significantly, rather than Figure 4 as in the case where the data generated by the receiving unit B3 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should differ slightly or be the same. However, Figure 5 in the interference detection process shown, the transmitting unit A3 emits light within both the first sub-frame time T1 and the second sub-frame time T2. Therefore, it can be known that the light beams received by the receiving unit B3 are not the light beams that the receiving unit B3 of the optical ranging device 10 should receive when not interfered. Thus, through Figure 5 the interference detection process shown in the example, it can be determined that the optical ranging device 10 is interfered. At this time, the data received by the receiving module 12 cannot be used for optical ranging to reduce the occurrence of mismeasurement and improve the reliability of optical ranging.

[0067] Furthermore, the first part of the transmitting units in the transmitting module emits light once and does not emit light once within the first sub-frame time and the second sub-frame time, while the second part of the transmitting units in the transmitting module emits light within both the first sub-frame time and the second sub-frame time.

[0068] The processing module can specifically be used for:

[0069] judging whether there is a difference in the light intensity values corresponding to a receiving unit corresponding to the first part of the transmitting units that is less than a first threshold between the first sensing data and the second sensing data, and judging whether there is a difference in the light intensity values corresponding to a receiving unit corresponding to the second part of the transmitting units that is not less than the first threshold between the first sensing data and the second sensing data. If so, a result that the ranging of the optical ranging device is interfered is obtained. Or,

[0070] judging whether there is a difference in the distance values corresponding to a receiving unit corresponding to the first part of the transmitting units that is less than a second threshold between the first sensing data and the second sensing data, and judging whether there is a difference in the distance values corresponding to a receiving unit corresponding to the second part of the transmitting units that is not less than the second threshold between the first sensing data and the second sensing data. If so, a result that the ranging of the optical ranging device is interfered is obtained.

[0071] Among them, for a receiving unit, if the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam within the second sub-frame time is not less than the first threshold / second threshold, it can be considered that the receiving unit generates significantly different data based on the received light beams within the first sub-frame time and the second sub-frame time.

[0072] If the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam by the receiving unit within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam by the receiving unit within the second sub-frame time is less than the first threshold / second threshold, it can be considered that the receiving unit generates data with relatively small differences or the same data based on the received light beam within the first sub-frame time and the second sub-frame time.

[0073] Specifically, for a specific example, reference can be made to the above Figure 4 or Figure 5 the content described in the example shown, where the transmitting units A1 and A4 emit light once and do not emit light once within the first sub-frame time and the second sub-frame time, while the transmitting units A2 and A3 emit light within both the first sub-frame time and the second sub-frame time.

[0074] Furthermore, the transmitting unit emits light once and does not emit light once within the first sub-frame time and the second sub-frame time.

[0075] The processing module can specifically be used for:

[0076] Determine whether the difference between the light intensity values corresponding to a receiving unit in the first sensing data and the second sensing data is less than the first threshold. If so, obtain the result that the ranging of the optical ranging device is interfered. Or, determine whether the difference between the distance values corresponding to a receiving unit in the first sensing data and the second sensing data is less than the second threshold. If so, obtain the result that the ranging of the optical ranging device is interfered.

[0077] Among them, for a receiving unit, if the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam by the receiving unit within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam by the receiving unit within the second sub-frame time is not less than the first threshold / second threshold, it can be considered that the receiving unit generates data with relatively large differences based on the received light beam within the first sub-frame time and the second sub-frame time.

[0078] If the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam by the receiving unit within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam by the receiving unit within the second sub-frame time is less than the first threshold / second threshold, it can be considered that the receiving unit generates data with relatively small differences or the same data based on the received light beam within the first sub-frame time and the second sub-frame time.

[0079] Specifically, for example, as Figure 6 shown, Figure 6 is the third schematic diagram of the interference detection process of the optical ranging device of the present application, and can be adopted asFigure 3 The optical ranging device 10 shown causes the emitting units A1 and A4 in the emitting module 11 to all emit light within the first sub-frame time T1 while the emitting units A2 and A3 do not emit light at all within the first sub-frame time T1, and causes the emitting units A1 and A4 in the emitting module 11 not to emit light at all within the first sub-frame time T1 while the emitting units A2 and A3 all emit light within the first sub-frame time T1 (as Figure 6 shown, the emitting units represented by the dark frames are the emitting units that emit light, while the emitting units represented by the light frames / frames without filled colors are the emitting units that do not emit light). In addition, it also causes the receiving units B1 - B4 in the receiving module 11 to receive the reflected beams of the sensing beams emitted by the corresponding emitting units A1 - A4 within the first sub-frame time T1, and to receive the reflected beams of the sensing beams emitted by the corresponding emitting units A1 - A4 within the second sub-frame time T2.

[0080] The processing module 13 can determine whether the optical ranging device 10 is interfered based on two sets of data received by the receiving module 13 within the first sub-frame time T1 and the second sub-frame time T2, as Figure 6 shown, the receiving units B1 - B4 generate corresponding data based on the received light within the first sub-frame time T1 and the second sub-frame time T2 respectively. Since the combination of the emitting or non-emitting states of the emitting units A1 - A4 within the first sub-frame time T1 and the second sub-frame time T2 is different, when the optical ranging device 10 is not interfered, it should be as Figure 6 shown, the data generated by the receiving unit B1 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should differ greatly (as Figure 6 shown, the receiving units represented by the crossed frames generate greatly different data based on the received light beams within the first sub-frame time and the second sub-frame time. For example Figure 6 the receiving unit B1 in the second sub-frame time T2 in

[0081] From Figure 6 it can be seen that the receiving situations of the receiving units B1 - B4 are consistent with the situation when not interfered as in the above example. Therefore, through Figure 6 the interference detection process shown in the example, it can be determined that the optical ranging device 10 is not interfered.

[0082] In contrast, as Figure 7 shown, Figure 7It is the fourth schematic diagram of the interference detection process of the optical ranging device of the present application. Figure 7 The only difference in the interference detection process shown Figure 6 is that the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should be relatively small or the same (as Figure 7 shown, the receiving units represented by the tick boxes generate relatively small or the same data based on the received light beam within the first sub-frame time and the second sub-frame time. For example, Figure 7 the receiving unit B3 at the second sub-frame time T2 in Figure 6 , rather than the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 being relatively large as in Figure 7 shown, during the interference detection process shown, the transmitting unit A3 does not emit light once and emits light once within the first sub-frame time T1 and the second sub-frame time T2. Therefore, it can be known that the light beam received by the receiving unit B3 is not the light beam that the receiving unit B3 of the optical ranging device 10 should receive when not interfered. Therefore, through Figure 7 the interference detection process shown in the example, it can be determined that the optical ranging device 10 is interfered. At this time, the data received by the receiving module 12 cannot be used for optical ranging to reduce the occurrence of mismeasurement and improve the reliability of optical ranging.

[0083] Furthermore, the transmitting unit emits light within both the first sub-frame time and the second sub-frame time.

[0084] The processing module is specifically configured to:

[0085] Judge whether the difference in the light intensity values corresponding to a receiving unit between the first sensing data and the second sensing data is not less than the first threshold. If so, obtain the result that the ranging of the optical ranging device is interfered. Or, judge whether the difference in the distance values corresponding to a receiving unit between the first sensing data and the second sensing data is not less than the second threshold. If so, obtain the result that the ranging of the optical ranging device is interfered.

[0086] Among them, for a receiving unit, if the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam by the receiving unit within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam by the receiving unit within the second sub-frame time is not less than the first threshold / second threshold, it can be considered that the receiving unit generates relatively large-difference data based on the received light beam within the first sub-frame time and the second sub-frame time.

[0087] If the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam by the receiving unit within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam by the receiving unit within the second sub-frame time is less than the first threshold / second threshold, it can be considered that the receiving unit generates data with relatively small differences or the same data based on the received light beam within the first sub-frame time and the second sub-frame time.

[0088] Specifically, for example, as Figure 8 shown, Figure 8 FIG. 5 is a schematic diagram of the interference detection process of the optical ranging device of the present application. An optical ranging device 10 as shown in Figure 3 can be used, such that the transmitting units A1-A4 in the transmitting module 11 emit light in their entirety within the first sub-frame time T1 and within the second sub-frame time T2 (as shown in Figure 8 , the transmitting units represented by the dark frames are the transmitting units that emit light). In addition, the receiving units B1-B4 in the receiving module 11 are also made to receive the reflected light beams of the sensing light beams emitted by the corresponding transmitting units A1-A4 within the first sub-frame time T1 and to receive the reflected light beams of the sensing light beams emitted by the corresponding transmitting units A1-A4 within the second sub-frame time T2.

[0089] The processing module 13 can determine whether the optical ranging device 10 is interfered based on the two sets of data received by the receiving module 13 within the first sub-frame time T1 and the second sub-frame time T2. As shown in Figure 8 , the receiving units B1-B4 generate corresponding data based on the received light within the first sub-frame time T1 and the second sub-frame time T2 respectively. When the optical ranging device 10 is not interfered, as shown in Figure 8 , the data generated by the receiving unit B1 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should have relatively small differences or be the same (as shown in Figure 8 , the receiving units represented by the ticked frames generate data with relatively small differences or the same data based on the received light beam within the first sub-frame time and the second sub-frame time. For example, Figure 8 the receiving unit B1 in the second sub-frame time T2), the data generated by the receiving unit B2 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should have relatively small differences or be the same, the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should have relatively small differences or be the same, and the data generated by the receiving unit B4 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should have relatively small differences or be the same.

[0090] From Figure 8 it can be seen that the receiving situations of the receiving units B1-B4 are consistent with the situation when not interfered in the above example. Therefore, afterFigure 8 The interference detection process of the illustrated example can determine that the optical ranging device 10 is not interfered with.

[0091] In contrast, as Figure 9 shown, Figure 9 is the sixth schematic diagram of the interference detection process of the optical ranging device of the present application. Figure 9 In the interference detection process shown, the only difference from Figure 8 is that the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should be quite different (as Figure 9 shown, the receiving units represented by the crossed boxes generated quite different data based on the received light beam within the first sub-frame time and the second sub-frame time. For example, Figure 9 the receiving unit B3 in the second sub-frame time T2 in Figure 8 ), rather than the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 being relatively small or the same as in Figure 9 shown. However, in the interference detection process shown, the transmitting unit A3 emits light within both the first sub-frame time T1 and the second sub-frame time T2. Therefore, it can be known that the light beam received by the receiving unit B3 is not the light beam that the receiving unit B3 of the optical ranging device 10 should receive when not interfered with. Thus, through the interference detection process of the Figure 9 illustrated example, it can be determined that the optical ranging device 10 is interfered with. At this time, the data received by the receiving module 12 cannot be used for optical ranging to reduce the occurrence of mismeasurement and improve the reliability of optical ranging.

[0092] Optionally, the transmitting module is further configured to control the light-emitting state of at least one transmitting unit within the third sub-frame time of the optical ranging of the optical ranging device, and the receiving module is further configured to sense using at least one receiving unit to generate third sensing data.

[0093] Specifically, the processing module is configured to: use the light-emitting state and the corresponding first sensing data in the first sub-frame time as the first set of data, use the light-emitting state and the corresponding second sensing data in the second sub-frame time as the second set of data, use the light-emitting state and the corresponding third sensing data in the third sub-frame time as the third set of data, compare the first set of data, the second set of data, and the third set of data, and obtain the result of whether the optical ranging of the optical ranging device is interfered with.

[0094] Among them, it is possible to determine whether each emission unit 111 in at least one emission unit 111 emits light based on the light emission state at the first sub-frame time, and determine the data corresponding to at least one emission unit 111 received by at least one receiving unit 121 based on the second sensing data. Denote the determined content above as the first set of data. Similarly, obtain the second set of data and the third set of data, and then compare the first set of data, the second set of data, and the third set of data to determine whether each light emission state matches the corresponding sensing data and is normal, and further determine whether the optical ranging device is interfered with.

[0095] Furthermore, each emission unit in at least one emission unit emits light at least twice during the first sub-frame time, the second sub-frame time, and the third sub-frame time. The light emission states in the first set of data, the second set of data, and the third set of data are light emission or non-light emission, and the first sensing data, the second sensing data, and the third sensing data are light intensity values or distance values respectively generated by at least one receiving unit based on sensing.

[0096] Specifically, the receiving unit 121 can determine the corresponding distance value according to the emission time of the sensing beam emitted by the corresponding emission unit 111, its own receiving time of the beam, and the speed of light, or directly determine the light intensity value of the beam received by itself. Among them, when two beams emitted by the same emission unit 111 that have traveled the same distance without being interfered are received by the receiving unit 121, the above-mentioned light intensity value or the above-mentioned distance value differ little or are the same. When two beams emitted by the same emission unit 111 that have traveled the same distance and are interfered are received by the receiving unit 121, it is very likely that the above-mentioned light intensity value or the above-mentioned distance value differ greatly.

[0097] Even further, the emission unit emits light twice and does not emit light once during the first sub-frame time, the second sub-frame time, and the third sub-frame time.

[0098] The processing unit is specifically configured to:

[0099] Judge whether there is a difference in the light intensity values when a receiving unit corresponding to the first sensing data, the second sensing data, and the third sensing data is less than a first threshold when the corresponding emission unit emits light and does not emit light, and whether there is a difference in the light intensity values when a receiving unit corresponding to the corresponding emission unit emits light twice is not less than the first threshold. If there is a difference in the light intensity values when a receiving unit corresponding to the corresponding emission unit emits light and does not emit light is less than the first threshold or there is a difference in the light intensity values when a receiving unit corresponding to the corresponding emission unit emits light twice is not less than the first threshold, obtain the result that the ranging of the optical ranging device is interfered, or,

[0100] Determine whether there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light among the first sensing data, the second sensing data, and the third sensing data that is less than a second threshold, and whether there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the second threshold. If there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light that is less than the second threshold or there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the second threshold, obtain a result that the ranging of the optical ranging device is interfered with.

[0101] Among them, for a receiving unit, if the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam within the second sub-frame time is not less than the first threshold / second threshold, it can be considered that the receiving unit generates significantly different data based on the received light beam within the first sub-frame time and the second sub-frame time. Similarly, if the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam within the first sub-frame time and the light intensity value / distance value included in the third sensing data generated based on the received light beam within the third sub-frame time is not less than the first threshold / second threshold, it can be considered that the receiving unit generates significantly different data based on the received light beam within the first sub-frame time and the third sub-frame time.

[0102] If the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam within the second sub-frame time is less than the first threshold / second threshold, it can be considered that the receiving unit generates relatively small or identical data based on the received light beam within the first sub-frame time and the second sub-frame time. Similarly, if the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam within the first sub-frame time and the light intensity value / distance value included in the third sensing data generated based on the received light beam within the third sub-frame time is less than the first threshold / second threshold, it can be considered that the receiving unit generates relatively small or identical data based on the received light beam within the first sub-frame time and the third sub-frame time.

[0103] Specifically, for example, as Figure 10 shown, Figure 10 is the seventh schematic diagram of the interference detection process of the optical ranging device of the present application, and can be adopted as Figure 3The optical ranging device 10 shown causes the emitting units A1, A3, and A4 in the emitting module 11 to emit light within the first sub-frame time T1 and the emitting unit A2 not to emit light within the first sub-frame time T1, and causes the emitting units A2 and A3 in the emitting module 11 to emit light within the second sub-frame time T2 and the emitting units A1 and A4 not to emit light within the second sub-frame time T2, and causes the emitting units A1, A2, and A4 in the emitting module 11 to emit light within the third sub-frame time T3 and the emitting unit A3 not to emit light within the third sub-frame time T3 (as Figure 10 shown, the emitting units represented by the dark frames are the emitting units that emit light, and the emitting units represented by the light frames / unfilled frames are the emitting units that do not emit light). In addition, the receiving units B1 - B4 in the receiving module 11 are also caused to receive the reflected beams of the sensing beams emitted by the corresponding emitting units A1 - A4 within the first sub-frame time T1, and to receive the reflected beams of the sensing beams emitted by the corresponding emitting units A1 - A4 within the second sub-frame time T2, and to receive the reflected beams of the sensing beams emitted by the corresponding emitting units A1 - A4 within the third sub-frame time T3.

[0104] The processing module 13 can determine whether the optical ranging device 10 is interfered with based on three groups of data received by the receiving module 13 within the first sub-frame time T1, the second sub-frame time T2, and the third sub-frame time T3, as Figure 10 shown, the receiving units B1 - B4 generate corresponding data based on the received light within the first sub-frame time T1, the second sub-frame time T2, and the third sub-frame time T3 respectively.

[0105] Since the combinations of the emitting or non-emitting states of the emitting units A1 - A4 within the first sub-frame time T1, the second sub-frame time T2, and the third sub-frame time T3 are different, when the optical ranging device 10 is not interfered with, as Figure 10 shown, first, the data generated by the receiving unit B1 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should differ significantly (as Figure 10 shown, the receiving units represented by the crossed frames generate significantly different data based on the received light beams within the first sub-frame time and the second sub-frame time, or generate significantly different data based on the received light beams within the first sub-frame time and the third sub-frame time. For example, Figure 10 in the receiving unit B1 at the second sub-frame time T2 and the receiving unit B2 at the third sub-frame time T3 in Figure 10As shown, the receiving unit represented by the tick box generates data with a small difference or the same based on the received light beam within the first sub-frame time and the second sub-frame time, or generates data with a small difference or the same based on the received light beam within the first sub-frame time and the third sub-frame time. For example Figure 10 the receiving unit B1 at the third sub-frame time T3 and the receiving unit B3 at the second sub-frame time T2 in

[0106] Second, the data generated by the receiving unit B2 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should have a large difference, and the data generated by the receiving unit B2 based on the received light beam within the first sub-frame time T1 and the third sub-frame time T3 should have a large difference.

[0107] Third, the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should have a small difference or the same, and the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the third sub-frame time T3 should have a large difference.

[0108] Third, the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should have a small difference or the same, and the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the third sub-frame time T3 should have a large difference.

[0109] Fourth, the data generated by the receiving unit B4 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should have a large difference, and the data generated by the receiving unit B4 based on the received light beam within the first sub-frame time T1 and the third sub-frame time T3 should have a small difference or the same.

[0110] From Figure 10 it can be seen that the receiving situations of the receiving units B1 - B4 are consistent with the situations without interference in the above examples. Therefore, through Figure 10 the interference detection process shown in the example, it can be determined that the optical ranging device 10 is not interfered.

[0111] In contrast, as Figure 11 shown Figure 11 is the eighth schematic diagram of the interference detection process of the optical ranging device of the present application. Figure 11 The difference between the interference detection process shown and Figure 10 is that the data generated by the receiving unit B2 based on the received light beam within the first sub-frame time T1 and the third sub-frame time T3 should have a small difference or the same, rather than a large difference as in Figure 10 , and the data generated by the receiving unit B3 based on the received light beam within the first sub-frame time T1 and the second sub-frame time T2 should have a large difference, rather thanFigure 10 The difference is relatively small or the same.

[0112] However Figure 11 During the interference detection process shown, the combination of the emission and non-emission of the light-emitting units A1 - A4 is the same as Figure 10 the same. Therefore, it can be known that the light beam received by the receiving unit B2 within the first sub-frame time T1 or the third sub-frame time T3 is not the light beam that the receiving unit B2 of the optical ranging device 10 should receive when not interfered, and the light beam received by the receiving unit B3 within the first sub-frame time T1 or the second sub-frame time T2 is not the light beam that the receiving unit B3 of the optical ranging device 10 should receive when not interfered. Therefore, through Figure 11 the interference detection process shown in the example, it can be determined that the optical ranging device 10 is interfered. At this time, the data received by the receiving module 12 cannot be used for optical ranging to reduce the occurrence of mismeasurement and improve the reliability of optical ranging.

[0113] It should be added that regarding the above Figure 11 during the interference detection process shown, for the two differences in Figure 10 the data generated corresponding to the receiving unit, as long as any one appears, it can be determined that the optical ranging device 10 is interfered.

[0114] Furthermore, the light-emitting units emit light during the first sub-frame time, the second sub-frame time, and the third sub-frame time.

[0115] The processing unit is specifically configured to:

[0116] Determine whether there is a difference in the light intensity values corresponding to a receiving unit when the corresponding light-emitting unit emits light twice among the first sensing data, the second sensing data, and the third sensing data that is not less than the first threshold. If so, obtain the result that the ranging of the optical ranging device is interfered, or

[0117] Determine whether there is a difference in the distance values corresponding to a receiving unit when the corresponding light-emitting unit emits light twice among the first sensing data, the second sensing data, and the third sensing data that is not less than the second threshold. If so, obtain the result that the ranging of the optical ranging device is interfered.

[0118] Among them, for a receiving unit, if the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam within the second sub-frame time is not less than the first threshold / second threshold, it can be considered that the receiving unit generates significantly different data based on the received light beam within the first sub-frame time and the second sub-frame time. Similarly, if the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam within the first sub-frame time and the light intensity value / distance value included in the third sensing data generated based on the received light beam within the third sub-frame time is not less than the first threshold / second threshold, it can be considered that the receiving unit generates significantly different data based on the received light beam within the first sub-frame time and the third sub-frame time.

[0119] If the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam within the first sub-frame time and the light intensity value / distance value included in the second sensing data generated based on the received light beam within the second sub-frame time is less than the first threshold / second threshold, it can be considered that the receiving unit generates relatively small or identical data based on the received light beam within the first sub-frame time and the second sub-frame time. Similarly, if the difference between the light intensity value / distance value included in the first sensing data generated based on the received light beam within the first sub-frame time and the light intensity value / distance value included in the third sensing data generated based on the received light beam within the third sub-frame time is less than the first threshold / second threshold, it can be considered that the receiving unit generates relatively small or identical data based on the received light beam within the first sub-frame time and the third sub-frame time.

[0120] Specifically, for example, as Figure 12 shown, Figure 12 is the ninth schematic diagram of the interference detection process of the optical ranging device of the present application. The optical ranging device 10 as Figure 3 shown can be adopted, such that the emitting units A1 - A4 in the emitting module 11 all emit light within the first sub-frame time T1, the second sub-frame time T2, and the third sub-frame time T3 (as Figure 12 shown, the emitting units represented by the dark frames are the emitting units that emit light). In addition, the receiving units B1 - B4 in the receiving module 11 receive the reflected light beams of the sensing light beams emitted by the corresponding emitting units A1 - A4 within the first sub-frame time T1, receive the reflected light beams of the sensing light beams emitted by the corresponding emitting units A1 - A4 within the second sub-frame time T2, and receive the reflected light beams of the sensing light beams emitted by the corresponding emitting units A1 - A4 within the third sub-frame time T3.

[0121] The processing module 13 can determine whether the optical ranging device 10 is interfered based on three groups of data received by the receiving module 13 within the first sub-frame time T1, the second sub-frame time T2, and the third sub-frame time T3. For example, Figure 12 as shown, the receiving units B1 - B4 generate corresponding data based on the received light within the first sub-frame time T1, the second sub-frame time T2, and the third sub-frame time T3 respectively.

[0122] Since the combinations of the emitting or non-emitting states of the emitting units A1 - A4 within the first sub-frame time T1, the second sub-frame time T2, and the third sub-frame time T3 are different, when the optical ranging device 10 is not interfered, it should be as Figure 12 shown. First, the data generated by the receiving unit B1 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should have a small difference or be the same. The data generated by the receiving unit B1 based on the received light beams within the first sub-frame time T1 and the third sub-frame time T3 should have a small difference or be the same. (As Figure 12 shown, the receiving units represented by the tick boxes generate data with a small difference or the same data based on the received light beams within the first sub-frame time and the second sub-frame time, or generate data with a small difference or the same data based on the received light beams within the first sub-frame time and the third sub-frame time. For example Figure 12 the receiving unit B2 at the third sub-frame time T3 and the receiving unit B3 at the second sub-frame time T2 in

[0123] Second, the data generated by the receiving unit B2 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should have a small difference or be the same. The data generated by the receiving unit B2 based on the received light beams within the first sub-frame time T1 and the third sub-frame time T3 should have a small difference or be the same.

[0124] Third, the data generated by the receiving unit B3 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should have a small difference or be the same. The data generated by the receiving unit B3 based on the received light beams within the first sub-frame time T1 and the third sub-frame time T3 should have a small difference or be the same.

[0125] Third, the data generated by the receiving unit B3 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should have a small difference or be the same. The data generated by the receiving unit B3 based on the received light beams within the first sub-frame time T1 and the third sub-frame time T3 should have a small difference or be the same.

[0126] Fourth, the data generated by the receiving unit B4 based on the received light beams within the first sub-frame time T1 and the second sub-frame time T2 should have a small difference or be the same, and the data generated by the receiving unit B4 based on the received light beams within the first sub-frame time T1 and the third sub-frame time T3 should have a small difference or be the same.

[0127] As can be seen from Figure 12 , the receiving conditions of the receiving units B1 - B4 are consistent with those of the above example when not interfered. Therefore, through Figure 12 the interference detection process shown in the example, it can be determined that the optical ranging device 10 is not interfered.

[0128] In contrast, as Figure 13 shown, Figure 13 is the tenth schematic diagram of the interference detection process of the optical ranging device of the present application. Figure 13 The difference between the interference detection process shown in Figure 12 and Figure 13 is that the data generated by the receiving unit B2 based on the received light beams within the first sub-frame time T1 and the third sub-frame time T3 should have a large difference (as Figure 13 shown, the receiving units represented by the crossed boxes generate data with a large difference based on the received light beams within the first sub-frame time and the second sub-frame time, or generate data with a large difference based on the received light beams within the first sub-frame time and the third sub-frame time. For example, Figure 12 in the receiving unit B2 at the third sub-frame time T3 and the receiving unit B3 at the second sub-frame time T2 in Figure 12 ), rather than having a small difference or being the same as

[0129] . However, Figure 13 in the interference detection process shown in Figure 12 , the combination of the emission and non-emission of the transmitting units A1 - A4 is the same as Figure 13 . Therefore, it can be known that the light beams received by the receiving unit B2 within the first sub-frame time T1 or the third sub-frame time T3 are not the light beams that the receiving unit B2 of the optical ranging device 10 should receive when not interfered, and the light beams received by the receiving unit B3 within the first sub-frame time T1 or the second sub-frame time T2 are not the light beams that the receiving unit B3 of the optical ranging device 10 should receive when not interfered. Therefore, through

[0130] the interference detection process shown in the example, it can be determined that the optical ranging device 10 is interfered. At this time, the data received by the receiving module 12 cannot be used for optical ranging to reduce the occurrence of mismeasurement and improve the reliability of optical ranging. Figure 13During the interference detection process shown, any of the following two differences in the data generated corresponding to the receiving unit can be used to determine that the optical ranging device 10 is interfered. Figure 12 During the interference detection process shown, any of the following two differences in the data generated corresponding to the receiving unit can be used to determine that the optical ranging device 10 is interfered.

[0131] Optionally, the transmitting module can be a linear array light source (a light source formed by arranging multiple transmitting units in a row to form a linear array), a planar array light source (a light source formed by arranging multiple transmitting units in an array to form an array), or other types of light sources composed of multiple light emitting units (such as point light sources) according to a certain positional relationship, which is not limited here.

[0132] As Figure 3 shown, the transmitting units A1 - A4 can be arranged in a linear array as shown to form a linear array light source, or arranged in a 2×2 array to form a planar array light source, or composed of a specific light source according to any other type of positional relationship. Correspondingly, the receiving units B1 - B4 can be arranged according to the positional relationship of the transmitting units A1 - A4 to receive the reflected light beams of the corresponding sensing light beams. Figure 3 shown, the transmitting units A1 - A4 can be arranged in a linear array as shown to form a linear array light source, or arranged in a 2×2 array to form a planar array light source, or composed of a specific light source according to any other type of positional relationship. Correspondingly, the receiving units B1 - B4 can be arranged according to the positional relationship of the transmitting units A1 - A4 to receive the reflected light beams of the corresponding sensing light beams.

[0133] Different from the prior art, in the first sub-frame time when the technical solution of this application uses the optical ranging device for ranging, the optical ranging device controls the light emitting state of at least one transmitting unit and uses the corresponding at least one receiving unit for sensing to generate first sensing data. In the second sub-frame time, the optical ranging device controls the light emitting state of at least one transmitting unit and uses the corresponding at least one receiving unit for sensing to generate second sensing data. The light emitting state and the first sensing data in the first sub-frame time, and the light emitting state and the second sensing data in the second sub-frame time are respectively recorded as the first group of data and the second group of data. Based on the comparison of the first group of data and the second group of data, it can be determined whether the optical ranging device is interfered according to the comparison result. Based on the above method, most cases where the optical ranging device is interfered can be detected, reducing the occurrence of incorrect ranging by the optical ranging device based on the interfered sensing data, thereby improving the reliability of the optical ranging device.

[0134] Embodiment 2

[0135] This application also proposes an electronic device, as Figure 14 shown, Figure 14 is a schematic structural diagram of an embodiment of the electronic device of this application. The electronic device 20 includes an application device 21 and an optical ranging device 22. The application device 21 is used for ranging based on the optical ranging device 22. The optical ranging device 22 can specifically be any of the optical ranging devices described in the previous embodiments, which will not be elaborated here.

[0136] The application device 21 may specifically include a processor and a memory.

[0137] The processor and the memory are respectively connected to the bus. Program instructions are stored in the memory, and the processor is configured to execute the program instructions to implement the functions of the optical ranging device in the above embodiments.

[0138] In this embodiment, the processor may also be referred to as a CPU (Central Processing Unit). The processor may be an integrated circuit chip with signal processing capabilities. The processor may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0139] Different from the prior art, in the first sub-frame time when the optical ranging device in the technical solution of the present application is used for ranging, the optical ranging device controls the light-emitting states of at least one transmitting unit and senses using the corresponding at least one receiving unit to generate first sensing data. In the second sub-frame time, the optical ranging device controls the light-emitting states of at least one transmitting unit and senses using the corresponding at least one receiving unit to generate second sensing data. The light-emitting states and the first sensing data in the first sub-frame time, and the light-emitting states and the second sensing data in the second sub-frame time are respectively recorded as the first set of data and the second set of data. Based on the comparison of the first set of data and the second set of data, it is possible to determine whether the optical ranging device is interfered according to the comparison result. Based on the above method, most of the situations where the optical ranging device is interfered can be detected, reducing the occurrence of the optical ranging device performing incorrect ranging according to the interfered sensing data, and thus improving the reliability of the optical ranging device.

[0140] Embodiment III

[0141] The present application also proposes an anti-interference method for an optical ranging device, as Figure 15 shown, Figure 15 is a schematic structural diagram of an embodiment of the anti-interference method for an optical ranging device of the present application, which is applied to any one of the optical ranging devices described in the foregoing embodiments or the electronic device described in the foregoing embodiments.

[0142] The anti-interference method for the optical ranging device includes:

[0143] Step S11: During the first sub-frame time when the optical ranging device is ranging, the optical ranging device controls the light-emitting states of at least one transmitting unit, and the optical ranging device senses using at least one receiving unit corresponding to the at least one transmitting unit to generate first sensing data.

[0144] Step S12: During the second sub-frame time of the optical ranging device for ranging, the optical ranging device controls the light-emitting states of at least one transmitting unit, and the optical ranging device uses at least one receiving unit for sensing to generate second sensing data.

[0145] Step S13: Using the light-emitting state and the corresponding first sensing data in the first sub-frame time as the first set of data, and using the light-emitting state and the corresponding second sensing data in the second sub-frame time as the second set of data, compare the first set of data and the second set of data to obtain the result of whether the ranging of the optical ranging device is interfered.

[0146] There is no specific sequence relationship between the above Step S11 and Step S12, and it can be adjusted according to actual needs.

[0147] Optionally, each transmitting unit in at least one transmitting unit emits light at least once in the first sub-frame time and the second sub-frame time. The light-emitting states in the first set of data and the second set of data are light-emitting or non-light-emitting, and the first sensing data and the second sensing data are the light intensity values or distance values respectively generated by at least one receiving unit based on sensing.

[0148] Further, the transmitting unit emits light once and does not emit light once in the first sub-frame time and the second sub-frame time.

[0149] Comparing the first set of data and the second set of data to obtain the result of whether the ranging of the optical ranging device is interfered includes:

[0150] Judging whether there is a difference in the light intensity values corresponding to a receiving unit in the first sensing data and the second sensing data that is less than the first threshold. If so, obtain the result that the ranging of the optical ranging device is interfered, or judge whether there is a difference in the distance values corresponding to a receiving unit in the first sensing data and the second sensing data that is less than the second threshold. If so, obtain the result that the ranging of the optical ranging device is interfered.

[0151] Further, the transmitting unit emits light in both the first sub-frame time and the second sub-frame time.

[0152] Comparing the first set of data and the second set of data to obtain the result of whether the ranging of the optical ranging device is interfered includes:

[0153] Judging whether there is a difference in the light intensity values corresponding to a receiving unit in the first sensing data and the second sensing data that is not less than the first threshold. If so, obtain the result that the ranging of the optical ranging device is interfered, or judge whether there is a difference in the distance values corresponding to a receiving unit in the first sensing data and the second sensing data that is not less than the second threshold. If so, obtain the result that the ranging of the optical ranging device is interfered.

[0154] Optionally, the anti-interference method of the optical ranging device further includes:

[0155] During the third sub-frame time of the optical ranging device for ranging, the optical ranging device controls the light-emitting state of at least one transmitting unit, and the optical ranging device uses at least one receiving unit for sensing to generate third sensing data.

[0156] Taking the light-emitting state of the first sub-frame and the corresponding first sensing data as the first set of data, and the light-emitting state of the second sub-frame and the corresponding second sensing data as the second set of data, comparing the first set of data and the second set of data, and obtaining the result of whether the ranging of the optical ranging device is interfered, including:

[0157] Taking the light-emitting state of the first sub-frame time and the corresponding first sensing data as the first set of data, the light-emitting state of the second sub-frame time and the corresponding second sensing data as the second set of data, and the light-emitting state of the third sub-frame time and the corresponding third sensing data as the third set of data, comparing the first set of data, the second set of data and the third set of data, and obtaining the result of whether the ranging of the optical ranging device is interfered.

[0158] Furthermore, each transmitting unit in at least one transmitting unit emits light at least twice in the first sub-frame time, the second sub-frame time and the third sub-frame time. The light-emitting states in the first set of data, the second set of data and the third set of data are light-emitting or non-light-emitting, and the first sensing data, the second sensing data and the third sensing data are light intensity values or distance values respectively generated by at least one receiving unit based on sensing.

[0159] Still further, the transmitting unit emits light twice and does not emit light once in the first sub-frame time, the second sub-frame time and the third sub-frame time.

[0160] Comparing the first set of data, the second set of data and the third set of data, and obtaining the result of whether the ranging of the optical ranging device is interfered, including:

[0161] Determine whether there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light among the first sensing data, the second sensing data, and the third sensing data that is less than a first threshold, and whether there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the first threshold. If there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light that is less than the first threshold or there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the first threshold, obtain a result that the ranging of the optical ranging device is interfered. Or determine whether there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light among the first sensing data, the second sensing data, and the third sensing data that is less than a second threshold, and whether there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the second threshold. If there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light that is less than the second threshold or there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light twice that is not less than the second threshold, obtain a result that the ranging of the optical ranging device is interfered.

[0162] Further, the transmitting unit emits light in the first sub-frame time, the second sub-frame time, and the third sub-frame time.

[0163] Compare the first group of data, the second group of data, and the third group of data to obtain a result on whether the ranging of the optical ranging device is interfered, including:

[0164] Determine whether there is a difference in light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light twice among the first sensing data, the second sensing data, and the third sensing data that is not less than the first threshold. If so, obtain a result that the ranging of the optical ranging device is interfered. Or determine whether there is a difference in distance values corresponding to a receiving unit when the corresponding transmitting unit emits light twice among the first sensing data, the second sensing data, and the third sensing data that is not less than the second threshold. If so, obtain a result that the ranging of the optical ranging device is interfered.

[0165] Different from the prior art, within the first sub-frame time when the optical ranging device measures distance, the optical ranging device controls the light-emitting states of at least one transmitting unit and senses using the corresponding at least one receiving unit to generate first sensing data. Within the second sub-frame time, the optical ranging device controls the light-emitting states of at least one transmitting unit and senses using the corresponding at least one receiving unit to generate second sensing data. The light-emitting states and the first sensing data within the first sub-frame time, and the light-emitting states and the second sensing data within the second sub-frame time are respectively denoted as the first set of data and the second set of data. Based on the comparison of the first set of data and the second set of data, it is possible to determine whether the optical ranging device is interfered according to the comparison result. Based on the above method, most of the situations where the optical ranging device is interfered can be detected, reducing the occurrence of the situation where the optical ranging device performs incorrect distance measurement based on the interfered sensing data, thereby improving the reliability of the optical ranging device.

[0166] The above description is only the implementation manner of this application, and does not limit the patent scope of this application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, is equally included in the patent protection scope of this application.

Claims

1. An anti-interference method for an optical ranging device, characterized in that Including: During the first sub-frame time of ranging by the optical ranging device, the optical ranging device controls the light-emitting state of at least one transmitting unit, and the optical ranging device uses at least one receiving unit corresponding to the at least one transmitting unit for sensing to generate first sensing data; During the second sub-frame time of ranging by the optical ranging device, the optical ranging device controls the light-emitting state of the at least one transmitting unit, and the optical ranging device uses the at least one receiving unit for sensing to generate second sensing data; Taking the light-emitting state and the corresponding first sensing data in the first sub-frame time as the first group of data, and taking the light-emitting state and the corresponding second sensing data in the second sub-frame time as the second group of data, comparing the first group of data and the second group of data to obtain the result of whether the ranging of the optical ranging device is interfered.

2. The method according to claim 1, wherein: Each of the at least one transmitting units emits light at least once in the first sub-frame time and the second sub-frame time. The light-emitting state in the first group of data and the second group of data is light-emitting or non-light-emitting, and the first sensing data and the second sensing data are light intensity values or distance values respectively generated by the at least one receiving unit based on the sensing.

3. The method according to claim 2, wherein: The transmitting unit emits light once and does not emit light once in the first sub-frame time and the second sub-frame time; The comparing the first group of data and the second group of data to obtain the result of whether the ranging of the optical ranging device is interfered includes: Judging whether there is a difference in the light intensity values corresponding to one of the receiving units between the first sensing data and the second sensing data that is less than a first threshold. If so, obtaining the result that the ranging of the optical ranging device is interfered; or Judging whether there is a difference in the distance values corresponding to one of the receiving units between the first sensing data and the second sensing data that is less than a second threshold. If so, obtaining the result that the ranging of the optical ranging device is interfered.

4. The method according to claim 2, wherein: The transmitting unit emits light in both the first sub-frame time and the second sub-frame time; The comparing the first group of data and the second group of data to obtain the result of whether the ranging of the optical ranging device is interfered includes: Judging whether there is a difference in the light intensity values corresponding to one of the receiving units between the first sensing data and the second sensing data that is not less than a first threshold. If so, obtaining the result that the ranging of the optical ranging device is interfered; Or Judging whether there is a difference in the distance values corresponding to one of the receiving units between the first sensing data and the second sensing data that is not less than a second threshold. If so, obtaining the result that the ranging of the optical ranging device is interfered.

5. The method according to claim 1, wherein Further including: During the third sub-frame time of ranging by the optical ranging device, the optical ranging device controls the light-emitting state of the at least one transmitting unit, and the optical ranging device uses the at least one receiving unit for sensing to generate third sensing data; Taking the light-emitting state at the first sub-frame time and the corresponding first sensing data as the first set of data, and taking the light-emitting state at the second sub-frame time and the corresponding second sensing data as the second set of data, comparing the first set of data and the second set of data to obtain the result of whether the ranging of the optical ranging device is interfered, including: Taking the light-emitting state at the first sub-frame time and the corresponding first sensing data as the first set of data, taking the light-emitting state at the second sub-frame time and the corresponding second sensing data as the second set of data, and taking the light-emitting state at the third sub-frame time and the corresponding third sensing data as the third set of data, comparing the first set of data, the second set of data, and the third set of data to obtain the result of whether the ranging of the optical ranging device is interfered.

6. The method according to claim 5, wherein Each of the at least one transmitting unit emits light at least twice during the first sub-frame time, the second sub-frame time, and the third sub-frame time. The light-emitting state in the first set of data, the second set of data, and the third set of data is light-emitting or non-light-emitting, and the first sensing data, the second sensing data, and the third sensing data are light intensity values or distance values respectively generated by the at least one receiving unit based on the sensing.

7. The method according to claim 6, wherein The transmitting unit emits light twice and does not emit light once during the first sub-frame time, the second sub-frame time, and the third sub-frame time; The comparing the first set of data, the second set of data, and the third set of data to obtain the result of whether the ranging of the optical ranging device is interfered includes: Judging whether there is a difference in light intensity values less than a first threshold between the light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light, and whether there is a difference in light intensity values not less than the first threshold between the light intensity values corresponding to a receiving unit when the corresponding transmitting unit emits light twice. If there is a difference in light intensity values less than the first threshold corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light or there is a difference in light intensity values not less than the first threshold corresponding to a receiving unit when the corresponding transmitting unit emits light twice, the result that the ranging of the optical ranging device is interfered is obtained; Or Judging whether there is a difference in distance values less than a second threshold between the distance values corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light, and whether there is a difference in distance values not less than the second threshold between the distance values corresponding to a receiving unit when the corresponding transmitting unit emits light twice. If there is a difference in distance values less than the second threshold corresponding to a receiving unit when the corresponding transmitting unit emits light and does not emit light or there is a difference in distance values not less than the second threshold corresponding to a receiving unit when the corresponding transmitting unit emits light twice, the result that the ranging of the optical ranging device is interfered is obtained.

8. The method according to claim 6, wherein: the emission unit emits light during the first sub-frame time, the second sub-frame time, and the third sub-frame time; comparing the first set of data, the second set of data, and the third set of data to obtain a result of whether the ranging of the optical ranging device is interfered with, includes: judging whether there is a difference in light intensity values corresponding to the receiving unit when the corresponding emission unit emits light twice among the first sensing data, the second sensing data, and the third sensing data that is not less than a first threshold value. If so, obtaining a result that the ranging of the optical ranging device is interfered with; or judging whether there is a difference in distance values corresponding to the receiving unit when the corresponding emission unit emits light twice among the first sensing data, the second sensing data, and the third sensing data that is not less than a second threshold value. If so, obtaining a result that the ranging of the optical ranging device is interfered with.

9. An optical ranging device, characterized in that, comprising a transmitting module, a receiving module, and a processing module, the transmitting module includes at least one emission unit, and the receiving module includes at least one receiving unit; the transmitting module is configured to control the light emission state of at least one emission unit during a first sub-frame time of ranging by the optical ranging device, and the receiving module is configured to sense using at least one receiving unit corresponding to the at least one emission unit to generate first sensing data; the transmitting module is further configured to control the light emission state of the at least one emission unit during a second sub-frame time of ranging by the optical ranging device, and the receiving module is further configured to sense using the at least one receiving unit to generate second sensing data; the processing module is configured to: use the light emission state and the corresponding first sensing data during the first sub-frame time as a first set of data, use the light emission state and the corresponding second sensing data during the second sub-frame time as a second set of data, compare the first set of data and the second set of data, and obtain a result of whether the ranging of the optical ranging device is interfered with.

10. An electronic device, characterized in that, comprising an application device and the optical ranging device according to claim 9, the application device is configured to perform ranging based on the optical ranging device.

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