TOF module and electronic device

Abstract

The invention relates to the technical field of camera shooting, and provides a TOF module and an electronic device. The TOF module comprises a transmitting module used for transmitting a first composite frequency optical signal and a second composite frequency optical signal to a target object, the first composite frequency optical signal comprises at least two optical signals with different frequencies, and the second composite frequency optical signal comprises an optical signal with at least one frequency; and the receiving module is used for obtaining a first depth image corresponding to the first composite frequency optical signal and a second depth image corresponding to the second composite frequency optical signal so as to detect a target object at a far and near distance. According to the transmitting module, the optical signal of the first composite frequency is mainly used for detecting an object in a closer distance, and the optical signal of the second composite frequency is mainly used for detecting an object in a farther distance, so that optimal measurement in different distance ranges is realized; the problems of wrong depth flying spots, over-cycle information, large precision error and the like of the obtained depth image can be avoided, and the detection quality of the depth image is ensured.

Description

Technical Field

[0001] The present application relates to the field of 3D vision technology, and in particular to a TOF module and an electronic device. Background Art

[0002] TOF (Time of Flight) modules have been applied to some electronic consumer products in the market, such as sweepers or intelligent service robots. In sweeper or robot scenarios, TOF generally uses a single-frequency mode. However, the detection distance of the target object in the single-frequency mode is relatively short, such as 0.05m-5m. For target objects farther away, such as 10m, the detection effect is poor, and the depth image obtained will have problems such as erroneous depth flying points, hyperperiodic information, and large precision errors. Depth flying points usually refer to erroneous depth measurement values ​​in the edge area of ​​the image due to sensor limitations or algorithm deficiencies during image processing. Hyperperiodic information usually refers to depth information obtained after the receiving cycle of this transmission is exceeded. Summary of the invention

[0003] In view of the above, it is necessary to propose a TOF module and an electronic device to take into account the detection of target objects at long and short distances and ensure the detection quality of depth images.

[0004] In a first aspect, an embodiment of the present application provides a TOF module, including a transmitting module, used to transmit a first composite frequency light signal and a second composite frequency light signal to a target object, wherein the first composite frequency is greater than the second composite frequency, the first composite frequency light signal includes at least two light signals of different frequencies, and the second composite frequency light signal includes at least one light signal of one frequency; and a receiving module, used to obtain a first depth image corresponding to the first composite frequency light signal and a second depth image corresponding to the second composite frequency light signal, so as to detect target objects at long and short distances.

[0005] In the solution provided in the embodiment of the present application, the transmitting module transmits a first composite frequency light signal and a second composite frequency light signal to the target object, the first composite frequency is greater than the second composite frequency, the first composite frequency light signal includes at least two light signals of different frequencies, and the second composite frequency light signal includes at least one light signal of one frequency, and a first depth image corresponding to the first composite frequency light signal and a second depth image corresponding to the second composite frequency light signal are obtained through the receiving module, thereby detecting target objects at long and short distances. The transmitting module of the present application uses two composite optical signals of different frequencies, which can improve the ranging performance of targets at different distances, that is, the optical signal of the first composite frequency is mainly used to detect objects at a closer distance, while the optical signal of the second composite frequency is mainly used to detect objects at a longer distance, thereby achieving optimized measurement of different distance ranges, and the frequency of the first composite frequency optical signal is higher, which can provide more detailed measurement, which helps to improve the accuracy of close-range measurement, while the frequency of the second composite frequency optical signal is lower, which can cover a larger measurement range. In addition, through dual-frequency measurement, the measurement error caused by phase ambiguity can be solved. The two signals of different frequencies can assist each other, and the true distance can be determined by comparing the phase difference of the two frequencies, thereby overcoming the limitation of the single frequency signal in phase ambiguity. This design allows the TOF module to have better adaptability in different environments and applications. For example, more close-range measurements may be required in indoor environments, while longer measurement distances may be required in outdoor environments. Further, it can avoid the problems of wrong depth flying points, super-periodic information and large precision errors in the obtained depth image, thereby ensuring the detection quality of the depth image.

[0006] In a possible implementation, the first composite frequency includes a first frequency and a second frequency, the first frequency is greater than the second frequency and the transmission order of the first frequency takes precedence over the transmission order of the second frequency, the second composite frequency includes a third frequency and a fourth frequency, the third frequency is greater than the fourth frequency and the transmission order of the third frequency takes precedence over the transmission order of the fourth frequency.

[0007] In the solution provided in the embodiment of the present application, by preferentially transmitting the first frequency and then transmitting the second frequency, the operation of the transmitting module can be controlled more flexibly, and higher accuracy can be provided for the detection of target objects at a closer distance, and a larger measurement range can be provided.

[0008] In a possible implementation, the TOF module satisfies the relationship:

[0009]

[0010] Wherein, c is the speed of light, f1 is the greatest common divisor of at least two optical signals of different frequencies included in the first composite frequency optical signal, HFOV is the horizontal field of view, VFOV is the vertical field of view, L 1 is the detection distance of the first composite frequency optical signal.

[0011] In the solution provided in the embodiment of the present application, the formula provides a method for calculating the maximum distance that the TOF module can detect under the first composite frequency condition. Through this formula, the frequency and field of view of the appropriate first composite frequency light signal can be selected according to the required detection distance to ensure that the TOF module can accurately detect the target object within the desired distance range. In addition, the formula can also be used to evaluate the performance of the TOF module by comparing the calculated detection distance with the requirements in actual applications to determine whether the TOF module meets specific performance indicators.

[0012] In a possible implementation, the TOF module satisfies the relationship:

[0013]

[0014] Wherein, c is the speed of light, f2 is the greatest common divisor of at least two optical signals of different frequencies included in the second composite frequency optical signal or a frequency included in the second composite frequency optical signal, HFOV is the horizontal field of view, VFOV is the vertical field of view, L 2 is the detection distance of the second composite frequency optical signal.

[0015] In the solution provided in the embodiment of the present application, the formula provides a method for calculating the maximum distance that the TOF module can detect under the second composite frequency condition. Through this formula, the frequency and field of view of the appropriate second composite frequency light signal can be selected according to the required detection distance to ensure that the TOF module can accurately detect the target object within the desired distance range. In addition, the formula can also be used to evaluate the performance of the TOF module by comparing the calculated detection distance with the requirements in actual applications to determine whether the TOF module meets specific performance indicators.

[0016] In a possible implementation manner, the first composite frequency has a value range of 50 MHz-100 MHz, and the second composite frequency has a value range of 20 MHz-50 MHz.

[0017] In the solution provided in the embodiment of the present application, the higher first composite frequency (50MHz-100MHz) is generally mainly used to detect target objects at a closer distance, can provide higher accuracy, and can obtain more accurate depth images, thereby performing better obstacle avoidance; the lower second composite frequency (20MHz-50MHz) can provide a larger measurement range, which is mainly used to detect target objects at a longer distance, has a wider detection range, and can perform more accurate human body recognition and scene recognition.

[0018] In a possible implementation manner, a horizontal field of view angle of the receiving module ranges from 60° to 120°, and a vertical field of view angle of the receiving module ranges from 45° to 60°.

[0019] In the solution provided in the embodiment of the present application, the horizontal field of view angle of 60° to 120° and the vertical field of view angle of 45° to 60° mean that the receiving module can capture more scene information at one time, which helps to improve the efficiency of data acquisition, especially in applications that require fast response, such as real-time monitoring or dynamic tracking.

[0020] In a possible implementation, the transmitting module includes one or more transmitting units, and the one or more transmitting units transmit the first composite frequency optical signal or the second composite frequency optical signal.

[0021] In the solution provided by the embodiment of the present application, the intensity of the emitted light signal can be increased by working with one or more emitting units, and heat dissipation can be facilitated, thereby improving the ability of long-distance detection. At the same time, the multi-unit design helps to cover a wider area and enhance the field of view (FOV), which is very important for applications that need to monitor a wide range of scenes; multiple emitting units can adopt different emission modes or frequencies, so that the target object can be scanned more carefully, thereby improving the accuracy and resolution of the depth image. And this multi-unit design helps to generate clearer 3D images, especially in complex scenes; multiple emitting units can adjust the emission strategy according to different application requirements, for example, light signals of different frequencies can be selectively emitted to adapt to different measurement environments and targets. In addition, this flexibility allows the TOF module to be applied to a variety of different scenarios, such as autonomous driving, industrial automation, virtual reality, etc.

[0022] In a possible implementation, the receiving module controls the transmitting module to transmit a first composite frequency light signal and a second composite frequency light signal to a target object, and fuses the first depth image corresponding to the first composite frequency light signal and the second depth image corresponding to the second composite frequency light signal into a frame of fused image.

[0023] In the solution provided in the embodiment of the present application, by emitting light signals of different frequencies, the information of target objects at long distances and close distances can be obtained at the same time, thereby improving the efficiency of data acquisition. The first composite frequency light signal is mainly used for close-range detection, while the second composite frequency light signal is mainly used for long-range detection. This design enables the TOF module to accurately measure targets at different distances. Fusion of depth images of different frequencies can generate a higher quality depth map, which combines the advantages of long-range and close-range detection, making the final image clearer and more accurate. In addition, by fusing light signals of different frequencies, it is possible to better adapt to different measurement environments and target characteristics.

[0024] In a possible implementation, the first composite frequency light signal is transmitted in an automatic exposure mode, and the second composite frequency light signal is transmitted in a fixed exposure mode.

[0025] In the solution provided by the embodiment of the present application, the automatic exposure mode can automatically adjust the exposure time according to the strength of the reflected signal, so as to obtain the best image quality in multiple working conditions (different application scenarios), which is very helpful for the situation where the first composite frequency light signal usually requires higher precision in the close-range depth measurement; the fixed exposure mode provides a stable exposure time for the second composite frequency light signal, which is usually used to obtain a depth image at a longer distance, and can solve the problem of insufficient recognition rate due to the automatic exposure adjustment gain at a long distance. By setting different exposure modes for different measurement distances and accuracy requirements, the overall performance of the TOF module can be optimized.

[0026] A second aspect of an embodiment of the present application further provides an electronic device, comprising a main body and a TOF module as described in any one of the above, wherein the TOF module is arranged on the main body.

[0027] In the solution provided in the embodiment of the present application, the transmitting module transmits a first composite frequency light signal and a second composite frequency light signal to the target object, the first composite frequency is greater than the second composite frequency, the first composite frequency light signal includes at least two light signals of different frequencies, and the second composite frequency light signal includes at least one light signal of one frequency, and a first depth image corresponding to the first composite frequency light signal and a second depth image corresponding to the second composite frequency light signal are obtained through the receiving module, thereby detecting target objects at long and short distances. The transmitting module of the present application uses two composite optical signals of different frequencies, which can improve the ranging performance of targets at different distances, that is, the optical signal of the first composite frequency is mainly used to detect objects at a closer distance, while the optical signal of the second composite frequency is mainly used to detect objects at a longer distance, thereby achieving optimized measurement of different distance ranges, and the frequency of the first composite frequency optical signal is higher, which can provide more detailed measurement, which helps to improve the accuracy of close-range measurement, while the frequency of the second composite frequency optical signal is lower, which can cover a larger measurement range. In addition, through dual-frequency measurement, the measurement error caused by phase ambiguity can be solved. The two signals of different frequencies can assist each other, and the true distance can be determined by comparing the phase difference of the two frequencies, thereby overcoming the limitation of the single frequency signal in phase ambiguity. This design allows the TOF module to have better adaptability in different environments and applications. For example, more close-range measurements may be required in indoor environments, while longer measurement distances may be required in outdoor environments. Further, it can avoid the problems of wrong depth flying points, super-periodic information and large precision errors in the obtained depth image, thereby ensuring the detection quality of the depth image. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of the TOF module provided in an embodiment of the present application.

[0029] Figure 2 It is a schematic diagram of the emission field of view of the TOF module provided in an embodiment of the present application during emission.

[0030] Figure 3 It is a schematic diagram of the three-dimensional structure of the electronic device provided in an embodiment of the present application.

[0031] Main component symbols

[0032] TOF module 10

[0033] Transmitter module 11

[0034] Transmitter 111

[0035] Diffractive element 112

[0036] Receiving module 12

[0037] Lens 121

[0038] Mirror mount 122

[0039] Photosensitive element 123

[0040] Body 20

[0041] Electronic device 100 DETAILED DESCRIPTION

[0042] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0043] In the description of the present invention, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0046] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0047] See also Figure 1 In a first aspect, an embodiment of the present application provides a TOF module 10 , including a transmitting module 11 and a receiving module 12 .

[0048] The transmitting module 11 is used to transmit a first composite frequency optical signal and a second composite frequency optical signal to the target object, the first composite frequency is greater than the second composite frequency, the first composite frequency optical signal includes at least two optical signals of different frequencies, and the second composite frequency optical signal includes at least one optical signal of one frequency; the receiving module 12 is used to obtain a first depth image corresponding to the first composite frequency optical signal and a second depth image corresponding to the second composite frequency optical signal, so as to detect target objects at long and short distances.

[0049] In some embodiments, the transmitting module 11 may first transmit a first composite frequency light signal to the target object once, and then transmit a second composite frequency light signal to the target object once. In some embodiments, the transmitting module 11 may first transmit a second composite frequency light signal to the target object once, and then transmit a first composite frequency light signal to the target object once. In some embodiments, the transmitting module 11 may first transmit a first composite frequency light signal to the target object twice, and then transmit a second composite frequency light signal to the target object once. In some embodiments, the transmitting module 11 may first transmit a first composite frequency light signal to the target object once, and then transmit a second composite frequency light signal to the target object twice. However, it is not limited to this, as long as the transmitting module 11 transmits at least one first composite frequency light signal and at least one second composite frequency light signal to the target object, the target object at a long or short distance can be detected.

[0050] The first composite frequency optical signal includes at least two optical signals of different frequencies which are emitted sequentially; when the second composite frequency optical signal includes at least two optical signals of different frequencies, the second composite frequency optical signal includes at least two optical signals of different frequencies which are emitted sequentially.

[0051] In the solution provided in the embodiment of the present application, the transmitting module 11 transmits a first composite frequency light signal and a second composite frequency light signal to the target object, the first composite frequency is greater than the second composite frequency, the first composite frequency light signal includes at least two light signals of different frequencies, and the second composite frequency light signal includes at least one light signal of one frequency, and the first depth image corresponding to the first composite frequency light signal and the second depth image corresponding to the second composite frequency light signal are obtained through the receiving module 12, thereby detecting target objects at long and short distances. The transmitting module 11 of the present application uses two composite optical signals of different frequencies, which can improve the ranging performance of targets at different distances, that is, the optical signal of the first composite frequency is mainly used to detect objects at a relatively close distance, while the optical signal of the second composite frequency is mainly used to detect objects at a relatively long distance, thereby realizing optimized measurement of different distance ranges, and the frequency of the first composite frequency optical signal is higher, which can provide more detailed measurement, and help improve the accuracy of close-range measurement, while the frequency of the second composite frequency optical signal is lower, which can cover a larger measurement range. In addition, through dual-frequency measurement, the measurement error caused by phase ambiguity can be solved, and the two signals of different frequencies can assist each other, and the true distance can be determined by comparing the phase difference of the two frequencies, thereby overcoming the limitation of the single frequency signal in phase ambiguity. This design allows the TOF module 10 to have better adaptability in different environments and applications, for example, more close-range measurements may be required in indoor environments, while a longer measurement distance may be required in outdoor environments. Further, it can avoid the problems of wrong depth flying points, super-periodic information and large precision errors in the obtained depth image, thereby ensuring the detection quality of the depth image.

[0052] In a possible implementation, the transmitting module 111 includes a transmitter 111 and a diffraction element 112 . The transmitter 111 is used to transmit a first composite frequency optical signal and a second composite frequency optical signal to a target object. The diffraction element 112 is disposed in an optical path of the transmitter 111 .

[0053] In some embodiments, the emitter 111 may be a light source such as a light emitting diode (LED), an edge emitting laser (EEL), a vertical cavity surface emitting laser (VCSEL), etc., and the light beam emitted by the light source may be visible light, infrared light, ultraviolet light, etc.

[0054] In some embodiments, the diffraction element 112 is made by micro-nano technology, and the function of the diffraction optical element is to perform spatial light modulation on each incident light beam, that is, to split and replicate each light beam to form a speckle pattern of multiple speckle light points.

[0055] In some embodiments, the diffraction element 112 is a superlens, which can shape the light beam, change the propagation direction and wavefront shape of the light beam, and thus form a speckle pattern.

[0056] In some embodiments, the transmitting module further includes a collimator (not shown), which is disposed between the transmitter 111 and the diffraction element 112. The collimator may be composed of one lens or another number of lenses, such as three.

[0057] In a possible implementation, the receiving module 12 includes a lens 121 , a lens holder 122 , and a photosensitive element 123 . The photosensitive element 123 is disposed in the lens holder 122 . The lens 121 is disposed in the lens holder 122 and is disposed opposite to the photosensitive element 123 .

[0058] Specifically, the lens 121 includes at least one lens. The photosensitive element 123 is an image sensor having at least one for receiving light reflected by the target object. It is understood that in some embodiments, a filter located between the lens 121 and the photosensitive element 123 may be provided in the lens holder 122, and the filter is used to filter stray light.

[0059] In a possible implementation, the first composite frequency includes a first frequency and a second frequency, the first frequency is greater than the second frequency and the transmission order of the first frequency takes precedence over the transmission order of the second frequency, and the second composite frequency includes a third frequency and a fourth frequency, the third frequency is greater than the fourth frequency and the transmission order of the third frequency takes precedence over the transmission order of the fourth frequency.

[0060] In the solution provided in the embodiment of the present application, by preferentially transmitting the first frequency and then transmitting the second frequency, the operation of the transmitting module 11 can be controlled more flexibly, and higher accuracy can be provided for the detection of target objects at a closer distance, and a larger measurement range can be provided.

[0061] In this embodiment, when the first composite frequency and the second composite frequency are both dual frequencies, each dual frequency may have 8 phases or 9 phases.

[0062] It can be understood that in other embodiments, the first composite frequency includes the first frequency and the second frequency, the first frequency is greater than the second frequency and the transmission order of the first frequency takes precedence over the transmission order of the second frequency, and the second composite frequency only includes the third frequency.

[0063] It can be understood that in other embodiments, the first composite frequency includes three different frequencies, and the second composite frequency also includes three different frequencies, but is not limited thereto.

[0064] In a possible implementation, the TOF module 10 satisfies the relationship:

[0065]

[0066] Wherein, c is the speed of light, f1 is the greatest common divisor of at least two optical signals of different frequencies included in the first composite frequency optical signal, HFOV is the horizontal field of view; VFOV is the vertical field of view, L 1 is the detection distance of the first composite frequency optical signal.

[0067] Specifically, see Figure 2 ,θ 1 is half of the horizontal field of view, that is, the angle between line segment op and line segment ps1, θ 2 is half of the vertical field of view, that is, the angle between line segment op and line segment oc, the distance between point o and point s3 is b, the distance between point o and point P is a, and the distance between point o and point s1 is c. From the Euclidean distance, we can get:

[0068] L = a 2 +b 2 +c 2 ;

[0069] b = a*tan(θ 1 );

[0070] c=a*tan(θ 2 );

[0071] We can get: L = a 2 (1+tan(θ 1 ) 2 +tan(θ 2 ) 2 );

[0072] so,

[0073] and,

[0074] So we can get,

[0075] Wherein, a is the detection distance L of the first composite frequency optical signal mentioned above. 1 .

[0076] In the solution provided in the embodiment of the present application, the formula provides a method for calculating the maximum distance that the TOF module 10 can detect under the first composite frequency condition. Through this formula, the frequency and field of view of the appropriate first composite frequency light signal can be selected according to the required detection distance to ensure that the TOF module 10 can accurately detect the target object within the desired distance range. In addition, the formula can also be used to evaluate the performance of the TOF module 10, by comparing the calculated detection distance with the requirements in actual applications, to determine whether the TOF module 10 meets specific performance indicators.

[0077] In a possible implementation, the TOF module 10 satisfies the relationship:

[0078]

[0079] Wherein, c is the speed of light, f2 is the greatest common divisor of at least two optical signals of different frequencies included in the second composite frequency optical signal or a frequency included in the second composite frequency optical signal, HFOV is the horizontal field of view, VFOV is the vertical field of view, L 2 is the detection distance of the second composite frequency optical signal.

[0080] Understandable, L 2 The process of obtaining the formula can refer to L 1 formula.

[0081] In the solution provided in the embodiment of the present application, the formula provides a method for calculating the maximum distance that the TOF module 10 can detect under the second composite frequency condition. Through this formula, the frequency and field of view of the appropriate second composite frequency light signal can be selected according to the required detection distance to ensure that the TOF module 10 can accurately detect the target object within the desired distance range. In addition, the formula can also be used to evaluate the performance of the TOF module 10, by comparing the calculated detection distance with the requirements in actual applications, to determine whether the TOF module 10 meets specific performance indicators.

[0082] In a possible implementation manner, the value range of the first composite frequency is 50 MHz-100 MHz, and the value range of the second composite frequency is 20 MHz-50 MHz.

[0083] In the solution provided in the embodiment of the present application, the higher first composite frequency (50MHz-100MHz) is mainly used to detect target objects at a closer distance, can provide higher accuracy, and can obtain more accurate depth images, thereby performing better obstacle avoidance; the lower second composite frequency (20MHz-50MHz) can provide a larger measurement range, which is mainly used to detect target objects at a farther distance, has a wider detection range, and can perform more accurate human body recognition and scene recognition.

[0084] Further, the value range of the first composite frequency is 60MHz-85MHz, and the value range of the second composite frequency is 34MHz-48MHz. In this way, the detection of long and short distances can be better achieved, and the detection accuracy is high. Preferably, the first composite frequency includes 80.32MHz and 60.24MHz, and the second composite frequency includes 45.18MHz and 37.65MHz.

[0085] In a possible implementation manner, the horizontal field of view angle of the receiving module 12 ranges from 60° to 120°, and the vertical field of view angle of the receiving module 12 ranges from 45° to 60°.

[0086] In the solution provided in the embodiment of the present application, the horizontal field of view angle of 60° to 120° and the vertical field of view angle of 45° to 60° mean that the receiving module 12 can capture more scene information at one time, which helps to improve the efficiency of data acquisition, especially in applications that require fast response, such as real-time monitoring or dynamic tracking.

[0087] Furthermore, the horizontal field of view of the receiving module 12 is in the range of 100° to 115°, and the vertical field of view of the receiving module 12 is in the range of 45° to 50°. In this way, more scene information can be captured, and it helps to improve the efficiency of data collection. Preferably, the horizontal field of view of the receiving module 12 is 110°, and the vertical field of view of the receiving module 12 is in the range of 45°.

[0088] In this embodiment, f1 is 50 MHz, the horizontal field of view of the receiving module 12 is 110°, and the vertical field of view of the receiving module 12 is 45°. Substituting into the above formula, we can get: L 1 It is 7.2m.

[0089] In this embodiment, f2 is 10 MHz, the horizontal field of view of the receiving module 12 is 110°, and the vertical field of view of the receiving module 12 is 45°. Substituting into the above formula, we can get: L 2 It is 12.2m.

[0090] In a possible implementation, the transmitting module 11 includes one or more transmitting units, and the one or more transmitting units transmit the first composite frequency optical signal or the second composite frequency optical signal.

[0091] In the solution provided by the embodiment of the present application, the intensity of the emitted light signal can be increased by working with one or more emitting units, and heat dissipation can be facilitated, thereby improving the ability of long-distance detection. At the same time, the multi-unit design helps to cover a wider area and enhance the field of view (FOV), which is very important for applications that need to monitor a wide range of scenes; multiple emitting units can adopt different emission modes or frequencies, so that the target object can be scanned more carefully, thereby improving the accuracy and resolution of the depth image. And this multi-unit design helps to generate clearer 3D images, especially in complex scenes; multiple emitting units can adjust the emission strategy according to different application requirements, for example, light signals of different frequencies can be selectively emitted to adapt to different measurement environments and targets. In addition, this flexibility allows the TOF module 10 to be applied to a variety of different scenarios, such as autonomous driving, industrial automation, virtual reality, etc.

[0092] In a possible implementation, the receiving module 12 controls the transmitting module 11 to transmit a first composite frequency light signal and a second composite frequency light signal to the target object, and fuses the obtained first depth image corresponding to the first composite frequency light signal and the obtained second depth image corresponding to the second composite frequency light signal into a frame of fused image.

[0093] In the solution provided in the embodiment of the present application, by emitting light signals of different frequencies, the information of target objects at long distances and close distances can be obtained at the same time, thereby improving the efficiency of data acquisition. The first composite frequency light signal is mainly used for close-range detection, while the second composite frequency light signal is mainly used for long-range detection. This design enables the TOF module 10 to accurately measure targets at different distances. Fusion of depth images of different frequencies can generate a higher quality depth map, which combines the advantages of long-range and close-range detection, making the final image clearer and more accurate. In addition, by fusing light signals of different frequencies, it is possible to better adapt to different measurement environments and target characteristics.

[0094] In a possible implementation, the first composite frequency light signal is transmitted in an automatic exposure mode, and the second composite frequency light signal is transmitted in a fixed exposure mode.

[0095] In the solution provided in the embodiment of the present application, automatic exposure means that the TOF module 10 automatically adjusts the shutter speed, aperture size, ISO sensitivity and other parameters according to the brightness of the scene to obtain a suitable exposure level; fixed exposure means that the operator manually sets the exposure parameters such as shutter speed, aperture size and ISO sensitivity. The automatic exposure mode can automatically adjust the exposure time according to the intensity of the reflected signal, so that the best image quality can be obtained under multiple working conditions (different application scenarios), which is very helpful for the situation where the first composite frequency light signal usually requires higher precision in the close-range depth measurement; the fixed exposure mode provides a stable exposure time for the second composite frequency light signal, which is usually used to obtain a deep image at a longer distance, and can solve the problem of insufficient recognition point rate due to the automatic exposure adjustment gain at a long distance. By setting different exposure modes for different measurement distances and accuracy requirements, the overall performance of the TOF module 10 can be optimized.

[0096] See also Figure 3 The second aspect of the embodiment of the present application further provides an electronic device 100, including a main body 20 and a TOF module 10 as described above, wherein the TOF module 10 is disposed on the main body 20. The electronic device 100 may be a sweeping robot, a mobile phone, or a depth camera, but is not limited thereto. In this embodiment, the electronic device 1000 is a sweeping robot.

[0097] In the solution provided in the embodiment of the present application, the transmitting module 11 transmits a first composite frequency light signal and a second composite frequency light signal to the target object, the first composite frequency is greater than the second composite frequency, the first composite frequency light signal includes at least two light signals of different frequencies, and the second composite frequency light signal includes at least one light signal of one frequency, and the first depth image corresponding to the first composite frequency light signal and the second depth image corresponding to the second composite frequency light signal are obtained through the receiving module 12, thereby detecting target objects at long and short distances. The transmitting module 11 of the present application uses two composite optical signals of different frequencies, which can improve the ranging performance of targets at different distances, that is, the optical signal of the first composite frequency is mainly used to detect objects at a relatively close distance, while the optical signal of the second composite frequency is mainly used to detect objects at a relatively long distance, thereby realizing optimized measurement of different distance ranges, and the frequency of the first composite frequency optical signal is higher, which can provide more detailed measurement, and help improve the accuracy of close-range measurement, while the frequency of the second composite frequency optical signal is lower, which can cover a larger measurement range. In addition, through dual-frequency measurement, the measurement error caused by phase ambiguity can be solved, and the two signals of different frequencies can assist each other, and the real distance can be determined by comparing the phase difference of the two frequencies, thereby overcoming the limitation of the single frequency signal in phase ambiguity. This design allows the TOF module 10 to have better adaptability in different environments and applications, for example, more close-range measurements may be required in indoor environments, while a longer measurement distance may be required in outdoor environments. Further, it can avoid the problems of wrong depth flying points, super-periodic information and large precision errors in the obtained depth image, thereby ensuring the detection quality of the depth image.

[0098] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-restrictive from any point of view, and the scope of the invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates. Furthermore, it is apparent that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural.

[0099] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred implementation modes, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A TOF module, characterized in that: include: A transmitting module, used for transmitting a first composite frequency optical signal and a second composite frequency optical signal to a target object, wherein the first composite frequency is greater than the second composite frequency, the first composite frequency optical signal includes at least two optical signals of different frequencies, and the second composite frequency optical signal includes at least one optical signal of one frequency; The receiving module is used to obtain a first depth image corresponding to the first composite frequency light signal and a second depth image corresponding to the second composite frequency light signal, so as to detect target objects at long and short distances.

2. The TOF module according to claim 1, wherein: The first composite frequency includes a first frequency and a second frequency, the first frequency is greater than the second frequency and the transmission order of the first frequency takes precedence over the transmission order of the second frequency, the second composite frequency includes a third frequency and a fourth frequency, the third frequency is greater than the fourth frequency and the transmission order of the third frequency takes precedence over the transmission order of the fourth frequency.

3. The TOF module according to claim 1, wherein: The TOF module satisfies the following relationship: Wherein, c is the speed of light, f1 is the greatest common divisor of at least two optical signals of different frequencies included in the first composite frequency optical signal, HFOV is the horizontal field of view, VFOV is the vertical field of view, and L1 is the detection distance of the first composite frequency optical signal.

4. The TOF module according to claim 3, characterized in that: The TOF module satisfies the relationship: Among them, c is the speed of light, f2 is the greatest common divisor of at least two optical signals of different frequencies included in the second composite frequency optical signal or a frequency included in the second composite frequency optical signal, HFOV is the horizontal field of view angle, VFOV is the vertical field of view angle, and L2 is the detection distance of the second composite frequency optical signal.

5. The TOF module according to claim 4, characterized in that: The first composite frequency has a value range of 50 MHz-100 MHz, and the second composite frequency has a value range of 20 MHz-50 MHz.

6. The TOF module according to claim 4 or 5, characterized in that: The horizontal field of view angle of the receiving module ranges from 60° to 120°, and the vertical field of view angle of the receiving module ranges from 45° to 60°.

7. The TOF module according to claim 1, wherein: The transmitting module includes one or more transmitting units, and the one or more transmitting units transmit the first composite frequency optical signal or the second composite frequency optical signal.

8. The TOF module according to claim 1, wherein: The receiving module is electrically connected to the transmitting module, and the receiving module controls the transmitting module to transmit the first composite frequency optical signal and the second composite frequency optical signal to the target object, and fuses the first depth image corresponding to the first composite frequency optical signal and the second depth image corresponding to the second composite frequency optical signal into a frame of fused image.

9. The TOF module according to claim 1, wherein: The first composite frequency light signal is transmitted in an automatic exposure mode, and the second composite frequency light signal is transmitted in a fixed exposure mode.

10. An electronic device, characterized in that: It comprises a main body and a TOF module as described in any one of claims 1 to 9, wherein the TOF module is arranged on the main body.

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