Laser ranging method and device, laser ranging sensor and electronic equipment
By adopting a laser ranging method based on dToF in the laser ranging sensor, and using the alternating transmission and reception technology of the dToF module, the problem of insufficient ranging accuracy in the existing technology is solved, and distance detection with high accuracy and strong anti-interference ability is achieved.
Patent Information
- Application Number
- CN202411795660.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-03-14
AI Technical Summary
The distance measurement accuracy of existing laser ranging sensors still need to be improved, making it difficult to provide stable measurement results in complex environments.
Using a laser ranging method based on dToF, the dToF module is used to emit laser pulses to the object to be measured by controlling the dToF module, and the distance of the object to be measured is determined based on the flight time of the reflected light. The method includes alternately emitting laser pulses using the first and second dToF modules and determining the time of flight according to the received reflected light time point to improve measurement accuracy.
It realizes high-precision detection of the distance of the object to be measured, has strong anti-interference ability, can provide stable measurement results under various environmental conditions, and improves the reliability of measurement.
Smart Images
Figure CN119620094A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of laser ranging technology, and in particular to a laser ranging method, device, laser ranging sensor and electronic equipment. Background Art
[0002] Laser distance sensors are widely used in various fields because of their high precision, high speed and high reliability. The laser distance sensors in the related art mainly include triangulation laser distance measurement and phase laser distance measurement, but the distance measurement accuracy needs to be improved. Summary of the invention
[0003] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a laser ranging method, device, laser ranging sensor and electronic equipment.
[0004] The laser ranging method according to the first aspect of the present application is applied to a dToF-based laser ranging sensor, including:
[0005] Control the dToF module to emit laser pulses to the object to be measured;
[0006] When the dToF module receives the reflected light, determining the time of flight;
[0007] Based on the flight time, the distance of the object to be measured is determined.
[0008] According to one embodiment of the present application, the dToF module includes a first dToF module and a second dToF module, and the step of controlling the dToF module to emit a laser pulse to the object to be measured includes:
[0009] The first dToF module and the second dToF module are controlled to emit laser pulses alternately.
[0010] According to one embodiment of the present application, when the dToF module receives reflected light, the step of determining the flight time includes:
[0011] When the first dToF module receives the reflected light, determining a first flight time;
[0012] When the second dToF module receives the reflected light, determining a second flight time;
[0013] The step of determining the distance of the object to be measured based on the flight time includes:
[0014] Determining a first distance of the object to be measured based on the first flight time;
[0015] Based on the second flight time, a second distance of the object to be measured is determined.
[0016] According to one embodiment of the present application, the dToF module is rotatable.
[0017] According to one embodiment of the present application, before the step of controlling the dToF module to emit laser pulses to the object to be measured, the step includes:
[0018] Acquiring the position information of the object to be measured;
[0019] Based on the orientation information, the dToF module is controlled to rotate so that the dToF module is aligned with the object network to be measured.
[0020] The laser ranging device according to the second aspect of the present application includes:
[0021] A first determination module, configured to determine a flight time when the dToF module receives reflected light;
[0022] The second determination module is used to determine the distance of the object to be measured based on the flight time.
[0023] According to the dToF-based laser ranging sensor of the third aspect of the present application, it is used to perform the above-mentioned laser ranging method
[0024] According to the electronic device of the fourth aspect embodiment of the present application, the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned laser ranging method when executing the computer program.
[0025] According to the non-transitory computer-readable storage medium of the fifth aspect embodiment of the present application, the non-transitory computer-readable storage medium includes a computer program, and when the computer program is executed by the processor, the above-mentioned laser ranging method is implemented.
[0026] According to the computer program product of the sixth aspect of the present application, the computer program product includes a computer program, and when the computer program is executed by the processor, the above-mentioned laser ranging method is implemented.
[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0029] Figure 1 This is a schematic diagram of the structure of a dToF-based laser ranging sensor according to an embodiment of the present application;
[0030] Figure 2 A schematic diagram of the structure of a dToF-based laser ranging sensor according to an embodiment of the present application from another perspective;
[0031] Figure 3 A schematic diagram of a module of a laser ranging sensor according to an embodiment of the present application;
[0032] Figure 4 A schematic diagram of a microcontroller according to an embodiment of the present application;
[0033] Figure 5 It is a schematic diagram of the process of the laser ranging method provided by the present invention;
[0034] Figure 6 It is a schematic structural diagram of the laser distance measuring device provided by the present invention;
[0035] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION
[0036] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0037] The embodiments of the present application provide embodiments of the laser ranging method. It should be noted that although the logical order is shown in the flow chart, under certain data, the steps shown or described can be completed in an order different from that here.
[0038] Before introducing the laser ranging method of the embodiment of the present application, the application scenario of the laser ranging method is explained first. The laser ranging method of the present application can be applied to smart terminals such as smart phones, tablets and computers, and can also be applied to servers. The present application does not make any special limitations here, as long as it can carry and implement the laser ranging method of the present application.
[0039] The following description will be given by applying the laser ranging method to the server side, but it should be understood that the laser ranging method is not limited to being applied only to the server side.
[0040] Combine the following Figures 1 to 7 The present invention describes a laser ranging method, a laser ranging sensor and an electronic device.
[0041] According to the embodiment of the first aspect of the present application, Figure 5 As shown, the laser ranging method is applied to a laser ranging sensor based on dToF, and the laser ranging method includes:
[0042] Step 101, controlling the dToF module to emit laser pulses to the object to be measured;
[0043] Step 102: When the dToF module receives the reflected light, determine the flight time;
[0044] Step 103: Determine the distance of the object to be measured based on the flight time.
[0045] According to the laser ranging method of the embodiment of the present application, the dToF module is controlled to emit a laser pulse to the object to be measured. After the laser pulse reaches the object to be measured, it will be reflected, and the dToF module can receive the reflected light. When the dToF module receives the emitted light, the flight time of the laser pulse can be determined according to the time point of emitting the laser pulse and the time of receiving the reflected light. The propagation speed of the laser pulse is the speed of light, and then the distance of the object to be measured can be determined according to the flight time, which realizes the distance detection of the object to be measured, and directly measures the time from the emission to the reception of the laser pulse to determine the distance of the object to be measured. It has strong anti-interference ability, has little influence on the illumination, color and surface reflection properties, and can provide stable measurement results under various environmental conditions.
[0046] In some embodiments, the dToF module includes a first dToF module and a second dToF module, and the step of controlling the dToF module to emit laser pulses to the object to be measured includes:
[0047] The first dToF module and the second dToF module are controlled to emit laser pulses alternately.
[0048] It can be understood that controlling the first dToF module and the second dToF module to emit light alternately, that is, controlling the first dToF module and the second dToF module to perform ranging alternately, and avoiding continuous light emission of a single dToF module, can effectively prevent the dToF module from having problems such as overtemperature and shortened life due to continuous operation.
[0049] In some embodiments, when the dToF module receives reflected light, the step of determining the flight time includes:
[0050] When the first dToF module receives the reflected light, determining a first flight time;
[0051] When the second dToF module receives the reflected light, determining a second flight time;
[0052] The step of determining the distance of the object to be measured based on the flight time includes:
[0053] Determining a first distance of the object to be measured based on the first flight time;
[0054] Based on the second flight time, a second distance of the object to be measured is determined.
[0055] It can be understood that when measuring the distance of the object to be measured, the first dToF module can be used to emit a laser pulse to the object to be measured, and the first flight time can be determined based on the time point when the first dToF module receives the reflected light. Then, the second dToF module can be used to emit a laser pulse to the object to be measured, and the second flight time can be determined based on the time point when the second dToF module receives the reflected light.
[0056] The distance of the object to be measured measured by the first dToF module can be obtained according to the first flight time, and the distance of the object to be measured measured by the second dToF module can be obtained according to the second flight time, that is, two distance values can be obtained, and the two distance values can be used to verify each other to improve the measurement accuracy.
[0057] In some embodiments, the dToF module is rotatable.
[0058] It can be understood that the dToF module is set to be rotatable, and the orientation of the dToF module can be adjusted according to the orientation of the object to be measured, so that the dToF module can be aligned with the object to be measured, thereby improving the convenience of measurement.
[0059] In some embodiments, before the step of controlling the dToF module to emit laser pulses to the object to be measured, the step includes:
[0060] Acquiring the position information of the object to be measured;
[0061] Based on the orientation information, the dToF module is controlled to rotate so that the dToF module is aligned with the object to be measured.
[0062] It is understandable that the orientation information of the object to be measured is first obtained to determine the orientation of the object to be measured according to the orientation information of the object to be measured. Then, the dToF module is controlled to rotate based on the orientation information so that the dToF module is aligned with the object to be measured, ensuring that the laser pulse emitted by the dToF module can irradiate the object to be measured.
[0063] In some embodiments, the dToF module includes a first dToF module and a second dToF module, and the step of controlling the rotation of the dToF module based on the orientation information includes:
[0064] Control the first dToF module and the second dToF module to rotate so that the object to be measured is located on a midline of a line connecting the first dToF module and the second dToF module.
[0065] It can be understood that according to the orientation information of the object to be measured, the first dToF module and the second dToF module are controlled to rotate so that the object to be measured is located on the midline of the line connecting the first dToF module and the second dToF module, thereby ensuring that the distance between the first dToF module and the object to be measured is equal to the distance between the second dToF module and the object to be measured, and ensuring that the transmission distances of the laser pulses emitted by the first dToF module and the second dToF module are equal, and then the measurement results of the first dToF module and the second dToF module can be used for mutual verification.
[0066] In some embodiments, the step of controlling the dToF module to emit laser pulses to the object to be measured includes:
[0067] The dToF module is controlled to rotate to different angles in sequence and emit laser pulses in sequence, wherein the dToF module is aligned with different positions of the object to be measured at different angles.
[0068] It can be understood that the dToF module is controlled to emit laser pulses to the object to be measured at a first angle, and the laser pulses illuminate the first position of the object to be measured, thereby realizing the measurement of the distance to the first position of the object to be measured; then the dToF module is controlled to rotate to a second angle to emit laser pulses to the object to be measured, and the laser pulses illuminate the second position of the object to be measured, thereby realizing the measurement of the distance to the second position of the object to be measured; and so on, the dToF module is controlled to rotate to different angles in turn, so as to realize the measurement of the distances to different positions of the object to be measured, and according to the distances at different positions of the object to be measured, a preliminary judgment can be made on the shape of the object to be measured.
[0069] According to the embodiment of the second aspect of the present application, the laser distance measuring device and the laser distance measuring method correspond to each other. Figure 6 As shown, the laser distance measuring device comprises:
[0070] A control module 201 is used to control the dToF module to emit laser pulses to the object to be measured;
[0071] A first determination module 202, configured to determine a flight time when the dToF module receives reflected light;
[0072] The second determination module 203 is used to determine the distance of the object to be measured based on the flight time.
[0073] According to an embodiment of the third aspect of the present application, a dToF-based laser ranging sensor is used to execute the above-mentioned laser ranging method.
[0074] like Figure 1-4 As shown, the dToF-based laser ranging sensor provided in an embodiment of the present application includes a housing 10, a microcontroller and a dToF module arranged in the housing 10, the microcontroller and the dToF module are connected via a control circuit, the housing 10 is provided with a through hole 11, the dToF module has a laser emitter 21 and a laser receiver 22, the laser emitter 21 and the laser receiver 22 are arranged at the through hole 11 to emit and receive laser pulses toward the object to be measured, and the microcontroller is signal-connected to the dToF module.
[0075] In this embodiment, a pulsed laser ranging method is used to directly measure the time from the emission to the reception of a laser pulse to determine the distance between the object and the sensor. The accuracy of this method does not change significantly with distance within the measurable range, and it has strong anti-interference ability and is less affected by illumination, color, and surface reflection properties, and can provide stable measurement results under various environmental conditions.
[0076] The housing 10 is provided with a control button 12, a display screen 13 and an indicator light. The control button 12 is connected to the microcontroller through the control circuit, and the display screen 13 is connected to the microcontroller through the control circuit.
[0077] The control circuit also includes a light control circuit, a button response circuit, a display screen 13 control circuit, a module communication circuit and a signal output circuit. The above circuits are all connected to the microcontroller. Based on the above circuits, the distance sensor realizes a single-point mode photoelectric switch and a step mode photoelectric switch that can be set with one button, as well as a real-time distance measurement function.
[0078] The key response circuit is connected to the control key 12 and the microcontroller. The module communication circuit is connected between the microcontroller and the dToF module. The display screen 13 control circuit is connected between the microcontroller and the display screen 13. The light control circuit is connected between the microcontroller and the signal indicator light arranged on the housing 10.
[0079] Please refer to Figure 3 In the present application, the microcontroller communicates with the dToF module through the control circuit. The microcontroller sends a start measurement command to the dToF module. The laser transmitter 21 of the dToF module sends a laser pulse to the measurement target in front. After the laser pulse encounters the measurement target, the laser pulse is reflected to the laser receiver 22 of the dToF module. The microcontroller reads the measurement distance result from the dToF module, and outputs high and low level signals and indicator light status to the outside through the output circuit according to the set function, and displays the status of the current measurement result in real time on the display screen 13 through the display control circuit.
[0080] Among them, please refer to Figure 4 The microcontroller used is PY32F040C1xT from Puran Semiconductor. The PY32F040 series chip is a The core is a 32-bit high-performance microcontroller with a maximum operating frequency of 72MHz. It has built-in high-speed memory (up to 64K bytes of flash memory and 8K bytes of SRAM), and the chip pins reuse a large number of enhanced peripherals and I / O. The chip provides standard communication interfaces: I2C interface, SPI interface, and USART interface.
[0081] The following is a detailed introduction to each sub-circuit in the control circuit:
[0082] (1) The communication interface between the microcontroller and the dToF module uses the USART interface, and the communication protocol adopts the Modbus RTU protocol. Pin 42 of the microcontroller is used as the TX (transmit data) pin to send measurement commands to the dToF module. Pin 43 of the microcontroller is used as the RX (receive data) pin to receive the measurement distance results from the dToF module.
[0083] (2) Pin 31 of the microcontroller outputs a PWM (pulse width modulation) signal to control the laser emission module to send red laser pulses.
[0084] (3) The communication interface between the microcontroller and the display screen 13 uses an I2C interface. Pin 15 of the microcontroller is used as the SCL (clock signal) line, and pin 16 is used as the SDA (data signal) line, which are used to control the display screen 13 to display the measurement results and various functional parameters in real time.
[0085] (4) Pins 13 and 14 of the microcontroller monitor external interrupt signals at the same time and can respond to short or long presses of external buttons in real time to set various function parameters.
[0086] (5) Pin 29 and pin 32 of the microcontroller are used as digital signal output pins, where pin 29 is used to output a PNP signal and pin 30 is used to output an NPN signal.
[0087] The dToF module uses the DTS6012M model product of Shenzhen Arctic Core Microelectronics Co., Ltd. The connector has 6 pins, supports I2C interface and USART interface, contains a laser transmitter 21 and a receiver, and the package size is 21mm×15mm×7.87mm.
[0088] The distance measuring sensor of the present application has two signal output modes, namely NPN signal output and PNP signal output.
[0089] Please refer to Figure 2 The through hole 11 includes a first hole 111 and a second hole 112 which are independent of each other. The transmitting end of the laser transmitter 21 is located at the first hole 111, and the receiving end of the laser receiver 22 is located at the second hole 112. In this embodiment, the laser receiver 22 and the laser transmitter 21 are arranged in two independent holes, which can effectively avoid the formation of errors and improve accuracy.
[0090] In addition, a sink 113 is provided at the through hole 11, and a cover plate 14 that can be covered on the through hole 11 is provided in the sink 113. In this embodiment, when the laser ranging sensor is not in use, the through hole 11 can be closed by covering the sink 113 with the cover 14 to improve the sealing performance and protect the laser receiver 22 and the laser transmitter 21. The cover 14 can be fixed on the sink 113 by interference fit or snap-fit to improve stability. A handle can also be installed on the outside of the cover 14 to facilitate the user to apply force to take the cover 14.
[0091] In the above embodiment, the shell is provided with a wire hole 15 , and a protective cover 16 is provided in the wire hole 15 . The connecting wire between the laser ranging sensor and the outside can pass through the wire hole 15 and be protected by the protective cover 16 .
[0092] According to an embodiment of the fourth aspect of the present application, Figure 7 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the laser ranging method, which includes:
[0093] Control the dToF module to emit laser pulses to the object to be measured;
[0094] When the dToF module receives the reflected light, determining the time of flight;
[0095] Based on the flight time, the distance of the object to be measured is determined.
[0096] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.
[0097] On the other hand, the present application also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, the computer can execute the laser ranging method provided by the above methods, the method includes:
[0098] Control the dToF module to emit laser pulses to the object to be measured;
[0099] When the dToF module receives the reflected light, determining the time of flight;
[0100] Based on the flight time, the distance of the object to be measured is determined.
[0101] According to an embodiment of the fifth aspect of the present application, the present application also includes a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it is implemented to perform the laser ranging method provided above, and the method includes:
[0102] Control the dToF module to emit laser pulses to the object to be measured;
[0103] When the dToF module receives the reflected light, determining the time of flight;
[0104] Based on the flight time, the distance of the object to be measured is determined.
[0105] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.
[0106] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.
[0107] Finally, it should be noted that the above implementation modes are only used to illustrate the present application, rather than to limit the present application. Although the present application is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent substitutions of the technical solutions of the present application do not depart from the spirit and scope of the technical solutions of the present application, and should be included in the scope of the claims of the present application.
Claims
1. A laser ranging method, applied to a dToF-based laser ranging sensor, characterized in that: include: Control the dToF module to emit laser pulses to the object to be measured; When the dToF module receives the reflected light, determining the time of flight; Based on the flight time, the distance of the object to be measured is determined.
2. The laser ranging method according to claim 1, characterized in that: The dToF module includes a first dToF module and a second dToF module, and the step of controlling the dToF module to emit laser pulses to the object to be measured includes: The first dToF module and the second dToF module are controlled to emit laser pulses alternately.
3. The laser ranging method according to claim 2, characterized in that: When the dToF module receives the reflected light, the step of determining the flight time includes: When the first dToF module receives the reflected light, determining a first flight time; When the second dToF module receives the reflected light, determining a second flight time; The step of determining the distance of the object to be measured based on the flight time includes: Determining a first distance of the object to be measured based on the first flight time; Based on the second flight time, a second distance of the object to be measured is determined.
4. The laser ranging method according to any one of claims 1 to 3, characterized in that: The dToF module is rotatable.
5. The laser ranging method according to claim 4, characterized in that: Before the step of controlling the dToF module to emit laser pulses to the object to be measured, the method includes: Acquiring the position information of the object to be measured; Based on the orientation information, the dToF module is controlled to rotate so that the dToF module is aligned with the object to be measured.
6. A laser distance measuring device, characterized in that: include: A first determination module, configured to determine a flight time when the dToF module receives reflected light; The second determination module is used to determine the distance of the object to be measured based on the flight time.
7. A dToF-based laser ranging sensor, characterized in that: The dToF-based laser ranging sensor is used to execute the laser ranging method according to any one of claims 1 to 5.
8. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the laser ranging method according to any one of claims 1 to 5 is implemented.
9. A non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium comprising a computer program, characterized in that: When the computer program is executed by a processor, the laser ranging method according to any one of claims 1 to 5 is implemented.