ToF ranging method, device and equipment and computer readable storage medium
By combining iToF and dToF ranging methods, high-resolution scales are used for high-precision ranging, and dToF is used instead of low-resolution scales, the problem of low-resolution scales is solved, and efficient multi-scale measurement is achieved.
Patent Information
- Application Number
- CN202510009862.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-03
- Publication Date
- 2025-03-18
AI Technical Summary
iToF measurement refresh rate is not high and the distance measurement efficiency is not high.
Combining the iToF and dToF ranging methods, use the high-resolution scale in the iToF ranging method for high-precision ranging, and at the same time, use the dToF ranging method instead of the low-resolution scale to improve the measurement rate.
While ensuring measurement accuracy, the refresh rate of multi-scale measurement of iToF ranging method is improved and the distance measurement efficiency is improved.
Smart Images
Figure CN119644344A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of data processing technology, and in particular to a ToF ranging method, device, equipment and computer-readable storage medium. Background Art
[0002] Time of flight (ToF) is a distance measurement method. It is widely used in sweeper obstacle avoidance, projector auxiliary focus, camera auxiliary focus, smart lamps, smart bathroom such as automatic faucets, automatic soap dispensers, smart toilets, robots, drones and self-driving cars.
[0003] ToF ranging methods are mainly divided into dToF (Direct ToF, direct flight time) ranging method and iToF (Indirect ToF, indirect flight time) ranging method. Among them, iToF generally uses phase ranging method, and when measuring long-distance targets, it will use the method of superposition of multiple scale measurements to achieve it. For example, a lower scale frequency is used for long-distance low-precision ranging, and then a higher scale frequency is used for high-precision ranging. Finally, the distances measured by each scale are combined to obtain the final long-distance high-precision information.
[0004] However, such multi-scale distance measurement will result in a low measurement refresh rate and low distance measurement efficiency. Summary of the invention
[0005] The present disclosure provides a ToF ranging method, apparatus, device and computer-readable storage medium to solve the problems of low iToF measurement refresh rate and low ranging efficiency.
[0006] In a first aspect, the present disclosure provides a ToF ranging method, the method comprising:
[0007] Based on the indirect time-of-flight (iToF) ranging method, a first laser is used to measure the distance of the object to be measured to obtain a first distance value; and based on the direct time-of-flight (dToF) ranging method, a second laser is used to measure the distance of the object to be measured to obtain a second distance value; the resolution of the first laser is greater than the resolution of the second laser;
[0008] Based on a multi-scale measurement method, a distance value between the object to be measured and the object to be measured is obtained according to the first distance value and the second distance value.
[0009] In some embodiments, the iToF ranging method is used to measure the distance of the object to be measured by using a first laser to obtain a first distance value, including:
[0010] emitting the first laser toward the object to be measured;
[0011] receiving a third laser beam reflected by the first laser beam from the object to be measured;
[0012] A first distance value is obtained according to a phase difference between the first laser and the third laser.
[0013] In some embodiments, the method of measuring the distance of the object to be measured by using a second laser based on the dToF ranging method to obtain a second distance value includes:
[0014] emitting a second laser toward the object to be measured and starting timing;
[0015] receiving a fourth laser beam reflected by the second laser beam from the object to be measured, and ending timing;
[0016] A second distance value is obtained according to the timing duration and the speed of light; the timing duration refers to the duration between the start timing moment and the end timing moment.
[0017] In some embodiments, obtaining the distance value from the object to be measured based on the multi-scale measurement method according to the first distance value and the second distance value includes:
[0018] Based on a multi-scale measurement method, the first distance value and the second distance value are summed to obtain the distance value.
[0019] In a second aspect, the present disclosure provides a ToF ranging device, the ToF ranging device comprising a processing module, a first laser transmitter, a first laser receiver, a second laser transmitter and a second laser receiver;
[0020] The first laser emitter is used to emit a first laser;
[0021] The first laser receiver is used to receive a third laser;
[0022] The second laser emitter is used to emit a second laser;
[0023] The second laser receiver is used to receive a fourth laser;
[0024] The processing module is used to implement the method as described in any one of the first aspects above.
[0025] In some embodiments, the ToF ranging device also includes: a first transmitting lens, a first receiving lens, a second transmitting lens and a second receiving lens; the first transmitting lens is arranged on the outgoing light path of the first laser transmitter; the first receiving lens is arranged on the incident light path of the first laser receiver; the second transmitting lens is arranged on the outgoing light path of the second laser transmitter; the second receiving lens is arranged on the incident light path of the second laser receiver.
[0026] In some embodiments, the ToF distance measuring device further includes: a first beam splitter and a third emitting lens;
[0027] The first beam splitter is disposed on the outgoing light paths of the first laser emitter and the second laser emitter; the first beam splitter is used to transmit the first laser and reflect the second laser; or transmit the second laser and reflect the first laser; so that the outgoing light path of the first laser emitter coincides with the outgoing light path of the second laser emitter;
[0028] The third emitting lens is arranged on an emission light path where the first laser emitter and the second laser emitter overlap.
[0029] In some embodiments, the ToF ranging device further includes: a second beam splitter and a third receiving lens;
[0030] The second beam splitter is disposed on the incident light paths of the first laser receiver and the second laser receiver; the second beam splitter is used to transmit the third laser and reflect the fourth laser; or transmit the fourth laser and reflect the third laser; so that the incident light path of the first laser receiver coincides with the incident light path of the second laser receiver;
[0031] The third receiving lens is arranged on an incident light path where the first laser receiver and the second laser receiver overlap.
[0032] In a third aspect, the present disclosure provides a ToF ranging device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method described in the first aspect is implemented.
[0033] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the method described in the first aspect when executed by a processor.
[0034] In the ToF ranging method, device, equipment and computer-readable storage medium provided by the embodiments of the present disclosure, the first laser is used as a fine ruler with a shorter range in multi-scale measurement to perform phase ranging, that is, the fine ruler ranging in the iToF ranging method, to obtain a first distance value with higher accuracy, and at the same time, the second laser is used as a coarse ruler with a longer range in multi-scale measurement to perform pulse ranging, that is, the dToF ranging method, to obtain a second distance value with lower accuracy than the coarse ruler, and based on the multi-scale measurement method, the distance value between the object to be measured and the object to be measured is obtained according to the first distance value and the second distance value. Thus, the measuring ruler with higher resolution in the iToF ranging method is used to measure the distance to the object to be measured, and the dToF ranging method is used to replace the measuring ruler with lower resolution in the iToF ranging method to measure the distance to the object to be measured, the dToF ranging method has a higher measurement rate, and the iToF ranging method has higher accuracy. The iToF ranging method and the dToF ranging method are used in combination, so that multi-scale measurement can be performed simultaneously, while ensuring the measurement accuracy, the refresh rate of the multi-scale measurement of the iToF ranging method is improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] Figure 1 A schematic diagram of the structure of a ToF ranging device provided in an embodiment of the present disclosure;
[0036] Figure 2 A schematic diagram of a ToF ranging method provided in an embodiment of the present disclosure;
[0037] Figure 3 A schematic diagram of the principle of an iToF ranging method provided in an embodiment of the present disclosure;
[0038] Figure 4 A schematic diagram of the principle of a dToF ranging method provided in an embodiment of the present disclosure;
[0039] Figure 5 A schematic diagram of the structure of another ToF ranging device provided in an embodiment of the present disclosure;
[0040] Figure 6 A schematic diagram of the structure of another ToF ranging device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION
[0041] In the present disclosure, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a alone, b alone, or c alone can represent: a alone, b alone, c alone, a and b in combination, a and c in combination, b and c in combination, or a, b, and c in combination, where a, b, and c can be single or multiple. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.
[0042] The directions or positional relationships indicated by terms such as "center", "longitudinal", "lateral", "up", "down", "left", "right", "front", and "back" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present disclosure and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present disclosure.
[0043] The terms "connected" and "connected" should be understood in a broad sense. For example, the "connected" or "connected" of a circuit structure may refer to not only a physical connection, but also an electrical connection or a signal connection. For example, it may be a direct connection, i.e. a physical connection, or it may be an indirect connection through at least one intermediate element, as long as the circuit is connected. It may also be the internal connection of two elements. In addition to signal connection through a circuit, signal connection may also refer to signal connection through a media medium, such as radio waves. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure may be understood according to specific circumstances.
[0044] ToF ranging methods are mainly divided into dToF (Direct ToF, direct time of flight) ranging method and iToF (Indirect ToF, indirect time of flight) ranging method. Among them, iToF generally uses phase ranging method. When measuring objects to be measured at a long distance, it will use the method of superimposing multiple scale measurements to achieve it, that is, a multi-scale measurement method. For example, a lower scale frequency is used for long-distance low-precision ranging, which can be called a long-range coarse scale, and then a higher scale frequency is used for high-precision ranging, which can be called a short-range fine scale. The distances measured by each scale are combined to obtain the measured distance. However, such multi-scale ranging will result in a low measurement refresh rate and low ranging efficiency.
[0045] The dToF ranging method uses pulse ranging when measuring distant targets, directly measuring the flight time of the pulse. The dToF ranging refresh frequency is higher, but the ranging accuracy is not as high as that of iToF.
[0046] The ToF ranging method provided in the present disclosure can be applied to a ToF ranging device. The ToF ranging device can perform iToF ranging and dToF ranging. Figure 1 The illustrated embodiment exemplarily introduces the structure of the ToF ranging device disclosed in the present invention.
[0047] See also Figure 1 , Figure 1 A schematic diagram of the structure of a ToF ranging device provided in an embodiment of the present disclosure, the ToF ranging device may include but is not limited to: a processing module 101, a first laser transmitter 102, a first laser receiver 103, a second laser transmitter 104, and a second laser receiver 105. The first laser transmitter 102 and the first laser receiver 103 are used to complete the emission and reception of lasers in iToF ranging. The second laser transmitter 104 and the second laser receiver 105 are used to complete the emission and reception of lasers in dToF ranging. The processing module 101 is connected to the first laser transmitter 102, the first laser receiver 103, the second laser transmitter 104, and the second laser receiver 105, respectively, and the processing module 101 is used to control the first laser transmitter 102, the first laser receiver 103, the second laser transmitter 104, and the second laser receiver 105 to work, respectively, and obtain the distance value between the ToF ranging device and the object to be measured after processing.
[0048] The present disclosure provides a ToF ranging method, which uses a ruler with a higher resolution in an iToF ranging method to measure the distance of an object to be measured, and uses a dToF ranging method to replace a ruler with a lower resolution in the iToF ranging method to measure the distance of the object to be measured. The dToF ranging method has a higher measurement rate, and the iToF ranging method has a higher accuracy. The iToF ranging method and the dToF ranging method are used in combination, so that multi-scale measurements can be performed simultaneously, and the refresh rate of multi-scale measurements of the iToF ranging method is improved while ensuring the measurement accuracy.
[0049] The technical solution provided by the present disclosure is described in detail below with specific embodiments.
[0050] See also Figure 2 , Figure 2 A flow chart of a ToF ranging method provided by an embodiment of the present disclosure. Figure 2 As shown, the method provided in this embodiment is performed by a ToF ranging device, which may be the above-mentioned Figure 1The ToF distance measuring device in the illustrated embodiment. The method provided in this embodiment may include the following steps 201 to 203.
[0051] Step 201: Based on the iToF distance measurement method, a first laser is used to measure the distance of an object to be measured to obtain a first distance value.
[0052] Here, the resolution of the first laser is the first resolution.
[0053] The iToF distance measurement method usually uses the frequency of the radio band to amplitude modulate the laser beam, and measures the phase delay caused by the modulated light's round trip, and then converts the distance represented by the phase delay according to the wavelength of the modulated light. In this embodiment, based on the iToF distance measurement method, that is, based on the phase delay, the first laser is used to measure the distance of the object to be measured to obtain a first distance value. Usually, the first distance value refers to the mantissa of the measurement value based on the first laser as an optical ruler.
[0054] Step 202: Based on the dToF ranging method, a second laser is used to measure the distance of the object to be measured to obtain a second distance value.
[0055] The resolution of the second laser is the second resolution, and the resolution of the first laser is greater than the resolution of the second laser.
[0056] Further, the first laser may be a laser with a wavelength of 650 nm, and the second laser may be a laser with a wavelength of 905 nm.
[0057] The dToF ranging method can also be called pulsed ranging, which uses a second laser to directly measure the distance of the object to be measured to obtain a second distance value.
[0058] It should be noted that step 201 and step 202 may be performed simultaneously, that is, the distance of the object to be measured is measured by using the first laser and the second laser respectively and simultaneously.
[0059] Step 203: Based on a multi-scale measurement method, a distance value between the object to be measured and the first distance value and the second distance value is obtained.
[0060] In this embodiment, the first laser is used as a thin ruler with a shorter range in multi-scale measurement to perform phase distance measurement, that is, the thin ruler distance measurement in the iToF distance measurement method, to obtain a first distance value with higher accuracy, and at the same time, the second laser is used as a coarse ruler with a longer range in multi-scale measurement to perform pulse distance measurement, that is, the dToF distance measurement method, to obtain a second distance value with lower accuracy than the coarse ruler, and based on the multi-scale measurement method, the distance value between the object to be measured is obtained according to the first distance value and the second distance value. Thus, the distance to the object to be measured is measured using the ruler with a higher resolution in the iToF distance measurement method, and at the same time, the dToF distance measurement method is used to replace the ruler with a lower resolution in the iToF distance measurement method to measure the distance to the object to be measured. The dToF distance measurement method has a higher measurement rate and the iToF distance measurement method has a higher accuracy. The iToF distance measurement method and the dToF distance measurement method are used in combination, so that multi-scale measurement can be performed simultaneously, while ensuring the measurement accuracy, the refresh rate of the multi-scale measurement of the iToF distance measurement method is improved.
[0061] Furthermore, in multi-scale measurement, multiple measurements can be performed, so the fifth laser can be used to measure the distance of the object to be measured based on the iToF ranging method to obtain a third distance value. The resolution of the fifth laser is the third resolution, which is smaller than the first resolution and larger than the second resolution.
[0062] In some embodiments, step 201 can be implemented through the following steps 2011 to 2013.
[0063] Step 2011: emit a first laser toward the object to be measured.
[0064] Step 2012: Receive a third laser beam that is reflected by the first laser beam from the object to be measured.
[0065] Step 2013: Obtain a first distance value according to a phase difference between the first laser and the third laser.
[0066] In this embodiment, a first laser is emitted to the object to be measured. The first laser is reflected after contacting the object to be measured, and the reflected light is a third laser. The third laser is received and the third laser can be phase-detected by a phase detector to determine the phase difference between the first laser and the third laser, thereby obtaining a first distance value.
[0067] Furthermore, the principle of the iToF ranging method is explained below with a specific example.
[0068] See also Figure 3 , Figure 3The schematic diagram of the principle of an iToF ranging method provided in an embodiment of the present disclosure. The iToF ranging device provided in this embodiment includes a light source and a sensor, wherein the light source is used to emit a first laser, the first laser is reflected by a target object (Target), and the reflected light is a third laser, and the sensor receives the third laser, thereby Figure 3 The phase difference between the first laser and the third laser below Determine the distance value L between the iToF distance measuring device and the target object. The specific principle derivation is carried out below.
[0069] The laser light source is subjected to intensity modulation with a period of T or a modulation frequency of V, wherein T=1 / V.
[0070] If the phase difference between the emitted modulated light and the received modulated light is measured to be Fa., the flight time can be expressed by the following formula (1).
[0071] (Fa. / 2pi)*T=(Fa. / 2pi) / V Formula (1)
[0072] Assuming that the distance from the target object to the iToF ranging device is L, the expression for the distance from the target object to the iToF ranging device being L can be obtained by the following formula (2).
[0073] 2L=[(Fa. / 2pi) / V]*C Formula (2)
[0074] Formula (2) can be used to obtain the following formula (3), which can determine that the distance from the target object to the iToF ranging device is L.
[0075] L=C*Fa. / 4piV Formula (3)
[0076] From formula (3), it can be seen that: assuming that the resolution accuracy of Fa. is a constant, the greater the modulation frequency, the higher the ranging accuracy that can be resolved. For example, please refer to the following Table 1, which is a table of corresponding relationships between ranging resolution and modulation frequency provided in an embodiment of the present disclosure.
[0077] Table 1. Correspondence between ranging resolution and modulation frequency
[0078]
[0079]
[0080] In addition, it can be seen from formula (3) that when Fa. is within 2pi, the effect of distance aliasing does not occur. That is, when Fa. = 2pi, the maximum aliasing-free distance L that can be measured, that is, the size L of the measuring ruler can be expressed by the following formula (4).
[0081] L=C / (2V) Formula (4)
[0082] For example, please refer to the following Table 2, which is a list of correspondences between modulation frequencies and measuring scales provided in an embodiment of the present disclosure.
[0083] Table 2. Correspondence between modulation frequency and measuring scale
[0084] Measuring ruler(m) Modulation frequency 30 5MHz 25 6MHz 15 10MHz 3.75 40MHz 1.5 100MHz 1 150MHz 0.5 300MHz 0.375 400MHz 0.333 450MHz 0.3 500MHz
[0085] From the principle of phase-based ranging, it can be seen that when itof is used to accurately measure distant targets, the method of superimposing thick and thin rulers is used. The long ruler determines the range of distance measurement, and the short ruler determines the accuracy of distance measurement. In theory, the longest ruler is the range, and the measurement range of the short ruler selected here should be greater than the error range of the long ruler. However, when itof measures distant target objects, it will spend a lot of time on the thick ruler with a long range, resulting in a low measurement refresh frequency.
[0086] In some embodiments, step 202 can be implemented through the following steps 2021-2023.
[0087] Step 2021: emit a second laser to the object to be measured and start timing.
[0088] Step 2022: Receive the fourth laser reflected by the second laser through the object to be measured, and end the timing.
[0089] Step 2023: Obtain a second distance value according to the timing duration and the speed of light.
[0090] The speed of light is the speed at which light travels in the atmosphere.
[0091] The timing duration refers to the time between the start time and the end time.
[0092] In this embodiment, a second laser is emitted to the object to be measured. The second laser is reflected after contacting the object to be measured. The reflected light is a fourth laser. The fourth laser is received and the timing duration from the emission of the second laser to the reception of the fourth laser can be measured. According to the speed of light and the timing duration, the second distance value can be obtained.
[0093] Furthermore, the principle of the dToF ranging method is explained below with a specific example.
[0094] See also Figure 4 , Figure 4A schematic diagram of the principle of a dToF ranging method provided in an embodiment of the present disclosure. The dToF ranging device provided in this embodiment includes a transmitter and a receiver, wherein the transmitter is used to emit a second laser, and the timer starts timing at the same time as the second laser is emitted. The second laser is reflected by the target to be measured, and the reflected light is a fourth laser. The receiver receives the fourth laser and stops timing at the moment of receiving the fourth laser to obtain the timing duration. Thus, the distance value D between the dToF ranging device and the target object is obtained by the following formula (5).
[0095] D= c·t / 2 Formula (5)
[0096] Among them, c is the speed of light propagation in the atmosphere, t is the timing duration, t=t2-t1, where t2 is the moment when the timing ends; t1 is the moment when the timing starts.
[0097] Typically, the accuracy of dToF measurements can reach centimeters.
[0098] In this embodiment, the dToF measurement method is used to replace the long-range coarse ruler of the multi-scale measurement in the iToF measurement method.
[0099] In some embodiments, step 203 may be implemented by step 2031 as follows.
[0100] Step 2031: Based on a multi-scale measurement method, sum the first distance value and the second distance value to obtain a distance value.
[0101] When using the iToF measurement method to measure distant objects, a thick and thin ruler is superimposed to achieve this, in which the long-range thick ruler determines the distance measurement range, and the short-range thin ruler determines the distance measurement accuracy. In theory, the longest ruler is the range, and the measurement range of the selected short ruler is greater than the error range of the long ruler. However, when the iToF measurement method measures distant targets, a lot of time will be spent on the long-range thick ruler, resulting in a low measurement refresh frequency. Now the dToF measurement method is used to replace the long-range thick ruler. In the iToF measurement method using the short-range thin ruler measurement method, it is necessary to merge and calculate the results obtained by measuring rulers of different precisions. In this embodiment, the first distance value and the second distance value are summed to obtain the distance value, so that when measuring objects to be measured at a longer distance, the distance measurement accuracy is higher and the refresh speed is faster.
[0102] In some scenarios, Figure 1 Based on the ToF distance measuring device shown, the first laser transmitter 102, the first laser receiver 103, the second laser transmitter 104 and the second laser receiver 105 need to be provided with lenses on the outgoing / incoming light paths, respectively. The lens arrangement is described in detail below.
[0103] In one possible implementation, Figure 1 On the basis of the ToF ranging device shown, the ToF ranging device provided in this embodiment further includes: a first transmitting lens, a first receiving lens, a second transmitting lens and a second receiving lens.
[0104] The first transmitting lens is arranged on the outgoing light path of the first laser transmitter. The first receiving lens is arranged on the incident light path of the first laser receiver. The second transmitting lens is arranged on the outgoing light path of the second laser transmitter. The second receiving lens is arranged on the incident light path of the second laser receiver.
[0105] For example, Figure 3 As shown, a lens is arranged on the outgoing light path of the light source, and a lens is arranged on the incident light path of the sensor.
[0106] In this embodiment, lenses need to be provided on the outgoing / incident optical paths of the first laser transmitter 102 , the first laser receiver 103 , the second laser transmitter 104 , and the second laser receiver 105 , respectively.
[0107] In another possible implementation, Figure 1 On the basis of the ToF distance measuring device shown, the ToF distance measuring device provided in this embodiment further includes: a first beam splitter and a third emitting lens.
[0108] The first beam splitter is disposed on the outgoing light paths of the first laser emitter and the second laser emitter. The first beam splitter is used to transmit the first laser and reflect the second laser; or transmit the second laser and reflect the first laser, so that the outgoing light path of the first laser emitter overlaps with the outgoing light path of the second laser emitter.
[0109] The third emitting lens is arranged on the emission light path where the first laser emitter and the second laser emitter overlap.
[0110] In the present embodiment, the positions of the first laser emitter and the second laser emitter are set so that the output light paths of the first laser emitter and the second laser emitter intersect, and a first beam splitter is set at the intersection. The first beam splitter transmits any output light of the first laser emitter and the second laser emitter and reflects the other output light of the first laser emitter and the second laser emitter, so that the output light paths of the first laser emitter and the second laser emitter overlap, so that the first laser emitter and the second laser emitter share a third emission lens, thereby simplifying the optical-mechanical structure.
[0111] In another possible implementation, see Figure 5 , Figure 5 A schematic diagram of the structure of another ToF ranging device provided in an embodiment of the present disclosure, Figure 5 is Figure 1On the basis of the ToF distance measuring device shown in the figure, the ToF distance measuring device provided in this embodiment further includes: a second beam splitter and a third receiving lens;
[0112] The second beam splitter is disposed on the incident light path of the first laser receiver and the second laser receiver. The second beam splitter is used to transmit the third laser and reflect the fourth laser; or transmit the fourth laser and reflect the third laser; so that the incident light path of the first laser receiver coincides with the incident light path of the second laser receiver.
[0113] The third receiving lens is arranged on the incident light path where the first laser receiver and the second laser receiver overlap.
[0114] in, Figure 5 The first laser transmitter is shown as a 650nm red dot laser, the first laser receiver is shown as a 650nm ITOF phase receiver, the second laser transmitter is shown as a 905nm laser, and the second laser receiver is shown as a 905nm DTOF pulse receiver.
[0115] In this embodiment, the positions of the first laser receiver and the second laser receiver are set so that the incident light paths of the first laser receiver and the second laser receiver intersect, and a second beam splitter is set at the intersection. The second beam splitter transmits any incident light received by the first laser receiver and the second laser receiver, and reflects the other incident light in the first laser receiver and the second laser receiver, so that the incident light paths of the first laser emitter and the second laser emitter overlap, so that the first laser emitter and the second laser emitter share a fourth emission lens, thereby simplifying the optical-mechanical structure.
[0116] In another possible implementation, see Figure 6 , Figure 6 A schematic diagram of the structure of another ToF ranging device provided in an embodiment of the present disclosure, Figure 6 is Figure 1 On the basis of the ToF distance measuring device shown, the ToF distance measuring device provided in this embodiment further includes: a first beam splitter and a third emitting lens.
[0117] The first beam splitter is arranged on the outgoing light path of the first laser emitter and the second laser emitter; the first beam splitter is used to transmit the first laser and reflect the second laser; or, transmit the second laser and reflect the first laser, so that the outgoing light path of the first laser emitter coincides with the outgoing light path of the second laser emitter.
[0118] The third emitting lens is arranged on the emission light path where the first laser emitter and the second laser emitter overlap.
[0119] The ToF distance measuring device provided in this embodiment further includes: a second beam splitter and a third receiving lens;
[0120] The second beam splitter is disposed on the incident light path of the first laser receiver and the second laser receiver; the second beam splitter is used to transmit the third laser and reflect the fourth laser; or transmit the fourth laser and reflect the third laser; so that the incident light path of the first laser receiver coincides with the incident light path of the second laser receiver;
[0121] The third receiving lens is arranged on the incident light path where the first laser receiver and the second laser receiver overlap.
[0122] in, Figure 6 The first laser transmitter is shown as a 650nm red dot laser, the first laser receiver is shown as a 650nm ITOF phase receiver, the second laser transmitter is shown as a 905nm laser, and the second laser receiver is shown as a 905nm DTOF pulse receiver.
[0123] The implementation principle and beneficial effects of this embodiment are similar to those of the above embodiments and will not be described in detail here.
[0124] The present disclosure provides a ToF ranging device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor executes the program to implement the above Figure 2 The steps of the method shown are not repeated here.
[0125] Based on the ToF ranging method described in any of the above embodiments, the embodiment of the present disclosure further provides a computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc. The storage medium stores computer instructions for executing the ToF ranging method described in any of the above embodiments, which will not be described in detail here.
[0126] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.
[0127] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.
Claims
1. A time-of-flight (ToF) ranging method, characterized in that: include: The method comprises: Based on the indirect time-of-flight (iToF) ranging method, a first laser is used to measure the distance of the object to be measured to obtain a first distance value; and based on the direct time-of-flight (dToF) ranging method, a second laser is used to measure the distance of the object to be measured to obtain a second distance value; the resolution of the first laser is greater than the resolution of the second laser; Based on a multi-scale measurement method, a distance value between the object to be measured and the object to be measured is obtained according to the first distance value and the second distance value.
2. The method according to claim 1, characterized in that The iToF ranging method is based on which the first laser is used to measure the distance of the object to be measured to obtain a first distance value, including: emitting the first laser toward the object to be measured; receiving a third laser beam reflected by the first laser beam from the object to be measured; A first distance value is obtained according to a phase difference between the first laser and the third laser.
3. The method according to claim 1, characterized in that The method of measuring the distance of the object to be measured by using a second laser based on the dToF ranging method to obtain a second distance value includes: emitting a second laser toward the object to be measured and starting timing; receiving a fourth laser beam reflected by the second laser beam from the object to be measured, and ending timing; A second distance value is obtained according to the timing duration and the speed of light; the timing duration refers to the duration between the start timing moment and the end timing moment.
4. The method according to claim 1, characterized in that: The method of obtaining a distance value from the object to be measured based on the multi-scale measurement method according to the first distance value and the second distance value includes: Based on a multi-scale measurement method, the first distance value and the second distance value are summed to obtain the distance value.
5. A ToF ranging device, characterized in that: The ToF distance measuring device comprises a processing module, a first laser transmitter, a first laser receiver, a second laser transmitter and a second laser receiver; The first laser emitter is used to emit a first laser; The first laser receiver is used to receive a third laser; The second laser emitter is used to emit a second laser; The second laser receiver is used to receive a fourth laser; The processing module is used to implement the method according to any one of claims 1-4.
6. The device according to claim 5, characterized in that The ToF ranging device also includes: a first transmitting lens, a first receiving lens, a second transmitting lens and a second receiving lens; the first transmitting lens is arranged on the outgoing light path of the first laser transmitter; the first receiving lens is arranged on the incident light path of the first laser receiver; the second transmitting lens is arranged on the outgoing light path of the second laser transmitter; the second receiving lens is arranged on the incident light path of the second laser receiver.
7. The device according to claim 5, characterized in that The ToF distance measuring device further includes: a first beam splitter and a third emitting lens; The first beam splitter is disposed on the outgoing light paths of the first laser emitter and the second laser emitter; the first beam splitter is used to transmit the first laser and reflect the second laser; or transmit the second laser and reflect the first laser; so that the outgoing light path of the first laser emitter coincides with the outgoing light path of the second laser emitter; The third emitting lens is arranged on an emission light path where the first laser emitter and the second laser emitter overlap.
8. The device according to claim 5 or 7, characterized in that The ToF distance measuring device further includes: a second beam splitter and a third receiving lens; The second beam splitter is disposed on the incident light paths of the first laser receiver and the second laser receiver; the second beam splitter is used to transmit the third laser and reflect the fourth laser; or transmit the fourth laser and reflect the third laser; so that the incident light path of the first laser receiver coincides with the incident light path of the second laser receiver; The third receiving lens is arranged on an incident light path where the first laser receiver and the second laser receiver overlap.
9. A ToF ranging device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 4 are implemented.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.