Time-of-flight measurement system and laser distance measuring device

Abstract

A time-of-flight measurement system and a laser ranging device, the system comprising a detector array (10) and a statistical module (30): the detector array (10) comprises a first detection module (11), the first detection module (11) comprising t detection modules (111) arranged in sequence; the statistical module (30) comprises a first selection module (71) and a first statistical module (31); the first selection module (71) comprises a first set of first selection components (711), configured to sequentially select, in a first preset order, a time-of-flight data set corresponding to each of the t detection modules (111) included in the first detection module (11), and output the time-of-flight data set corresponding to each of the t detection modules (111) included in the first detection module (11) in time; the first statistical module (31) comprises a first set of first statistical components (311), configured to count the time-of-flight data set corresponding to the detection module (111) selected by the first set of first selection components (711), and generate histogram data corresponding to the detection module (111) selected by the first set of first selection components (711). Thus, the hardware resource overhead of the time-of-flight measurement system using the detector array (10) is saved.

Description

Technical Field

[0001] This application belongs to the field of ranging technology, and in particular relates to a time-of-flight measurement system and a laser ranging device. Background Technology

[0002] Time-of-flight (TOF) measurement technology has important applications in fields such as autonomous driving, facial recognition, and 3D gesture recognition. In a TOF measurement system, a light-emitting unit emits pulse signals. A detector, such as a single-photon avalanche diode (SPAD), receives the echo signals, performs photoelectric conversion, and generates pulse electrical signals through the avalanche effect. The detector transmits these pulse electrical signals to a sampling circuit, such as a time-to-digital converter (TDC), which records the time of the pulse electrical signals. Histogram data is then obtained by statistically analyzing the recorded pulse electrical signals and written to a storage unit. This histogram data is then output to a subsequent data processing system for further processing. The data processing system determines the time of flight based on the histogram data and calculates the distance between the laser and the object.

[0003] Currently, one implementation of the detector is an array detector, which consists of multiple detection units 101 arranged in an array. When the multiple detection units 101 in the array detector perform time-of-flight measurements, they generate multiple sets of time-of-flight data corresponding to each detection unit 101. However, generating histogram data for each detection unit 101 by statistically analyzing these time-of-flight data sets requires a large number of statistical channels, resulting in significant hardware resource overhead.

[0004] How to save storage space and hardware resource costs in time-of-flight measurement systems using array detectors has become a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a time-of-flight measurement system and a laser ranging device, which aims to save the hardware resource overhead and storage capacity required for time-of-flight measurement systems using array detectors.

[0006] In a first aspect, embodiments of this application provide a time-of-flight measurement system, comprising:

[0007] The detector array includes a first detection module; the first detection module includes t detection modules arranged sequentially, each detection module including m*n detection units 101; wherein t, m and n are all positive integers, and t>1, m≥1, n≥1;

[0008] The statistical module includes a first selection module and a first statistical module; the first selection module includes a first group of first selection components, and the first group of first selection components corresponds one-to-one with the first detection module; the first statistical module includes a first group of first statistical components, and the first group of first statistical components corresponds one-to-one with the first group of first selection components.

[0009] The first group of first selection components is used to sequentially select the time-of-flight data sets corresponding to each of the t detection modules included in the first detection module according to a first preset order, so as to output the time-of-flight data sets corresponding to each of the t detection modules included in the first detection module to the first group of first statistics components in a time-division manner; each time-of-flight data set is used to indicate the photon events of a detection unit 101 within a time-of-flight statistical period; the first group of first statistics is used to statistically analyze the time-of-flight data sets corresponding to the detection modules selected by the first group of first selection components, so as to generate histogram data corresponding to the detection modules selected by the first group of first selection components.

[0010] Secondly, this application also provides a laser ranging device, including the aforementioned time-of-flight measurement system.

[0011] Beneficial effects

[0012] The beneficial effects of this application embodiment compared with the prior art are as follows: The time-of-flight measurement system provided by this application selects the time-of-flight data sets corresponding to each of the t detection modules included in the first detection module in a first preset order through the first group of first selection components, so as to output the time-of-flight data sets corresponding to each of the t detection modules included in the first detection module to the first group of first statistical components in a time-division manner. Only one first group of first statistical components is needed to count the time-of-flight data sets corresponding to each of the multiple detection modules and generate histogram data corresponding to each of the multiple detection modules. There is no need to set up a one-to-one corresponding first group of first statistical components for each detection module, thereby reducing the number of statistical channels and saving the hardware resource overhead required for the time-of-flight measurement system to count the histogram data of multiple detection modules. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A schematic diagram of a flight time measurement system provided in an embodiment of this application;

[0015] Figure 2 A schematic diagram of the structure of a first detection module, a first selection module, a first statistics module, and a first storage module of a time-of-flight measurement system provided in an embodiment of this application;

[0016] Figure 3 A schematic diagram of the structure of a first detection module, a first selection module, and a first statistics module of a time-of-flight measurement system provided in an embodiment of this application;

[0017] Figure 4 Another schematic diagram of the structure of the first detection module, the first selection module, and the first statistics module of the time-of-flight measurement system provided in an embodiment of this application;

[0018] Figure 5 for Figure 4 A schematic diagram of a specific structure of the first detection module, the first selection module, and the first statistics module of the provided time-of-flight measurement system;

[0019] Figure 6 A schematic diagram of a specific structure of a first detection module, a first selection module, a first statistics module, and a first storage module of a time-of-flight measurement system provided in an embodiment of this application;

[0020] Figure 7 A schematic diagram of the structure of a first detection module, a first selection module, a first statistics module, and a first storage module of a time-of-flight measurement system provided in another embodiment of this application;

[0021] Figure 8 A schematic diagram of the structure of a first detection module, a first selection module, a first statistics module, and a first storage module, as well as a second detection module, a second selection module, a second statistics module, and a second storage module, provided in another embodiment of the time-of-flight measurement system of this application;

[0022] Figure 9 A schematic diagram of the structure of a first detection module, a first selection module, and a first statistics module, as well as a second detection module, a second selection module, and a second statistics module, provided in another embodiment of the time-of-flight measurement system of this application;

[0023] Figure 10 Another schematic diagram of the structure of a first detection module, a first selection module, and a first statistics module, as well as a second detection module, a second selection module, and a second statistics module, provided for another embodiment of the time-of-flight measurement system of this application;

[0024] Figure 11 for Figure 10 A schematic diagram of a specific structure of the second detection module, the second selection module, and the second statistics module of the provided time-of-flight measurement system;

[0025] Figure 12 A schematic diagram of a specific structure of a second detection module, a second selection module, a second statistics module, and a second storage module of a time-of-flight measurement system provided in another embodiment of this application;

[0026] Figure 13 A schematic diagram of the structure of a first detection module, a first selection module, a first statistics module, and a first storage module, as well as a second detection module, a second selection module, a second statistics module, and a second storage module, provided in another embodiment of the time-of-flight measurement system of this application;

[0027] Figure 14 This is a schematic diagram of a flight time measurement system provided in another embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0029] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly or indirectly attached to that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are for descriptive convenience only, not indicating or implying that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0030] To illustrate the technical solutions provided in this application, the following detailed description is provided in conjunction with specific drawings and embodiments.

[0031] Figure 1 A schematic diagram of a flight time measurement system provided in this application is shown. For ease of explanation, only the parts relevant to this embodiment are shown, and are described in detail below:

[0032] The aforementioned time-of-flight measurement system includes a detector array 10, a sampling module 20, a statistical module 30, a storage module 40, and a control and processing module 50. The detector array 10 includes multiple detection units 101 arranged in an array. These detection units 101 receive optical signals and convert them into electrical signals. The optical signals received by each detection unit 101 include echo signals from pulsed light signals emitted by light-emitting units, reflected by obstacles within the detection area. The sampling module 20 is connected to the detection units 101 in the detector array 10 and generates corresponding time-of-flight data based on the electrical signals converted by the detection units 101. The time-of-flight data includes the flight period and the number of photons corresponding to that flight period, indicating the electrical signal generation time of the corresponding detection unit 101, and thus indicating the arrival time of the optical signal received by the corresponding detection unit 101. The statistical module 30 is connected to the sampling module 20 and the storage module 40 and calculates histogram data corresponding to each detection unit 101 based on the time-of-flight data output by the sampling module 20. The storage module 40 is connected to the statistics module 30 and the control and processing module 50. It is used to write the histogram data corresponding to each detection unit 101 obtained by the statistics module 30, and output the histogram data corresponding to each detection unit 101 to the control and processing module 50. The control and processing module 50 is used to control the light-emitting unit to emit light signals, control the detection unit 101 to receive light signals, and also to receive the histogram data corresponding to each detection unit 101, process the histogram data corresponding to each detection unit 101, and determine the flight time detected by each detection unit 101.

[0033] like Figure 2As shown, the detector array 10 includes a first detection module 11; the first detection module 11 includes t detection modules 111 arranged sequentially, each detection module 111 including m*n detection units 101; where t, m, and n are all positive integers, and t>1, m≥1, n≥1; the statistics module 30 includes a first selection module 71 and a first statistics module 31; the first selection module 71 includes a first group of first selection components 711, the first group of first selection components 711 corresponding one-to-one with the first detection module 11; the first statistics module 31 includes a first group of first statistics components 311, the first group of first statistics components 311 corresponding one-to-one with the first selection components 711; the first group of first selection components 711 is used to sequentially select the first detection unit 101 according to a first preset order. The detection module 11 includes t detection modules 111, each with its corresponding time-of-flight data set. These data sets are then output to the first group of first statistical components 311 in a time-division manner. The time-of-flight data set corresponding to each detection module 111 includes the time-of-flight data sets corresponding to the m*n detection units 101 within the detection module 111. Each time-of-flight data set indicates the photon events of a detection unit 101 within a time-of-flight statistical period. The first group of first statistical components 311 calculates the time-of-flight data sets corresponding to the detection modules selected by the first group of first selection components 711, generating histogram data corresponding to the selected detection modules 111. The histogram data corresponding to each detection module 111 includes the histogram data of the m*n detection units 101 within the detection module 111.

[0034] In some specific embodiments, the detection unit 101 employs a silicon photomultiplier (SIPM). A SIPM is a novel photodetector device, composed of an array of avalanche diodes operating in Geiger mode, and features high gain, high sensitivity, low bias voltage, insensitivity to magnetic fields, and a compact structure. In other optional embodiments, the detection unit 101 may also employ a single-photon avalanche diode (SPAD). This application does not limit the specific type of the detection unit 101.

[0035] like Figure 2 As shown, the t detection modules 111 in the first detection module 11 include the first detection module to the tth detection module arranged sequentially along the first direction XX; the first preset order can be from the first detection module to the tth detection module, that is, the first preset order can be from left to right; the first preset order can also be from the tth detection module to the first detection module, that is, the first preset order can also be from right to left.

[0036] In some specific implementations, the first selection component 711 of the first group sequentially selects the flight time data sets corresponding to each of the t detection modules 111 included in the first detection module 11 according to a first preset order, so as to output the flight time data sets corresponding to each of the t detection modules 111 included in the first detection module 11 to the first statistical component 311 of the first group in a time-division manner. 11 Time period to T 1t The time period is sequentially selected from the flight time data sets corresponding to the t detection modules 111 included in the first detection module 11, so as to combine the flight time data sets corresponding to the t detection modules 111 included in the first detection module 11 into T. 11 Time period to T 1t The time-segmented output is given to the first statistical component 311 of the first group; specifically, the first selection component 711 of the first group outputs the data in time intervals. 11 The time period selects the flight time data set corresponding to the first detection module 111 and outputs it to the first group of first statistical components 311. The first group of first statistical components 311 counts the flight time data set corresponding to the first detection module 111 to generate histogram data corresponding to the first detection module 111; the first group of first selection components 711 in T 12 The time period selects the flight time data set corresponding to the second detection module 111 and outputs it to the first group of first statistical components 311. The first group of first statistical components 311 counts the flight time data set corresponding to the second detection module 111 to generate histogram data corresponding to the second detection module 111; ... The first group of first selection components 711 in T 1t The time period is selected based on the flight time data set corresponding to the t-th detection module 111, and output to the first statistical component 311. The first statistical component 311 then performs statistical analysis on the flight time data set corresponding to the t-th detection module 111 to generate histogram data corresponding to the t-th detection module 111; where T... 11 Time period to T 1t The time periods are set sequentially along the timeline.

[0037] The time-of-flight measurement system provided in this application selects the time-of-flight data sets corresponding to each of the t detection modules 111 included in the first detection module 11 in a first preset order through the first group of first selection components 711. The time-of-flight data sets corresponding to each of the t detection modules 111 included in the first detection module 11 are then output to the first group of first statistics components 311 in a time-division manner. Only one first group of first statistics components 311 is needed to count the time-of-flight data sets corresponding to each of the t detection modules 111 included in the first detection module 11 and generate histogram data corresponding to each of the t detection modules 111 included in the first detection module 11. It is not necessary to set up a one-to-one first group of first statistics components 311 for each detection module 111, thereby reducing the number of statistical channels and saving the hardware resource overhead required for the time-of-flight measurement system to count the histogram data of multiple detection modules 111.

[0038] like Figure 3 As shown, in an optional implementation, the first selection component 711 of the first group can adopt a t-select-1 data selection module. The t-select-1 quantity selection module includes t sets of input terminals and a set of output terminals. The t sets of input terminals of the t-select-1 quantity selection module are respectively used to receive the flight time data sets corresponding to the t detection modules 111 included in the first detection module 11. Each set of input terminals can include multiple data input terminals for receiving the flight time data set corresponding to one detection module 111. The t-select-1 quantity selection module is used to sequentially select the flight time data sets corresponding to the t detection modules 111 included in the first detection module 11 according to a first preset order, so as to output the flight time data sets corresponding to the t detection modules 111 included in the first detection module 11 through a set of output terminals in a time-division manner. The set of output terminals of the t-select-1 quantity selection module can include multiple data output terminals to output the flight time data set corresponding to the detection module 111 currently selected by the t-select-1 quantity selection module.

[0039] like Figure 4 As shown, in a preferred embodiment, the first group of first selection components 711 includes a first-level data selection module 7111 to a k-th level data selection module 711k, all of which are 2-to-1 data selection modules; wherein, k is a positive integer greater than 1, and 2 k-1 ≤t<2 k .

[0040] When t = 2*i0, where i0 is a positive integer greater than or equal to 1, the number t of the detection modules 111 included in the first detection module 11 is a positive even number greater than or equal to 2; the first selection component 711 of the first group includes i0 first-level data selection modules 7111. Among the t detection modules 111 included in the first detection module 11, the flight time data sets corresponding to every two adjacent detection modules 111 are input into a first-level data selection module 7111, generating i1 first-level selection results, i1 = i0; when t = 2*i0 + 1, that is, the first detection module When the number t of the detection modules 111 included in the first detection module 11 is a positive odd number greater than or equal to 3, the flight time data set corresponding to each two adjacent detection modules 111 in the first 2*i0 detection modules 111 is input into a first-level data selection module 7111 to generate i0 first-level sub-selection results. The i0 first-level sub-selection results and the flight time data set corresponding to the 2*i0+1th detection module 111 (i.e. the tth detection module 111) in the first detection module 11 together form i1 first-level selection results, i1=i0+1;

[0041] When the number of selection results at level j is i j =2*i j0 i j0 When the integer is a positive integer greater than or equal to 1, the first selection component 711 of the first group includes i j0 The (j+1)th level data selection module 711(j+1), 2*i j0 For each pair of adjacent level j selection results, input a level j+1 data selection module 711(j+1) to generate i. j+1 The (j+1)th level selection result, i j+1 =i j0 When the number of selection results at level j is i j =2*i j0 When +1, 2*i j0 +1 of the top i-th selection results of the j-th level j =2*i j0 For each pair of adjacent level j selection results, input a level j+1 data selection module 711(j+1) to generate i. j0 The j-th level sub-selection result, i j0 The j-th level sub-selection result and the 2*i-th level j0 +1 of the j-th level selection results together constitute i j+1 The (j+1)th level selection result, i j+1 =i j0 +1; where j is a positive integer, and 1≤j≤k-1; i j0 It is a positive integer, and 2≤i j0 When j = k-1, the number i of the selection results at level k-1.k-1 =2; The first group of first selection components 711 includes i (k-1)0 The k-th level data selection module 711k,i (k-1)0 =1, that is, the first selection component 711 of the first group includes a k-th level data selection module 711k; the k-th level data selection module 711k is used to receive two k-1 level selection results and output a k-th level selection result.

[0042] When all the first-level data selection modules 7111 to k-th-level data selection modules 711k in the first group of first selection components 711 select the flight time data set corresponding to a certain detection module 111 in the first detection module 11, the k-th-level data selection module 711k outputs the flight time data set corresponding to the detection module 111 to the first group of first statistics components 311. The first group of first statistics components 311 then performs statistics on the flight time data set corresponding to the detection module 111 to generate the histogram data corresponding to the detection module 111. Specifically, the first-level data selection modules 7111 to k-th-level data selection modules 711k in the first group of first selection components 711 select the flight time data set corresponding to the detection module 111 in the first group of first selection components 711. 11 When the time period selects the flight time data set corresponding to the first detection module 111, the k-th level data selection module 711k outputs the flight time data set corresponding to the first detection module 111 to the first group of first statistical components 311. The first group of first statistical components 311 counts the flight time data set corresponding to the first detection module 111 to generate the histogram data corresponding to the first detection module 111. The first level data selection module 7111 to the k-th level data selection module 711k in the first group of first selection components 711 are in T 12 When the time period selects the flight time data set corresponding to the second detection module 111, the k-th level data selection module 711k outputs the flight time data set corresponding to the second detection module 111 to the first group of first statistical components 311. The first group of first statistical components 311 counts the flight time data set corresponding to the second detection module 111 to generate the histogram data corresponding to the second detection module 111; ... the first level data selection module 7111 to the k-th level data selection module 711k in the first group of first selection components 711 are in T 1t The time period is selected based on the flight time data set corresponding to the t-th detection module 111. The k-th level data selection module 711k outputs the flight time data set corresponding to the t-th detection module 111 to the first group of first statistical components 311. The first group of first statistical components 311 performs statistical analysis on the flight time data set corresponding to the t-th detection module 111 to generate histogram data corresponding to the t-th detection module 111; where T 11 Time period to T 1t The time periods are set sequentially along the timeline.

[0043] like Figure 5 As shown, in a specific implementation, t = 12, meaning the first detection module 11 includes 12 detection modules 111 (i.e., the first detection module 111 to the 12th detection module 111); the first group of first selection components 711 includes a first-level data selection module 7111, a second-level data selection module 7112, a third-level data selection module 7113, and a fourth-level data selection module 7114; wherein, the number i0 of the first-level data selection modules 7111 included in the first group of first selection components 711 is 6; among the 12 detection modules 111 included in the first detection module 11, the flight time data sets corresponding to every two adjacent detection modules 111 are input to one first-level data selection module 7111, and the flight time data sets corresponding to the 12 detection modules 111 are input to six first-level data selection modules 7111, generating six first-level selection results; further, the number i0 of the second-level data selection modules 7112 included in the first group of first selection components 711 is 6. 10 =3, among the six Level 1 selection results, each pair of adjacent Level 1 selection results is input into a second data selection module 7112, and the six Level 1 selection results are input into three second data selection modules 7112 to generate three Level 1 selection results; furthermore, the number i of the number of third-level data selection modules 7113 included in the first group of first selection components 711 is... 20 =2, of the three level 2 selection results, the first two level 2 selection results are input into a third data selection module 7113 to generate a third-level sub-selection result. The third-level sub-selection result and the third level 2 selection result in the three level 2 selection results together form two level 3 selection results; furthermore, the number i of the fourth-level data selection modules included in the first group of first selection components 711 is... 30 =2, the two third-level selection results are input into a fourth-level data selection module 7114 to generate a fourth-level selection result.

[0044] Specifically, when the first-level data selection module 7111 to the fourth-level data selection module 7114 in the first group of first selection components 711 all select the flight time data set corresponding to a certain detection module 111 among the 12 detection modules 111 in the first detection module 11, the k-th level data selection module 711k outputs the flight time data set corresponding to the detection module 111 to the first group of first statistics components 311. The first group of first statistics components 311 counts the flight time data set corresponding to the detection module 111 to generate the histogram data corresponding to the detection module 111.

[0045] The first selection component 711 provided in the above embodiment performs multi-level selection on the flight time data sets corresponding to each of the t detection modules 111 included in the first detection module 11 through the k-level data selection module (i.e., the first-level data selection module 7111 to the k-th-level data selection module 711k), so as to realize the sequential selection of the flight time data sets corresponding to each of the t detection modules 111 included in the first detection module 11 in a first preset order, so as to output the flight time data sets corresponding to each of the t detection modules 111 included in the first detection module 11 in a time-division manner.

[0046] Furthermore, such as Figure 6 As shown, the first group of first statistical components 311 includes m*n statistical units 301; the m*n statistical units 301 are respectively used to statistically analyze the flight time data sets corresponding to the m*n detection units 101 included in the detection module 111 selected by the first selection component 711, and generate histogram data corresponding to the m*n detection units 101. For example, assuming that any detection unit 101 among the m*n detection units 101 is the p*q-th detection unit 101, where p and q are both positive integers, and 1≤p≤m, 1≤q≤n; accordingly, the p*q-th statistical unit 301 in the first group of first statistical components 311 is configured to statistically analyze the flight time data set corresponding to the p*q-th detection unit 101 of the detection module selected by the first group of first selection components 711, and generate histogram data corresponding to the p*q-th detection unit 101 of the detection module selected by the first group of first selection components 711.

[0047] The time-of-flight measurement system provided in this application uses time-correlated single-photon counting (TCSPC) to measure the time of flight. Its main principle is that the emitting unit emits pulsed light signals multiple times within one detection cycle. Since the speed of the obstacle is much less than the speed of light, the distance to the obstacle can be considered constant within the same detection cycle, meaning the time of flight remains constant. Therefore, the arrival time of the echo signal has coherent or consistent characteristics, while the arrival time of the noise signal is random. After multiple integration cycles, the echo signal can stand out from the noise signal.

[0048] The basic principle of histogram statistics performed by the statistical unit 301 provided in this embodiment is as follows:

[0049] Each detection unit 101 includes N flight time statistics periods t within a single detection cycle. TOFAccordingly, each detection unit 101 performs N echo light signal detections within a single detection cycle, corresponding to N time-of-flight data sets. The statistics unit 301 generates histogram data corresponding to each detection unit 101 by superimposing the N time-of-flight data sets within a single detection cycle. The horizontal axis of the histogram represents the flight time, and the vertical axis represents the count value. The time corresponding to the maximum count value in the histogram is the flight time detected by that detection unit 101.

[0050] Furthermore, the sampling module 20 includes sampling units corresponding one-to-one with the detection units 101; the sampling units (not shown) are connected to the corresponding detection units 101 and are used to generate N time-of-flight data sets based on the electrical signals converted by the corresponding detection units 101 in N integration cycles; the statistics module 30 includes statistics units 301 corresponding one-to-one with the sampling units; the statistics units 301 are connected to the corresponding sampling units and are used to receive the N time-of-flight data sets output by the corresponding sampling units, and perform superposition processing on the N time-of-flight data sets to generate histogram data of the corresponding detection units 101, and write the histogram data of the corresponding detection units 101 into the corresponding storage module 411.

[0051] In one specific implementation, the sampling unit employs a time-to-digital converter (TDC).

[0052] like Figure 2 As shown, the storage module 40 also includes a first storage module 41, which includes a first group of first storage components 411. The first group of first storage components 411 corresponds one-to-one with the first group of first statistical components 311, and is used to write and output the histogram data obtained by the first group of first statistical components 311, so as to write and output the histogram data corresponding to the t detection modules 111 included in the first detection module 11 in a time-division manner according to a first preset order. Figure 6 As shown, the first group of first storage components 411 includes m*n storage modules 401; each of the m*n storage modules 401 corresponds one-to-one with the m*n detection units 101 included in each detection module 111, and is used to write and output the histogram data corresponding to the m*n detection units 101 respectively. For example, suppose any one of the m*n detection units 101 is the p*q-th detection unit 101, where p and q are both positive integers, and 1≤p≤m, 1≤q≤n; accordingly, the p*q-th storage module 401 is configured to write and output the histogram data corresponding to the p*q-th detection unit 101 in t detection modules 111.

[0053] The time-of-flight measurement system provided in this application writes and outputs histogram data corresponding to the t detection modules 111 included in the first detection module 11 in a time-division manner according to a first preset order through a first group of first storage components 411 corresponding one-to-one with the first group of first statistical components 311. Only one first group of first storage components 411 is needed to write the histogram data corresponding to the t detection modules 111 included in the first detection module 11, without the need to set up a one-to-one corresponding first group of first storage components 411 for each detection module 111, thereby saving the storage capacity required by the time-of-flight measurement system. Furthermore, by outputting the histogram data corresponding to the t detection modules 111 included in the first detection module 11 in a time-division manner through the first group of first storage components 411, the subsequent hardware structure for processing the histogram data corresponding to the t detection modules 111 can be time-division multiplexed, thereby further saving the hardware resource overhead required for data processing in the time-of-flight measurement system.

[0054] like Figure 7 As shown, the detector array 10 includes s first detection modules 11, where s is a positive integer and s>1; the s first detection modules 11 are arranged along the second direction YY; correspondingly, the first selection module 71 includes s first selection components 711 corresponding to each of the s first detection modules 11; the first statistics module 31 includes s first group first statistics components 311 corresponding to each of the s first selection components 711; and the first storage module 41 includes s first group first storage components 411 corresponding to each of the s first group first statistics components 311.

[0055] As an example and not a limitation, the first direction is the horizontal direction XX (or the horizontal direction), and the second direction is the vertical direction YY (or the vertical direction). Compared to detection by a single first detection module 11, the above embodiment uses multiple first detection modules 11 arranged along the second direction YY to detect, which can further expand the detection field of view along the second direction.

[0056] For example, the first detection module 11 located in the i-th row outputs the flight time data sets corresponding to the t detection modules 111 included in the i-th row first detection module 11, where i is a positive integer and 1≤i≤s; the i-th first group first selection component 711 selects the flight time data sets corresponding to the t detection modules 111 included in the i-th row first detection module 11 in a first preset order, so as to output the flight time data sets corresponding to the t detection modules 111 included in the i-th row first detection module 11 to the i-th first group first statistics component 311 in a time-division manner; the i-th first group first statistics component 311 counts the flight time data sets corresponding to the detection modules 111 selected by the i-th first group first selection component 711, so as to generate the histogram data corresponding to the detection modules 111 selected by the i-th first group first selection component.

[0057] like Figure 8 As shown, in some other specific embodiments, the detector array 10 further includes a second detection module 12; the second detection module 12 and the first detection module 11 are arranged along a first direction XX, and the second detection module 12 includes t detection modules 111; the statistics module 30 further includes a second selection module 72 and a second statistics module 32; the second selection module 72 includes a second group of first selection components 721, and the second group of first selection components 721 corresponds one-to-one with the second detection module 12; the second statistics module 32 includes a second group of first statistics components 321, and the second group of first statistics components 321 corresponds one-to-one with the second group of first selection components. 721 correspond one-to-one; the second group of first selection components 721 is used to sequentially select the flight time data sets corresponding to each of the t detection modules 111 included in the second detection module 12 according to the second preset order, so as to output the flight time data sets corresponding to each of the t detection modules 111 included in the second detection module 12 to the second group of first statistics components 321 in a time-division manner; the second group of first statistics components 321 is used to count the flight time data sets corresponding to the detection modules selected by the second group of first selection components 721, so as to generate histogram data corresponding to the detection modules 111 selected by the second group of first selection components 721.

[0058] Furthermore, compared to detection by a single first detection module, the above embodiment can further expand the detection field of view along the second direction YY by using the first detection module 11 and the second detection module 12 arranged along the first direction for detection.

[0059] like Figure 8As shown, the first detection module 11 has t detection modules 111, including the first detection module to the tth detection module arranged sequentially along the first direction XX; the second detection module 12 has t detection modules 111, including the t+1th detection module to the 2tth detection module arranged sequentially along the first direction XX; the first preset order is from the first detection module to the tth detection module, that is, from left to right; the second preset order can also be from the 2tth detection module to the t+1th detection module, that is, from right to left.

[0060] In some specific implementations, the first selection component 711 of the first group sequentially selects the flight time data sets corresponding to each of the t detection modules 111 included in the first detection module 11 according to a first preset order, so as to output the flight time data sets corresponding to each of the t detection modules 111 included in the first detection module 11 to the first statistical component 311 of the first group in a time-division manner. 11 Time period to T 1t The time period is sequentially selected from the flight time data sets corresponding to the t detection modules 111 included in the first detection module 11, so as to combine the flight time data sets corresponding to the t detection modules 111 included in the first detection module 11 into T. 11 Time period to T 1t The time-sharing data is output to the first statistical component 311 of the first group. The second selection component 721 of the second group selects the flight time data sets corresponding to each of the t detection modules 111 included in the second detection module 12 in a second preset order, so as to output the flight time data sets corresponding to each of the t detection modules 111 included in the second detection module 12 to the second statistical component 321 in a time-sharing manner. 11 Time period to T 1t The time period is sequentially selected from the flight time data sets corresponding to the t detection modules 111 included in the second detection module 12, so as to combine the flight time data sets corresponding to the t detection modules 111 included in the second detection module 12 into T. 11 Time period to T 1t The time-segmented output is sent to the first statistical component 321 of the second group.

[0061] Specifically, the first group of first selection components 711 in T 11 The time period selects the flight time data set corresponding to the first detection module 111 and outputs it to the first group of first statistical components 311. The first group of first statistical components 311 counts the flight time data set corresponding to the first detection module 111 to generate histogram data corresponding to the first detection module 111; the second group of first selection components 721 selects the flight time data set corresponding to the first detection module 111 in the T time period. 11The time period is selected based on the flight time data set corresponding to the 2t detection module 111, and output to the second group of first statistical components 311. The second group of first selection components 721 statistically analyzes the flight time data set corresponding to the 2t detection module 111 to generate histogram data corresponding to the 2t detection module 111. The first group of first selection components 711 in T 12 The time period selects the flight time data set corresponding to the second detection module 111 and outputs it to the first group of first statistical components 311. The first group of first statistical components 311 counts the flight time data set corresponding to the second detection module 111 to generate histogram data corresponding to the second detection module 111; the second group of first selection components 721 selects the flight time data set corresponding to the second detection module 111 in the T time period. 12 The time period is selected based on the flight time data set corresponding to the (2t-1)th detection module 111, and output to the second group of first statistical components 321. The second group of first selection components 721 statistically analyzes the flight time data set corresponding to the (2t-1)th detection module 111 to generate the histogram data corresponding to the (2t-1)th detection module 111; ... The first group of first selection components 711 in T 1t The time period is selected, and the flight time data set corresponding to the t-th detection module 111 is output to the first group of first statistical components 311. The first group of first statistical components 311 counts the flight time data set corresponding to the t-th detection module 111 to generate the histogram data corresponding to the t-th detection module 111; the second group of first selection components 721 selects the flight time data set corresponding to the t-th detection module 111 in time period T. 1t The flight time data set corresponding to the (t+1)th detection module 111 is selected for the time period and output to the second group of first statistical components 321. The second group of first statistical components 321 counts the flight time data set corresponding to the (t)th detection module 111 to generate the histogram data corresponding to the (t+1)th detection module 111.

[0062] like Figure 9 As shown, in an optional implementation, the second group of first selection components 721 can be a t-select-1 data selection module. The t-select-1 quantity selection module includes t sets of input terminals and one set of output terminals. The t sets of input terminals of the t-select-1 quantity selection module are respectively used to receive the flight time data sets corresponding to the t detection modules 111 included in the second detection module 12. Each set of input terminals can include multiple data input terminals for receiving the flight time data set corresponding to one detection module 111. The t-select-1 quantity selection module is used to sequentially select the flight time data sets corresponding to the t detection modules 111 included in the second detection module 12 according to a second preset order, so as to output the flight time data sets corresponding to the t detection modules 111 included in the second detection module 12 through a set of output terminals in a time-division manner. The set of output terminals of the t-select-1 quantity selection module can include multiple data output terminals to output the flight time data set corresponding to the detection module 111 currently selected by the t-select-1 quantity selection module.

[0063] like Figure 10 As shown, in a preferred embodiment, the second group of first selection components 721 includes first-level data selection modules 7211 to k-th level data selection modules 721k, all of which are 2-to-1 data selection modules; wherein, k is a positive integer greater than 1, and 2 k-1 ≤t<2 k .

[0064] When t = 2*i0, where i0 is a positive integer greater than or equal to 1, the number t of the detection modules 111 included in the second detection module 12 is a positive even number greater than or equal to 2; the second group of first selection components 721 includes i0 first-level data selection modules 7211. Among the t detection modules 111 included in the first detection module 11, the flight time data sets corresponding to every two adjacent detection modules 111 are input into a first-level data selection module 7211, generating i1 first-level selection results, i1 = i0; when t = 2*i0 + 1, that is, the first detection module When the number t of the detection modules 111 included in the first detection module 11 is a positive odd number greater than or equal to 3, the flight time data set corresponding to each two adjacent detection modules 111 in the first 2*i0 detection modules 111 is input into a first-level data selection module 7211 to generate i0 first-level sub-selection results. The i0 first-level sub-selection results and the flight time data set corresponding to the 2*i0+1th detection module 111 (i.e. the tth detection module 111) in the first detection module 11 together form i1 first-level selection results, i1=i0+1;

[0065] When the number of selection results at level j is i j =2*i j0 i j0 When the integer is a positive integer greater than or equal to 1, the second group of first selection components 721 includes i j0 The (j+1)th level data selection module 721(j+1), 2*i j0 For each pair of adjacent level j selection results, input a level j+1 data selection module 721(j+1) to generate i. j+1 The (j+1)th level selection result, i j+1 =i j0 When the number of selection results at level j is i j =2*i j0 When +1, 2*i j0 +1 of the top i-th selection results of the j-th level j =2*i j0 For each pair of adjacent level j selection results, input a level j+1 data selection module 721(j+1) to generate i.j0 The j-th level sub-selection result, i j0 The j-th level sub-selection result and the 2*i-th level j0 +1 of the j-th level selection results together constitute i j+1 The (j+1)th level selection result, i j+1 =i j0 +1; where j is a positive integer, and 1≤j≤k-1; i j0 It is a positive integer, and 2≤i j0 When j = k-1, the number i of the selection results at level k-1. k-1 =2; The second group of first selection components 711 includes i (k-1)0 The k-th level data selection module 721k, i (k-1)0 =1, that is, the first selection component 721 of the first group includes a k-th level data selection module 721k; the k-th level data selection module 721k is used to receive two k-1 level selection results and output a k-th level selection result.

[0066] When the first-level data selection module 7211 to the k-th level data selection module 721k in the second group of first selection components 721 all select the flight time data set corresponding to a certain detection module 111 in the two detection modules 12, the k-th level data selection module 721k outputs the flight time data set corresponding to the detection module 111 to the second group of first statistics component 321. The second group of first statistics component 321 counts the flight time data set corresponding to the detection module 111 to generate the histogram data corresponding to the detection module 111.

[0067] Specifically, the first-level data selection module 7211 to the k-th level data selection module 721k in the second group of the first selection component 721 are in T 11 When the time period is selected from the flight time data set corresponding to the 2t detection module 111, the k-th level data selection module 721k outputs the flight time data set corresponding to the 2t detection module 111 to the second group of first statistical components 321. The second group of first statistical components 321 counts the flight time data set corresponding to the 2t detection module 111 to generate the histogram data corresponding to the 1st detection module 111. The first level data selection module 7211 to the k-th level data selection module 721k in the second group of first selection components 721 are in T 12When the time period is selected from the flight time data set corresponding to the 2t-1 detection module 111, the k-th level data selection module 721k outputs the flight time data set corresponding to the 2t-1 detection module 111 to the second group of first statistical components 321. The second group of first statistical components 321 then performs statistics on the flight time data set corresponding to the 2t-1 detection module 111 to generate the histogram data corresponding to the 2t-1 detection module 111; ... the first level data selection module 7211 to the k-th level data selection module 721k in the second group of first selection components 721 are in the T 1t The time period is selected based on the flight time data set corresponding to the (t+1)th detection module 111. The k-th level data selection module 721k outputs the flight time data set corresponding to the (t+1)th detection module 111 to the second group of first statistical components 321. The second group of first statistical components 321 performs statistics on the flight time data set corresponding to the (t+1)th detection module 111 to generate the histogram data corresponding to the (t+1)th detection module 111.

[0068] like Figure 11 As shown, in one specific implementation, t = 12, the second detection module 12 includes 12 detection modules 111 (i.e., the 12th detection module 111 to the 23rd detection module 111); the second group of first selection components 721 includes a first-level data selection module 7211, a second-level data selection module 7212, a third-level data selection module 7213, and a fourth-level data selection module 7214; wherein, the number i0 of the first-level data selection modules 7211 included in the second group of first selection components 721 is 6; among the 12 detection modules 111 included in the first detection module 11, the flight time data sets corresponding to every two adjacent detection modules 111 are input to one first-level data selection module 7211, and the flight time data sets corresponding to the 12 detection modules 111 are input to six first-level data selection modules 7211, generating six first-level selection results; furthermore, the number i0 of the second-level data selection modules 7212 included in the second group of first selection components 721 is 6. 10 =3, among the six Level 1 selection results, each pair of adjacent Level 1 selection results is input into a second data selection module 7212, and the six Level 1 selection results are input into three second-level data selection modules 7212 to generate three Level 1 selection results; furthermore, the number i of the number of third-level data selection modules 7213 included in the second group of first selection components 721 is... 20 =2, of the three level 2 selection results, the first two level 2 selection results are input into a third data selection module 7213 to generate a third-level sub-selection result. The third-level sub-selection result and the third level 2 selection result in the three level 2 selection results together form two level 3 selection results; furthermore, the number i of the fourth-level data selection modules 7214 included in the second group of first selection components 721 is... 30=2, the two third-level selection results are input into a fourth-level data selection module 7214 to generate a fourth-level selection result.

[0069] Specifically, when the first-level data selection module 7211 to the fourth-level data selection module 7214 in the second group of first selection components 721 all select the flight time data set corresponding to a certain detection module 111 among the 12 detection modules 111 in the second detection module 12, the k-th level data selection module 721k outputs the flight time data set corresponding to the detection module 111 to the second group of first statistics component 321. The second group of first statistics component 321 counts the flight time data set corresponding to the detection module 111 to generate the histogram data corresponding to the detection module 111.

[0070] The second set of first selection components 721 provided in the above embodiment performs multi-level selection on the flight time data sets corresponding to each of the t detection modules 111 included in the second detection module 12 through the k-level data selection module (i.e., the first-level data selection module 7211 to the k-th-level data selection module 721k), so as to realize the sequential selection of the flight time data sets corresponding to each of the t detection modules 111 included in the second detection module 12 in a second preset order, so as to output the flight time data sets corresponding to each of the t detection modules 111 included in the second detection module 12 in a time-division manner.

[0071] Furthermore, such as Figure 12 As shown, the second group of first statistical components 321 includes m*n statistical units 301. These m*n statistical units 301 are used to statistically analyze the flight time data sets corresponding to the m*n detection units 101 included in the detection module 111 selected by the second group of first selection components 721, generating histogram data corresponding to each of the m*n detection units 101. For example, assuming any one of the m*n detection units 101 is the p*q-th detection unit 101, where p and q are both positive integers, and 1≤p≤m, 1≤q≤n; correspondingly, the p*q-th statistical unit 301 in the second group of first statistical components 321 is configured to statistically analyze the flight time data set corresponding to the p*q-th detection unit 101 of the detection module 111 selected by the second group of first selection components 721, generating histogram data corresponding to the p*q-th detection unit 101 of the detection module 111 selected by the second group of first selection components 721.

[0072] Furthermore, such as Figure 8As shown, the storage module 40 further includes a first storage module 41 and a second storage module 42. The first storage module 41 includes a first group of first storage components 411. The first group of first storage components 411 corresponds one-to-one with the first group of first statistical components 311, and is used to write and output the histogram data obtained by the first group of first statistical components 311, so as to write and output the histogram data corresponding to the t detection modules 111 included in the first detection module 11 in a time-division manner according to a first preset order. The second storage module 42 includes a second group of first storage components 421. The second group of first storage components 421 corresponds one-to-one with the second group of first statistical components 321, and is used to write and output the histogram data obtained by the second group of first statistical components 321, so as to write and output the histogram data corresponding to the t detection modules 111 included in the second detection module 12 in a time-division manner according to a second preset order.

[0073] like Figure 12 As shown, the first group of first storage components 411 includes m*n storage modules 401; the m*n storage modules 401 correspond one-to-one with the m*n detection units 101 included in each detection module 111 of the first detection module 11, and are respectively used to write and output the histogram data corresponding to the m*n detection units 101. Figure 12 As shown, the second group of first storage components 421 includes m*n storage modules 4211; the m*n storage modules 4211 correspond one-to-one with the m*n detection units 101 included in each detection module 111 of the second detection module 12, and are respectively used to write and output the histogram data corresponding to the m*n detection units 101. For example, suppose any detection unit 101 among the m*n detection units 101 is the p*q-th detection unit 101, where p and q are both positive integers, and 1≤p≤m, 1≤q≤n; accordingly, the p*q-th storage module 401 is configured to write and output the histogram data corresponding to the p*q-th detection unit 101 in the t detection modules 111.

[0074] The time-of-flight measurement system provided in this application writes and outputs histogram data corresponding to the t detection modules 111 included in the first detection module 11 in a time-division manner according to a first preset order through a first group of first storage components 411 corresponding one-to-one with the first group of first statistical components 311. Only one first group of first storage components 411 is needed to write the histogram data corresponding to the t detection modules 111 included in the first detection module 11, without the need to set up a one-to-one corresponding first group of first storage components 411 for each detection module 111, thereby saving the storage capacity required by the time-of-flight measurement system. Furthermore, by outputting the histogram data corresponding to the t detection modules 111 included in the first detection module 11 in a time-division manner through the first group of first storage components 411, the subsequent hardware structure for processing the histogram data corresponding to the t detection modules 111 can be time-division multiplexed, thereby further saving the hardware resource overhead required for data processing in the time-of-flight measurement system. Similarly, the flight time measurement system provided in this application writes and outputs histogram data corresponding to the t detection modules 111 included in the second detection module 12 in a time-division manner according to a first preset order through the second group of first storage components 411 corresponding one-to-one with the second group of first statistical components 321. Only one second group of first storage components 421 is needed to write the histogram data corresponding to the t detection modules 111 included in the second detection module 12, without the need to set up a one-to-one corresponding second group of first storage components 421 for each detection module 111, thereby saving the storage capacity required by the flight time measurement system. Furthermore, by outputting the histogram data corresponding to the t detection modules 111 included in the second detection module 12 in a time-division manner through the second group of first storage components 421, the subsequent hardware structure for processing the histogram data corresponding to the t detection modules 111 can be time-division multiplexed, further saving the hardware resource overhead required for data processing in the flight time measurement system.

[0075] like Figure 13As shown, in some other specific embodiments, the detector array 10 includes s first detection modules 11 and s second detection modules 12, where s is a positive integer and s > 1; the s first detection modules 11 are arranged along the second direction Y-Y, and the s second detection modules 12 are arranged along the second direction Y-Y; a first selection module 71; including s first groups of first selection components 711 corresponding to the s first detection modules 11 respectively; a first statistics module 31 includes s first groups of first statistics components 311 corresponding to the s first groups of first selection components 711 respectively; a first storage module 41 includes s first groups of first storage components 411 corresponding to the s first groups of first statistics components 311 respectively; a second selection module 72 includes s second groups of first selection components 721 corresponding to the s second detection modules 11 respectively; a second statistics module 32 includes s second groups of first statistics components 321 corresponding to the s second groups of first selection components 721 respectively; a second storage module 42 includes s second groups of first storage components 421 corresponding to the s second groups of first statistics components 321 respectively. In the embodiments of the present application, by arranging the first detection module 11 and the second detection module 12 in the first direction X-X, the detection field angle of the detector array 10 in the first direction X-X can be expanded; at the same time, by arranging multiple first detection modules 11 and multiple second detection modules 12 in the second direction, the detection field angle of the detector array 10 in the second direction Y-Y can be expanded.

[0076] As Figure 14 shown, the above-mentioned time-of-flight ranging system further includes two laser arrays 60; the two laser arrays 60 are located on both sides of the detector array 10; each laser array includes s * t light-emitting units 601, and each light-emitting unit 601 corresponds to one detection module 111 in the detector array 10.

[0077] In some other specific embodiments, the first selection module 71 further includes a first group of second selection components (not shown) to a first group of U selection components (not shown), where U is a positive integer and 2 ≤ U < t; the first statistics module 31 further includes a first group of second statistics components (not shown) to a first group of U statistics components (not shown); the first group of u selection components is used to sequentially select the flight time data sets corresponding to the u-th detection module to the (t + u - 1)-th detection module in a first preset order, so as to output the flight time data sets corresponding to the u-th detection module to the (t + u - 1)-th detection module to the first group of u statistics components in a time-sharing manner; where u is a positive integer and 2 ≤ u ≤ U; the first group of u statistics components corresponds to the first group of u selection components, and is used to count the flight time data sets corresponding to the detection modules 111 selected by the first group of u selection components, and generate histogram data corresponding to the detection modules selected by the first group of u selection components.

[0078] The second selection module 72 further includes a second group of second selection components (not shown) to a second group of U-th selection components (not shown); the second statistics module 32 further includes a second group of second statistics components (not shown) to a second group of U-th statistics components (not shown); the second group of u-th selection components is used to sequentially select the flight time data sets corresponding to each of the 2t-u+1 detection modules to the tu-th detection modules according to a second preset order, so as to output the flight time data sets corresponding to each of the 2t-u+1 detection modules to the tu-th detection modules to the second group of u-th statistics components in a time-division manner; the second group of u-th statistics components corresponds to the second group of u-th selection components and is used to statistically analyze the flight time data sets corresponding to the detection modules selected by the second group of u-th selection components, and generate histogram data corresponding to the detection modules selected by the second group of u-th selection components.

[0079] The time-of-flight measurement system provided in this application embodiment sequentially selects U-1 detection modules to the right of the currently selected detection module 111 by the first group of the first selection component 711, from the second selection component of the first group to the U-th selection component of the first group. This allows for the simultaneous collection of histogram data from the U-1 detection modules to the right of the currently selected detection module 111 by the first group of the first selection component 711. This facilitates the fusion of histogram data from adjacent detection modules 111 to obtain a more accurate measurement result. Similarly, the time-of-flight measurement system provided in this application embodiment sequentially selects U-1 detection modules 111 to the left of the currently selected detection module 111 by the second selection component of the second group to the U-th selection component of the first group. This allows for the simultaneous collection of histogram data from the U-1 detection modules to the left of the currently selected detection module 111 by the second group of the first selection component. This facilitates the fusion of histogram data from adjacent detection modules 111 by the control and processing module 50 to obtain a more accurate measurement result.

[0080] The working principle and structure of the u-th selection component in the first group are similar to those of the first selection component 711 in the first group. The working principle and structure of the u-th selection component in the first group can be referred to in the first selection component 711 in the first group, and will not be repeated here. The working principle and structure of the u-th selection component in the second group are similar to those of the first selection component 721 in the second group. The working principle and structure of the u-th statistical component in the first group are similar to those of the first statistical component 311 in the first group. The working principle and structure of the u-th statistical component in the first group can be referred to in the first statistical component 311 in the first group, and will not be repeated here. The working principle and structure of the u-th statistical component in the second group are similar to those of the first statistical component 321 in the second group. The working principle and structure of the u-th statistical component in the second group can be referred to in the first statistical component 321 in the second group, and will not be repeated here.

[0081] The first storage module 41 also includes a first group of second storage components (not shown) to a first group of U-th storage components (not shown); the first group of second storage components 412 corresponds to the first group of second statistical components 312, and is used to write and output the histogram data obtained by the first group of second statistical components 312, so as to realize time-division writing and output of the histogram data corresponding to the second detection module to the t+1th detection module 111; the first group of u-th storage components corresponds to the first group of u-th statistical components, and is used to write and output the histogram data obtained by the first group of u-th statistical components, so as to realize time-division writing and output of the histogram data corresponding to the u-th detection module to the t+u-1th detection module; the second The storage module 42 also includes a second group of second storage components (not shown) to a second group of U-th storage components (not shown); the second group of second storage components 422 corresponds to the second group of second statistical components 322, and is used to write and output the histogram data obtained by the second group of second statistical components 322, so as to realize time-division writing and output of the histogram data corresponding to the 2t-1 detection module to the t-1 detection module 111; the second group of u-th storage components corresponds to the second group of u-th statistical components, and is used to write and output the histogram data obtained by the second group of u-th statistical components, so as to realize time-division writing and output of the histogram data corresponding to the 2t-u+1 detection module to the tu-th detection module.

[0082] In one specific implementation, U = 3.

[0083] In an optional implementation, the control and processing module 50 is further configured to perform fusion processing on the histogram data stored in the first group of first storage components 411 to the first group of U-th storage components to obtain more accurate time-of-flight measurement results. The control and processing module 50 is also configured to perform fusion processing on the histogram data stored in the second group of first storage components 421 to the second group of U-th storage components to obtain more accurate time-of-flight measurement results.

[0084] When U=3, the control and processing module 50 is used to fuse the histogram data stored in the first group of first storage components 411, the first group of second storage components, and the first group of third storage components to obtain more accurate time-of-flight measurement results. The control and processing module 50 is also used to fuse the histogram data stored in the second group of first storage components 421, the second group of storage components, and the second group of third storage components to obtain more accurate time-of-flight measurement results.

[0085] In another alternative implementation, the control and processing module 50 fuses the histogram data from multiple scans by the same detection module 111 in the first detection module 11 to obtain more accurate time-of-flight measurement results.

[0086] In one specific embodiment, the light-emitting unit 601 may be a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), a light-emitting diode (LED), a micro light-emitting diode (Micro LED), a pulsed laser deposition (PLD), or a laser diode (LD), etc. This application does not limit the type of the light-emitting unit 601.

[0087] This application also provides a laser ranging device, including the aforementioned time-of-flight measurement system. The laser ranging device generates a point cloud map by determining the flight time of an obstacle using the time-of-flight measurement system. By processing the point cloud map, it obtains parameters such as the obstacle's distance, orientation, height, speed, attitude, and shape, thereby achieving laser detection functionality. This allows it to be applied to navigation and obstacle avoidance, obstacle recognition, ranging, speed measurement, and autonomous driving scenarios in products such as automobiles, robots, logistics vehicles, and inspection vehicles.

[0088] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0089] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A time-of-flight measurement system, characterized in that, include: The detector array includes a first detection module; The first detection module includes t detection modules arranged sequentially, and each detection module includes m*n detection units; where t, m and n are all positive integers, and t>1, m≥1, n≥1; A sampling module, connected to the detection unit in the detector array, is used to generate corresponding time-of-flight data based on the electrical signal converted by the detection unit; The statistical module includes a first selection module and a first statistical module; the first selection module includes a first group of first selection components, and the first group of first selection components corresponds one-to-one with the first detection module; the first statistical module includes a first group of first statistical components, and the first group of first statistical components corresponds one-to-one with the first group of first selection components. The first group of first selection components is used to sequentially select the time-of-flight data sets corresponding to each of the t detection modules included in the first detection module according to a first preset order, so as to output the time-of-flight data sets corresponding to each of the t detection modules included in the first detection module to the first group of first statistics components in a time-division manner; each time-of-flight data set is used to indicate the photon events of a detection unit 101 within a time-of-flight statistical period; the first group of first statistics is used to count the time-of-flight data sets corresponding to the detection modules selected by the first group of first selection components, so as to generate histogram data corresponding to the detection modules selected by the first group of first selection components; The first detection module includes t detection modules arranged sequentially along a first direction, from the first detection module to the tth detection module; the first preset order is from the first detection module to the tth detection module, or the first preset order is from the tth detection module to the first detection module.

2. The time-of-flight measurement system according to claim 1, characterized in that: The first group of first selection components includes a first-stage data selection module to a kth-stage data selection module, each of which is a 2-to-1 data selection module; where k is a positive integer greater than 1, and 2 k-1 ≤ t < 2 k ; When t = 2*i0, where i0 is a positive integer greater than or equal to 1, the first selection component of the first group includes i0 first-level data selection modules; among the t detection modules included in the first detection module, the flight time data sets corresponding to every two adjacent detection modules are input into one first-level data selection module to generate i1 first-level selection results, i1 = i0; when t = 2*i0 + 1, the flight time data sets corresponding to every two adjacent detection modules in the first 2*i0 detection modules of the first detection module are input into one first-level data selection module to generate i0 first-level sub-selection results, and the i0 first-level sub-selection results and the flight time data sets corresponding to the 2*i0 + 1 detection modules together form i1 first-level selection results, i1 = i0 + 1; When the number of selection results at level j is i j =2*i j0 i j0 When the integer is a positive integer greater than or equal to 1, the first selection component of the first group includes i. j0 The (j+1)th level data selection module, 2*i j0 For each pair of adjacent level j selection results, input a level j+1 data selection module to generate i. j+1 The (j+1)th level selection result, i j+1 =i j0 When the number of selection results at level j is i j =2*i j0 When +1, 2*i j0 +1 of the top i-th selection results of the j-th level j =2*i j0 For each pair of adjacent level j selection results, input a level j+1 data selection module to generate i. j0 The j-th level sub-selection result, i j0 The j-th level sub-selection result and the 2*i-th level j0 +1 of the j-th level selection results together constitute i j+1 The (j+1)th level selection result, i j+1 =i j0 +1; where j is a positive integer, and 1≤j≤k-1; i j0 It is a positive integer greater than or equal to 2; when j=k-1, it is the number of selection results at level k-1. k-1 =2.

3. The time-of-flight measurement system according to claim 1, characterized in that: The first group of first statistical components includes m*n statistical units; the m*n statistical units are respectively used to statistically analyze the flight time data sets corresponding to the m*n detection units in the detection modules selected by the first group of first selection components, and generate histogram data corresponding to the m*n detection units.

4. The time-of-flight measurement system according to claim 1, characterized in that, Also includes: A storage module, including a first storage module; the first storage module includes a first group of first storage components; The first storage component in the first group corresponds to the first statistical component in the first group, and is used to write and output the histogram data obtained by the first statistical component in the first group.

5. The time-of-flight measurement system according to claim 4, characterized in that: The detector array includes s first detection modules, where s is a positive integer and s>1; the s first detection modules are arranged along a second direction; the first selection module includes s first selection components corresponding to each of the s first detection modules; the first statistics module includes s first statistics components corresponding to each of the s first selection components; the first storage module includes s first storage components corresponding to each of the s first statistics components.

6. The time-of-flight measurement system according to claim 1, characterized in that: The detector array further includes a second detection module; the second detection module and the first detection module are both arranged along a first direction, and the second detection module includes t detection modules; The time-of-flight measurement system also includes: The second selection module includes a second group of first selection components, which correspond to the second detection module. The second group of first selection components are used to sequentially select the flight time data sets corresponding to each of the t detection modules included in the second detection module according to a second preset order, so as to output the flight time data sets corresponding to each of the t detection modules included in the second detection module to the second group of first statistics components in a time-division manner. The statistical module further includes a second statistical module, which includes a second group of first statistical components. The second group of first statistical components corresponds to the second group of first selection components and is used to statistically analyze the flight time data set corresponding to the detection module selected by the second group of first selection components, and generate histogram data corresponding to the detection module selected by the second group of first selection components.

7. The time-of-flight measurement system according to claim 6, characterized in that: The first detection module includes t detection modules, from the first detection module to the tth detection module, which are arranged sequentially along a first direction; the second detection module includes t detection modules, from the (t+1)th detection module to the 2tth detection module, which are arranged sequentially along the first direction; the first preset order is from the first detection module to the tth detection module; the second preset order is from the 2tth detection module to the (t+1)th detection module.

8. The time-of-flight measurement system according to claim 7, characterized in that, It also includes a storage module; the storage module includes: The first storage module includes a first group of first storage components; the first group of first storage components corresponds to the second group of first statistical components and is used to write and output the histogram data obtained by the first group of first statistical components. The second storage module includes a second group of first storage components; the second group of first storage components corresponds to the second group of first statistical components and is used to write and output the histogram data obtained by the second group of first statistical components.

9. The time-of-flight measurement system according to claim 8, characterized in that: The detector array includes s first detection modules and s second detection modules, where s is a positive integer and s>1; the s first detection modules are arranged along the second direction, and the s second detection modules are arranged along the second direction. The first selection module includes s first groups of first selection components corresponding to the s first detection modules respectively; the first statistics module includes s first groups of first statistics components corresponding to the s first groups of first selection components; the second selection module includes s second groups of second selection components corresponding to the s second detection modules respectively; the second statistics module includes s second groups of first statistics components corresponding to the s second groups of first selection components.

10. The time-of-flight measurement system according to claim 8, characterized in that: The first selection module further includes a first group of second selection components to a first group of U selection components, where U is a positive integer and 2 ≤ U < t; the first statistics module further includes a first group of second statistics components to a first group of U statistics components; the u-th selection component in the first group is used to sequentially select the sets of flight time data corresponding to the u-th detection module to the (t + u - 1)-th detection module in a first preset order, so as to time-division output the sets of flight time data corresponding to the u-th detection module to the (t + u - 1)-th detection module to the u-th statistics component in the first group; where u is a positive integer and 2 ≤ u ≤ U; the u-th statistics component in the first group corresponds to the u-th selection component in the first group, and is used to count the set of flight time data corresponding to the detection module selected by the u-th selection component in the first group and generate the histogram data corresponding to the detection module selected by the u-th selection component in the first group. The second selection module further includes a second group of second selection components to a second group of U selection components; the second statistics module further includes a second group of second statistics components to a second group of U statistics components; the u-th selection component in the second group is used to sequentially select the sets of flight time data corresponding to the (2t - u + 1)-th detection module to the (t - u)-th detection module in a second preset order, so as to time-division output the sets of flight time data corresponding to the (2t - u + 1)-th detection module to the (t - u)-th detection module to the u-th statistics component in the second group; the u-th statistics component in the second group corresponds to the u-th selection component in the second group, and is used to count the set of flight time data corresponding to the detection module selected by the u-th selection component in the second group and generate the histogram data corresponding to the detection module selected by the u-th selection component in the second group. The first storage module includes a first group of second storage components to a first group of U storage components; the u-th storage component in the first group corresponds to the u-th statistics component in the first group, and is used to write and output the histogram data statistically obtained by the u-th statistics component in the first group; the second storage module further includes a second group of second storage components to a first group of U storage components; the u-th storage component in the second group corresponds to the u-th statistics component in the second group, and is used to write and output the histogram data statistically obtained by the u-th statistics component in the second group.

11. The time-of-flight measurement system according to claim 10, characterized in that: It also includes a control and processing module; the control and processing module is used to perform fusion processing on the histogram data stored in the first group of first storage components, the first group of second storage components and the first group of third storage components, and is also used to perform fusion processing on the histogram data stored in the second group of first storage components, the second group of second storage components and the second group of third storage components.

12. A laser ranging device, characterized in that: The time-of-flight measurement system according to any one of claims 1-11 further includes a laser array; the laser array includes light-emitting units corresponding one-to-one with the detection module.

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