Flight time statistical device and laser ranging device

Abstract

The invention provides a flight time statistical device and a laser ranging device, and relates to the technical field of laser ranging. The statistical device comprises a statistical part and a memory; the statistical part is used for acquiring S first initial flight time data sets in S first integration periods, and performing accumulation processing on each first initial flight time data set by taking every N adjacent first initial flight time data as one group, s accumulated flight time data sets corresponding to the S first initial flight time data sets are obtained, S is a positive integer, S is larger than or equal to 2, N is a positive integer, N is larger than or equal to 2, superposition processing is conducted on the S accumulated flight time data sets, and a superposed flight time data set is obtained, at least one superposition photon count value in the superposition flight time data set is stored in a memory in a manner that one superposition photon count value is stored in one storage unit; the statistical device can increase the detection distance of the laser ranging device.

Description

A flight time statistics device and laser ranging device Technical Field

[0001] The present application relates to the field of laser ranging technology, and in particular to a flight time statistics device and a laser ranging device. Background Art

[0002] Currently, laser ranging devices, which use time-of-flight (TOF) technology to measure the distance to target objects, have important applications in various 3D ranging and imaging fields, such as autonomous driving, facial recognition, 3D gaming, and virtual reality. Specifically, a laser ranging device uses a light source to emit a continuous or pulsed outgoing beam and a photoelectric sensor to receive the return beam after the outgoing beam is reflected by the target object. By calculating the flight time between the emitted outgoing beam and the return beam, the distance to the measured target, i.e., depth information, is obtained.

[0003] During the flight time statistics process, the memory used to store flight time is limited, resulting in a limited amount of flight time data that can be stored, which in turn limits the detection range of the laser ranging device. How to increase the detection range of laser ranging devices has become a technical challenge that those skilled in the art urgently need to solve.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a flight time statistics device and a laser ranging device, which can increase the detection distance of the laser ranging device.

[0006] In a first aspect, an embodiment of the present application provides a flight time statistics device, comprising: a statistics unit and a memory;

[0007] The statistics unit is used to obtain S first initial flight time data sets within S first integration periods, and perform accumulation processing on each first initial flight time data set with each adjacent N first initial flight time data as a group to obtain S accumulated flight time data sets corresponding one-to-one to the S first initial flight time data sets, where S is a positive integer, S ≥ 2, and N is a positive integer, N ≥ 2; each first initial flight time data set includes multiple first initial flight time data corresponding one-to-one to multiple flight moments, and each accumulated flight time data set includes at least one accumulated photon count value corresponding one-to-one to at least one accumulated flight moment;

[0008] The statistics unit is also used to perform superposition processing on S cumulative flight time data sets to obtain a superimposed flight time data set, and store at least one superimposed photon count value in the superimposed flight time data set in a storage unit in a manner such that one superimposed photon count value is stored. The superimposed flight time data set includes superimposed photon count values ​​corresponding one to one to each cumulative flight moment.

[0009] In a second aspect, an embodiment of the present application further provides a flight time statistics device, comprising a statistics unit and a memory;

[0010] When the flight time statistics device is in the first detection mode, the statistics unit is used to obtain S first initial flight time data sets within S first integration periods, and perform accumulation processing on each first initial flight time data set with each adjacent N first initial flight time data as a group to obtain S accumulated flight time data sets corresponding one-to-one to the S first initial flight time data sets, where S is a positive integer, S≥2, and N is a positive integer, N≥2; each first initial flight time data set includes multiple first initial flight time data corresponding one-to-one to multiple flight moments, and each accumulated flight time data set includes at least one accumulated photon count value corresponding one-to-one to at least one accumulated flight moment; the statistics unit is further used to perform superposition processing on the S accumulated flight time data sets to obtain a first superimposed flight time data set, and store the first superimposed flight time data set in a memory in a manner that one first superimposed photon count value is stored in one storage unit, and the first superimposed flight time data set includes a first superimposed photon count value corresponding one-to-one to each accumulated flight moment;

[0011] When the flight time statistics device is in the second detection mode, the statistics unit is used to obtain S second initial flight time data sets within S second integration periods, and perform superposition processing on the S second initial flight time data sets to obtain a second superimposed flight time data set, and store the second superimposed flight time data set in the memory in a manner that one second superimposed photon count value is stored in one storage unit; the second superimposed flight time data set includes a second superimposed photon count value corresponding to each flight moment, and each second initial flight time data set includes second initial flight time data corresponding one-to-one to multiple flight moments.

[0012] In a third aspect, an embodiment of the present application provides a laser ranging device, including a flight time statistics device as described in any one of the first and second aspects above.

[0013] In a fourth aspect, an embodiment of the present application provides a flight time statistics method, the method comprising:

[0014] Acquire S first initial time-of-flight data sets within S first integration periods, and perform accumulation processing on each first initial time-of-flight data set, with each adjacent N first initial time-of-flight data set as a group, to obtain S accumulated time-of-flight data sets corresponding one-to-one to the S first initial time-of-flight data sets, where S is a positive integer, S ≥ 2, and N is a positive integer, N ≥ 2; each first initial time-of-flight data set includes a plurality of first initial time-of-flight data corresponding one-to-one to a plurality of flight moments, and each accumulated time-of-flight data set includes at least one accumulated photon count value corresponding one-to-one to at least one accumulated flight moment;

[0015] S cumulative flight time data sets are superimposed to obtain a superimposed flight time data set, and at least one superimposed photon count value in the superimposed flight time data set is stored in a memory in a manner such that one superimposed photon count value is stored in one storage unit. The superimposed flight time data set includes superimposed photon count values ​​corresponding one to one to each cumulative flight moment.

[0016] In a fifth aspect, an embodiment of the present application further provides a flight time statistics method, the method comprising:

[0017] In a first detection mode, S first initial time-of-flight data sets within S first integration periods are acquired, and each first initial time-of-flight data set is accumulated with each adjacent N first initial time-of-flight data set as a group to obtain S accumulated time-of-flight data sets corresponding one-to-one to the S first initial time-of-flight data sets, where S is a positive integer, S≥2, and N is a positive integer, N≥2; each first initial time-of-flight data set includes a plurality of first initial time-of-flight data corresponding one-to-one to a plurality of flight moments, and each accumulated time-of-flight data set includes at least one accumulated photon count value corresponding one-to-one to at least one accumulated flight moment; the S accumulated time-of-flight data sets are superimposed to obtain a superimposed time-of-flight data set, and the superimposed time-of-flight data set is stored in a memory in a manner that one superimposed photon count value is stored in one storage unit, and the superimposed time-of-flight data set includes a superimposed photon count value corresponding one-to-one to each accumulated flight moment;

[0018] In the second detection mode, S second initial flight time data sets within S second integration periods are obtained, and the S second initial flight time data sets are superimposed to obtain a second superimposed flight time data set, and at least one second superimposed photon count value in the second superimposed flight time data set is stored in a memory in a manner such that one second superimposed photon count value is stored in one storage unit; the second superimposed flight time data set includes a second superimposed photon count value corresponding to each flight moment, and each second initial flight time data set includes second initial flight time data corresponding one-to-one to multiple flight moments.

[0019] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method as described in any one of the fourth and fifth aspects above.

[0020] In a seventh aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a flight time statistics device, the flight time statistics device executes the method of any one of the fourth and fifth aspects above.

[0021] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0022] The flight time statistics device provided in the present application can obtain S first initial flight time data sets corresponding one-to-one to S first integration periods, sample the first initial flight time data in each first initial flight time data set once according to every N adjacent flight time data, obtain an accumulated photon count value of the N adjacent first initial flight time data, and store the accumulated photon count value in a storage unit. If the memory includes X*M storage units, the statistics device provided in the present application can enable the memory to store X*M (i.e., X*K*N) accumulated photon count values. Each first integration period may include X*N clock periods. Compared with the existing detection method of storing the M initial flight time data of each clock period in M ​​storage units respectively, that is, one integration period only includes X clock periods, the flight time statistics device provided in the present application can enable the memory to store more initial flight time data corresponding to clock periods, thereby increasing the detection distance of the laser ranging device and meeting the detection requirements of the laser ranging device for long detection distances. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] FIG1 is a schematic structural diagram of a laser ranging device provided in one embodiment of the present application.

[0025] FIG2 is a schematic structural diagram of a flight time statistics device provided in an embodiment of the present application.

[0026] FIG3 is a schematic diagram showing the principle of data statistics performed by a flight time statistics device provided in one embodiment of the present application.

[0027] FIG4 is a schematic diagram of a statistical module provided in an embodiment of the present application.

[0028] FIG5 is a schematic diagram of a control signal provided in an embodiment of the present application.

[0029] FIG6 is a schematic diagram of the specific structure of a statistics module provided in an embodiment of the present application.

[0030] FIG7 is a schematic diagram of storage of time-of-flight data within a first integration period provided by an embodiment of the present application.

[0031] FIG8 is a schematic diagram of the specific structure of a flight time statistics device provided in one embodiment of the present application.

[0032] FIG9 is a timing diagram of a first integration period provided in an embodiment of the present application.

[0033] FIG10 is a schematic structural diagram of another flight time statistics device provided in an embodiment of the present application.

[0034] FIG11 is a schematic diagram of another statistical module provided in an embodiment of the present application.

[0035] FIG12 is a schematic diagram of the specific structure of another statistical module provided in an embodiment of the present application.

[0036] FIG13 is a schematic diagram of another storage method of flight time data within a first integration period provided by an embodiment of the present application.

[0037] FIG14 is a schematic diagram of the specific structure of another flight time statistics device provided in an embodiment of the present application.

[0038] FIG15 is another timing diagram of the first integration period provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0040] Example 1:

[0041] 1 is a schematic diagram of the structure of a laser ranging device provided in an embodiment of the present application. In this embodiment of the present application, the laser ranging device includes a light emitting unit 100, a pixel unit 200, a time-to-digital converter 300 (Time-To-Digital Converter, TDC) and a time-of-flight statistics device 400.

[0042] Specifically, the light-emitting unit 100 is used to emit a laser pulse signal to a target object within the detection area. The pixel unit 200 is used to receive an echo laser signal after the laser pulse signal is reflected by the target object within the detection area, and output an echo electrical signal. The pixel unit 200 may include one or more single photon avalanche diodes (SPADs). The time-to-digital converter 300 is used to generate at least one initial time-of-flight data based on the echo electrical signal. Each initial time-of-flight data is used to represent a photon event corresponding to a flight time. The initial time-of-flight data includes a flight time and a photon count value corresponding to the flight time.

[0043] In one possible implementation, referring to the schematic structural diagram of a flight time statistics device shown in FIG2 , the flight time statistics device 400 includes a statistics unit 410, a memory 420, and a control module 430. The memory 420 includes multiple storage units. The statistics unit 410 is configured to obtain S first initial flight time data sets and, for each first initial flight time data set, perform cumulative processing on each of the N adjacent initial flight time data sets to generate S cumulative flight time data sets corresponding one-to-one to the S first initial flight time data sets. The statistics unit 410 is further configured to perform superposition processing on the S cumulative flight time data sets to generate a superimposed flight time data set, and store the superimposed flight time data set in the memory 420, with each superimposed flight time data set stored in a storage unit. The superimposed flight time data set includes multiple superimposed flight time data, where S is a positive integer and S ≥ 2. The laser ranging device can obtain histogram data based on the superimposed flight time data set stored in the memory 420, determine the flight time based on the histogram data, and then obtain the distance to the target object based on the flight time, thereby achieving a detection function.

[0044] Exemplarily, referring to the schematic diagram of the principle of data statistics performed by the flight time statistics device shown in FIG3 , each first initial flight time data set includes a plurality of first initial flight time data, which are used to represent photon events within a first integration period. Each accumulated flight time data set includes at least one accumulated flight time data, and each accumulated flight time data includes at least one accumulated flight moment after the N first initial flight time data corresponding to the adjacent N flight moments are accumulated, and at least one accumulated photon count value corresponding to at least one accumulated flight moment. The superimposed flight time data set includes superimposed flight time data after the accumulated flight time data in the S accumulated flight time data sets are superimposed, and each superimposed flight time data includes a superimposed photon count value corresponding to each accumulated flight moment. For example, assuming S=2, N=2, Figure 3 shows two first initial flight time data sets corresponding to two first integration periods respectively. Each two adjacent initial flight time data are accumulated as a group to generate two accumulated flight time data sets. Each accumulated flight time data includes the accumulated flight time after the two initial flight time data corresponding to the two adjacent flight moments are accumulated and the accumulated photon count value corresponding to each accumulated flight moment. The accumulated photon count values ​​corresponding to the same accumulated flight moment in the two accumulated flight time data sets are superimposed to obtain a superimposed flight time data set.

[0045] As an example and not a limitation, the laser ranging device in the embodiment of the present application can be a solid-state laser radar, which can be used for navigation and obstacle avoidance, obstacle recognition, ranging, speed measurement, automatic driving and other functions of products such as automobiles, robots, logistics vehicles, and inspection vehicles.

[0046] It can be understood that since the speed of the target object is much smaller than the speed of light, the distance of the target object within a single time frame can be considered to remain unchanged; the light-emitting unit 100 in the laser ranging device can emit S pulse signals within a single time frame, and accordingly, the pixel unit 200 receives S echo laser signals after the S pulse signals are reflected by the target object within S first integration periods. At this time, the laser ranging device obtains a histogram based on the superimposed flight time data set stored in the memory 420, and confirms the flight time according to the flight time corresponding to the maximum photon count value in the histogram.

[0047] In this embodiment, within a single time frame, each of the S first integration periods includes the same number of clock cycles, and each first integration period includes multiple clock cycles, and each clock period includes M flight times, where M = K * N, M and K are both positive integers, M ≥ 2, and K ≥ 1. The M initial flight time data corresponding to each clock period can be divided into K first initial flight time data sets according to a first division method, and each initial flight time data set includes N initial flight time data.

[0048] As shown in Figure 2, the statistics unit 410 includes K statistics modules 411 connected in parallel, and the K statistics modules correspond one-to-one to the K first initial flight time data sets in each clock cycle, and are used to obtain the K first initial flight time data sets in each clock cycle in each first integration cycle in the order of the clock cycles, and accumulate the respectively acquired initial flight time data sets to generate an accumulated flight time data set; when the K statistics modules generate S accumulated flight time data sets corresponding to the first to S-th first integration cycles, the statistics unit 410 is also used to superimpose the S accumulated flight time data sets corresponding to the first to S-th first integration cycles to generate a superimposed flight time data set, and store the superimposed flight time data set into the memory 420.

[0049] The first division method is to divide the M first initial flight time data corresponding to each clock cycle into a group according to a division method in which each adjacent N first initial flight time data is divided, and the M first initial flight time data corresponding to each clock cycle are divided into K first initial flight time data sets. Exemplarily, assuming that the M first initial flight time data included in each clock cycle are represented as P0, P1 to P[M-1] in sequence, then the kth first initial flight time data set in each clock cycle is {P[k*NN] to P[k*N-1]}, where k is a positive integer, and 1≤k≤K, and the kth initial flight time data set corresponds to the kth statistical module among the K statistical modules of the statistical unit 410. The kth statistical module receives the kth initial flight time data set {P[k*NN] to P[k*N-1]} of the clock cycle in any clock cycle, and accumulates the N initial flight time data included in {P[k*NN] to P[k*N-1]} to generate the kth accumulated photon count value of the clock cycle.

[0050] For example, the first statistical module in the statistical unit 410 is used to obtain the first first initial flight time data set within a clock cycle, that is, the first group of first initial flight time data P0 to P[N-1], and accumulate P0 to P[N-1] to generate the first accumulated photon count value of the clock cycle; the Kth statistical module in the statistical unit 410 is used to obtain the Kth group of first initial flight time data P[K*NN] to P[M-1] within a clock cycle, and accumulate P[K*NN] to P[M-1] to generate the Kth accumulated photon count value of the clock cycle. All the accumulated photon count values ​​corresponding to the multiple clock cycles included in each first integration period constitute the accumulated flight time data set corresponding to the first integration period.

[0051] In the embodiment of the present application, the memory 420 includes X*M storage units, and the X*M storage units are divided into a storage module with every M storage units, that is, the memory 420 includes X storage modules, each storage module includes M storage units, X is a positive integer, and X ≥ 1. The X*M storage units included in the memory 420 can store a maximum of X*M accumulated photon count values ​​(that is, X*N*K accumulated photon count values). Accordingly, based on the flight time counting device provided in the first embodiment of the present application, the number of clock cycles included in the first integration period can reach a maximum of (X*M) / K=(X*N*K) / K=X*N. The detection distance L1 that the laser ranging device can achieve in the first integration period is L1=c*(X*N*t), where c is the speed of light and t is the duration of one clock cycle. Compared to another detection mode that directly samples M time-of-flight data for each clock cycle and then stores them separately in M ​​storage cells, the X*M storage cells included in memory 420 can only store time-of-flight data corresponding to X clock cycles. That is, the integration period of the laser ranging device in the other detection mode only includes X clock cycles. Accordingly, the detection distance L2 = c*(X*t) that the laser ranging device can achieve in the other detection mode is smaller. The time-of-flight statistics device provided in the embodiment of the present application accumulates N adjacent initial time-of-flight data. When the number of storage cells in memory 420 remains unchanged, compared to the other detection mode, the duration of the first integration period of the laser ranging device can be extended, thereby increasing the detection range of the laser ranging device and meeting the detection requirements of the laser ranging device for long detection distances.

[0052] In one possible implementation, the statistics unit 410 may perform a stacking process on the accumulated flight time data sets corresponding to the first to S-th first integration periods in a manner of continuous multiple stacking. For example, when the K statistics modules generate a second accumulated flight time set corresponding to the second first integration period, the statistics unit 410 performs a first stacking process on the second accumulated flight time set corresponding to the second first integration period and the first accumulated flight time set corresponding to the first first integration period to obtain a first stacked flight time data set; when the K statistics modules generate a third accumulated flight time set corresponding to the third first integration period, the statistics unit 410 performs a second stacking process on the third accumulated flight time set corresponding to the third first integration period and the first stacked flight time data set to obtain a second stacked flight time data set, and so on, repeatedly performing the above operation until the K statistics modules generate an S-th accumulated flight time set corresponding to the S-th first integration period, and the statistics unit 410 performs a stacking process on the S-th accumulated flight time data set corresponding to the S-th first integration period and the S-1-th stacked flight time data set obtained by the S-1-th stacking process to obtain a stacked flight time data set.

[0053] Furthermore, the statistics unit 410 can perform multiple consecutive superposition processing on the accumulated flight time data sets corresponding to the first to S-th first integration periods through K statistics modules 411 to generate a superposition flight time data set. Specifically, when the K statistics modules 411 generate the accumulated flight time data set corresponding to the first first integration period, the K statistics modules 411 write the accumulated flight time data set corresponding to the first first integration period into the memory 420; when the K statistics modules 411 generate the accumulated flight time data set corresponding to the second first integration period, the K statistics modules 411 read the accumulated flight time data set corresponding to the first first integration period from the memory 420, and perform a first superposition processing with the accumulated flight time data set corresponding to the second first integration period to obtain the first superposition flight time data set, and write the first superposition flight time data set into the memory 420; when the K statistics modules 411 generate the accumulated flight time data set corresponding to the third first integration period, the K statistics modules 411 read the accumulated flight time data set corresponding to the first first integration period from the memory 420, and perform a first superposition processing with the accumulated flight time data set corresponding to the second first integration period to obtain the first superposition flight time data set, and write the first superposition flight time data set into the memory 420; Module 411 reads the first superimposed flight time data set from the memory 420, and performs a second superposition processing on it with the accumulated flight time data set corresponding to the third first integration period to obtain a second superimposed flight time data set, and writes the second superimposed flight time data set into the memory 420. Similarly, the above operations are performed multiple times in succession until K statistical modules generate the Sth accumulated flight time data set corresponding to the Sth first integration period, K statistical modules 411 read the S-2th superimposed flight time data set from the memory 420, perform the S-1th superimposed flight time data set on it with the accumulated flight time data set corresponding to the Sth first integration period to obtain the S-1th superimposed flight time data set, and write the S-1th superimposed flight time data set into the memory 420.

[0054] In one possible implementation, assuming the first integration period includes X*N clock cycles, the X*N clock cycles within the first integration period are divided into a statistical period of each N clock cycles, resulting in X statistical periods, each of which corresponds one-to-one to the X storage modules in the memory. The K statistical modules in the statistics unit 410 all have the same structure. Referring to the schematic diagram of the statistical modules shown in FIG4 , each statistical module includes an input accumulator and N superposition channels connected in parallel, wherein the input accumulator and the N superposition channels connected in parallel are connected in series.

[0055] Specifically, the input accumulator includes N input terminals and one output terminal, and each superposition channel includes a first superposition input terminal, a superposition output terminal, and a superposition feedback terminal. The N input terminals of the input accumulator of each statistical module are used to obtain an initial time-of-flight data set corresponding to the statistical module during each clock cycle in the S first integration cycles. The N input terminals correspond one-to-one to the N first initial time-of-flight data in the initial time-of-flight data set, and the output terminal of the input accumulator of each statistical module is connected to the N first superposition input terminals of the N superposition channels.

[0056] It should be noted that the K input accumulators included in the K statistical modules are used to obtain K initial flight time data sets corresponding to each clock cycle of each first integration cycle in a clock cycle sequence, and each initial flight time data set is accumulated to generate an accumulated flight time data set corresponding to each first integration cycle. The N first superposition input terminals of the N superposition channels included in each statistical module in the K statistical modules are respectively connected to the output terminals of the corresponding input accumulators in the corresponding statistical modules, and are used to obtain the accumulated photon count values ​​accumulated by the corresponding input accumulators in the N clock cycles of each statistical cycle in a preset order. The N superposition output terminals of the N superposition channels included in each statistical module in the K statistical modules are connected to the write terminal of the memory for writing data into the memory. The N superposition feedback terminals of the N superposition channels included in each statistical module in the K statistical modules are connected to the read terminal of the memory for reading data from the memory.

[0057] Furthermore, as shown in Figures 2 and 4, the time-of-flight statistics device 400 further includes a control module 430, which is configured to output a first control signal. The K statistical modules in the statistics unit 410 are all connected to the control module 430. The N superposition channels included in each of the K statistical modules are configured to obtain, in accordance with the first control signal and in a preset order, the N*K accumulated photon count values ​​accumulated by the input accumulator in the corresponding statistical module over the N clock cycles of each statistical cycle, and store the N*K accumulated photon count values ​​in a storage module corresponding to the statistical module.

[0058] In one example, referring to the schematic diagram of the control signal output by the control module during a first integration period shown in FIG5 , the first control signal is a clock cycle control signal. When the number of clock cycles within a statistical period is greater than two, a multi-bit control signal can be combined to form multiple first control signals, such that each first control signal corresponds to one clock cycle. The first superposition channel of each of the K statistical modules can obtain, based on the control signal output by the first control module, the accumulated photon count value accumulated by the corresponding input accumulator during the clock cycle corresponding to the first control signal in each statistical period.

[0059] For example, if a statistical cycle includes 4 clock cycles, the first control signal 00 can be used to represent the first clock cycle in the statistical cycle, the control signal 01 can be used to represent the second clock cycle in the statistical cycle, the first control signal 10 can be used to represent the third clock cycle in the statistical cycle, and the first control signal 11 can be used to represent the fourth clock cycle in the statistical cycle; then, when the control module outputs the first control signal 00, the first superposition channel of each statistical module in the K statistical modules obtains the accumulated photon count value accumulated by the corresponding input accumulator in the first clock cycle of each statistical cycle; each statistical module in the K statistical modules When the control module outputs the first control signal 01, the second superposition channel of the block obtains the accumulated photon count value accumulated by the corresponding input accumulator in the second clock cycle of each statistical period; when the control module outputs the first control signal 01, the third superposition channel of each statistical module in the K statistical modules obtains the accumulated photon count value accumulated by the corresponding input accumulator in the third clock cycle of each statistical period; when the control module outputs the first control signal 11, the fourth superposition channel of each statistical module in the K statistical modules obtains the accumulated photon count value accumulated by the corresponding input accumulator in the fourth clock cycle of each statistical period.

[0060] 4 and 5 , a scheme for sequentially acquiring N clock cycles of accumulated time-of-flight data from N superposition channels in a preset order and storing the superpositioned time-of-flight data set will be described below.

[0061] In an optional embodiment, the storage address is a x-1 The M storage units included in the storage module are used to store the N*K superimposed flight time data obtained by superimposing the S first integration periods in the xth statistical period. The K*N superimposed output terminals included in the K statistical modules point to the write terminals of the X storage modules included in the memory in sequence in each first integration period according to the order of the statistical periods, that is, the K*N superimposed output terminals included in the K statistical modules point to the storage address a in the xth statistical period of each first integration period. x-1 The readout ends of the X storage modules included in the memory 420 point to the K*N superposition feedback ends included in the K statistical modules in sequence in each first integration period according to the order of the statistical period, that is, the storage address is a x-1 The readout end of the storage module points to the K*N superposition feedback ends included in the K statistical modules in the xth statistical period of each first integration period.

[0062] Specifically, when the input accumulator of each statistical module generates an accumulated photon count value for the nth clock cycle, the first superposition input terminal of the nth superposition channel obtains the accumulated photon count value corresponding to the nth clock cycle and sends it to the superposition output terminal of the nth superposition channel. For example, illustratively, when the input accumulator of the kth statistical module obtains the kth first initial time-of-flight data set {P[k*NN] to P[k*N-1]} of the nth clock cycle and generates the kth accumulated photon count value corresponding to the nth clock cycle, the nth superposition channel in the kth statistical module allows input of the kth accumulated photon count value corresponding to the nth clock cycle, and other superposition channels except the nth superposition channel among the N superposition channels of the kth statistical module are prohibited from inputting the kth accumulated photon count value corresponding to the nth clock cycle. That is, the N superposition channels of each statistical module correspond one-to-one to the N clock cycles of each statistical cycle. The K*N superposition output terminals included in the K statistical modules point to the write terminals of the X storage modules included in the memory in sequence in each first integration period according to the order of the statistical periods, that is, each statistical period corresponds to one storage module, and the K*N superposition output terminals included in the K statistical modules point to the storage address a in the xth statistical period of each first integration period. x-1 The readout ends of the X statistical modules included in the memory 420 point to the K*N superposition feedback ends included in the K statistical modules in sequence in each first integration period, that is, the storage address is a x-1 The readout end of the storage module points to the K*N superposition feedback ends included in the K statistical modules in the xth statistical period of each first integration period.

[0063] Specifically, it is assumed that each statistical module includes an input accumulator, a first superposition channel, and a second superposition channel to an Nth superposition channel; the input accumulator of each statistical module includes N input terminals and an output terminal, and the N input terminals of the input accumulator are respectively used to obtain a set of first initial flight time data corresponding to the statistical module in each clock cycle, and the corresponding set of first initial flight time data is accumulated and processed to generate an accumulated photon count value. The input terminals of the first superposition channel, the second superposition channel to the Nth superposition channel all receive the accumulated photon count value output by the output accumulator, and the output terminals of the first superposition channel, the second superposition channel to the Nth superposition channel are sequentially pointed to the X storage modules in the memory in the order of the X statistical cycles in the first integration cycle, and the output terminals of the first superposition channel, the second superposition channel to the Nth superposition channel are respectively pointed to the N storage units of the current storage module in each statistical cycle, and are respectively pointed to the N storage units of the next storage module in the next statistical cycle; the output terminals of the first superposition channel, the second superposition channel to the Nth superposition channel are respectively pointed to the N storage units of the next storage module in the next statistical cycle; Under the action of the first control signal, the adding channel is sequentially turned on in the order of N clock cycles in each statistical period to store the N accumulated photon count values ​​generated by the input accumulator in each statistical period in the N storage cells of the current storage module; the first superposition channel, the second superposition channel to the Nth superposition channel are further configured to repeatedly perform the operation of sequentially turning on X times in the order of X statistical periods in the first integration period to store the X*N accumulated photon count values ​​generated by the input accumulator in the X statistical periods included in the first integration period in the N storage cells of the X storage modules respectively.

[0064] It should be noted that the structure of each of the K statistical modules is the same. The structure and function of each statistical module will be exemplarily described below by taking the kth statistical module among the K statistical modules as an example.

[0065] Specifically, the input accumulator included in the kth statistical module is used to obtain the kth group of first initial flight time data {P[k*NN] to P[k*N-1]} in each clock cycle, and to perform accumulation processing on the N first initial flight time data {P[k*NN] to P[k*N-1]} in the kth group of first initial flight time data to generate the kth accumulated photon count value in each clock cycle. The first superposition channel included in the kth statistical module is turned on in the first clock cycle of each statistical period to store the kth accumulated photon count value generated by the input accumulator in the first clock cycle of the statistical period in the kth storage unit of the current storage module corresponding to the statistical period; the nth superposition channel included in the kth statistical module is turned on in the nth clock cycle of each statistical period to store the kth accumulated photon count value generated by the input accumulator in the nth clock cycle of the statistical period in the nth storage unit of the current storage module; the Nth superposition channel included in the kth statistical module is turned on in the Nth clock cycle of each statistical period to store the kth accumulated photon count value generated by the input accumulator in the Nth clock cycle of the statistical period in the Nth storage unit of the current storage module, where n is a positive integer and 1≤n≤N.

[0066] In an embodiment of the present application, the flight time statistics device sequentially switches on the first, second, through Nth stacking channels in each statistics module according to the N clock cycles of the statistics period, thereby achieving cumulative sampling and storage of the first initial flight time data corresponding to each statistics period, thereby ensuring that the statistics of the first initial flight time data of each clock period do not interfere with each other. Furthermore, by repeatedly switching on the first, second, through Nth stacking channels X times in sequence, the cumulative sampling and storage of the first initial flight time data corresponding to each first integration period is achieved, without increasing the number of stacking channels, resulting in a simple structure.

[0067] Furthermore, when the kth statistical module completes the cumulative sampling of the kth group of first initial flight time data {P[k*NN] to P[k*N-1]} of the N clock cycles included in the current statistical cycle, and stores the obtained kth cumulative photon count value corresponding to the N clock cycles in the N storage units of the currently pointed storage module corresponding to the current statistical cycle, the kth statistical module continues to complete the kth group of first initial flight time data {P[k*NN] to P[k*N-1]} of the N clock cycles included in the next statistical cycle. *N-1]}, and the kth accumulated photon count value corresponding to the obtained N clock cycles is stored in the N storage units of the next pointed storage module, until the kth group of first initial flight time data {P[k*NN] to P[k*N-1]} of X*N clock cycles included in the X statistical cycles included in the first integration period is completed, and the X*N kth accumulated photon count values ​​corresponding to the obtained X*N clock cycles are stored in the X*N storage units of the X storage modules.

[0068] It can be understood that after the K statistical modules complete the cumulative sampling of the K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]} of the N clock cycles included in the current statistical cycle, and store the obtained N*K accumulated photon count values ​​of the N clock cycles in the N*K storage units (i.e., M storage units) of the currently pointed storage module, the K statistical modules continue to complete the K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]} of the N clock cycles included in the next statistical cycle. [K*NN] to P[K*N-1]}, and store the obtained N*K accumulated photon count values ​​of N clock cycles in the N*K storage units (i.e., M storage units) of the next pointed storage module until the accumulated sampling of K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]} of X*N clock cycles of the X statistical cycles included in the first integration period is completed, and the obtained X*N*K accumulated photon count values ​​corresponding to the X*N clock cycles are stored in the X*N*K (i.e., X*M) storage units of the X storage modules.

[0069] In an example, assuming M=4, N=2, K=2, the flight time statistics device includes two statistics modules, namely, a first statistics module and a second statistics module; the number of superposition channels included in each statistics module is two, namely, a first superposition channel and a second superposition channel; the number of clock cycles included in each statistical cycle is two, the number of statistical cycles included in each integration cycle is X, the number of clock cycles included in each statistical cycle is 2, and the number of storage units included in each storage module is four.

[0070] Then, when the first statistical module and the second statistical module obtain the two sets of first initial flight time data {P0, P1} and {P2, P3} of the first clock cycle of the x-th statistical cycle, x is a positive integer, and 1≤x≤X, the input accumulator of the first statistical module and the input accumulator of the second statistical module respectively accumulate the two sets of first initial flight time data {P0, P1} and {P2, P3} input in the first clock cycle of the x-th statistical cycle, and generate the first accumulated photon counting value P01=P0+P1 and the second accumulated photon counting value P23=P2+P3 corresponding to the first clock cycle. The first superposition channel in the first statistical module is The first superposition channel in the first statistical module and the second statistical module allow the input of the first accumulated photon count value P01 and the second accumulated photon count value P23 of the first clock cycle under the action of the control signal, and the second superposition channel in the first statistical module and the second superposition channel in the second statistical module are prohibited from inputting the first accumulated photon count value and the second accumulated photon count value of the first clock cycle under the action of the control signal. The first accumulated photon count value P01 and the second accumulated photon count value P23 corresponding to the first clock cycle are respectively stored in the storage address a corresponding to the xth statistical cycle through the first superposition channels of the first statistical module and the second statistical module respectively turned on. x-1 Within the two storage units of the storage module.

[0071] Furthermore, when the first statistical module and the second statistical module obtain two sets of first initial flight time data {P0, P1} and {P2, P3} of the second clock cycle of the x-th statistical cycle, the input accumulator of the first statistical module and the input accumulator of the second statistical module respectively accumulate the two sets of first initial flight time data {P0, P1} and {P2, P3} input in the second clock cycle of the x-th statistical cycle to generate a first accumulated photon count value and a second accumulated photon count value corresponding to the second clock cycle. Under the action of the control signal, the first superposition channel in the first statistical module and the first superposition channel in the second statistical module are prohibited from inputting the first accumulated photon count value and the second accumulated photon count value of the second clock cycle. Under the action of the control signal, the second superposition channel in the first statistical module and the second superposition channel in the second statistical module are allowed to input the first accumulated photon count value and the second accumulated photon count value of the second clock cycle. The first accumulated photon count value and the second accumulated photon count value corresponding to the second clock cycle are respectively stored in the storage address a corresponding to the x-th statistical cycle through the second superposition channels that are respectively turned on in the first statistical module and the second statistical module. x-1 The other two storage units of the storage module.

[0072] In this embodiment, the structures of the first to N-1th superposition channels in each statistical module are the same, and the structure of the Nth superposition channel in each statistical module is different from the structure of the first N-1 superposition channels. Referring to the structural schematic diagram of the kth statistical module among the K statistical modules shown in FIG6 , the specific structure of the first N-1 superposition channels in each statistical module is exemplarily described using the first N-1 superposition channels of the kth statistical module (i.e., the nth superposition channel among the first to N-1th superposition channels), where n is a positive integer and 1≤n≤N-1.

[0073] In a possible implementation, the nth superposition channel of each statistical module includes an nth input selection unit, an nth accumulation unit, an nth limit saturation unit, an nth output selection unit, an nth writing unit, and an nth reading unit.

[0074] Specifically, the nth input selection unit includes two input terminals, an output terminal and a control terminal, wherein one input terminal is connected to the output terminal of the input accumulator in the kth statistical module, the other input terminal receives data 0, the output terminal is connected to an input terminal of the nth accumulator unit, and the control terminal is connected to the output terminal of the control module; the nth accumulator unit includes two input terminals and an output terminal, one input terminal is connected to the output terminal of the nth input selection unit, and the output terminal is connected to the input terminal of the nth limit saturation unit; the nth limit saturation unit includes one input terminal and one output terminal, the input terminal is connected to the output terminal of the nth accumulator unit, and the output terminal is connected to an input terminal of the nth output selection unit; the nth input The output selection unit includes two input terminals, one output terminal and a control terminal, wherein one input terminal is connected to the output terminal of the n-th limit saturation unit, the other input terminal is connected to an output terminal of the n-th write unit, the output terminal is connected to the input terminal of the n-th write unit, and the control terminal is connected to the output terminal of the control module; the n-th write unit includes one input terminal and two output terminals, the input terminal is connected to the output terminal of the n-th output selection unit, one output terminal is connected to the other input terminal of the n-th output selection unit, and the other output terminal is connected to the memory; the n-th read unit includes one input terminal and one output terminal, the input terminal is connected to the memory, and the output terminal is connected to the other input terminal of the n-th accumulation unit.

[0075] 6 , in a possible implementation, the Nth superposition channel in each statistical module includes an Nth input selection unit, an Nth accumulation unit, an Nth limit and saturation unit, an Nth writing unit, and an Nth reading unit.

[0076] Specifically, the Nth input selection unit includes two input terminals, an output terminal and a control terminal, wherein one input terminal is connected to the output terminal of the input accumulator of the kth statistical module, the other input terminal receives data 0, the output terminal is connected to an input terminal of the Nth accumulator unit, and the control terminal is connected to the output terminal of the control module; the Nth accumulator unit includes two input terminals and an output terminal, one input terminal is connected to the output terminal of the Nth input selection unit, and the output terminal is connected to the input terminal of the Nth limit saturation unit; the Nth limit saturation unit includes an input terminal and an output terminal, the input terminal is connected to the output terminal of the Nth accumulator unit, the output terminal is connected to the input terminal of the Nth write unit, and the control terminal is connected to the output terminal of the control module; the Nth write unit includes an input terminal and an output terminal, the input terminal is connected to the output terminal of the Nth limit saturation unit, and the output terminal is connected to the memory; the Nth readout unit includes an input terminal and an output terminal, the input terminal is connected to the memory, and the output terminal is connected to the other input terminal of the Nth accumulator unit.

[0077] In one example, if N=2, that is, each statistical module includes two superposition channels, each first integration period includes X statistical periods, and each statistical period includes two clock periods, that is, each first integration period includes 2*X clock periods. Then, for S first integration periods, where S is the number of times the laser emission module emits pulsed lasers within a time frame, and is also the number of times the laser receiving module receives echo lasers within a time frame, the specific workflow of the first to Nth superposition channels of K statistical modules in S first integration periods includes the following steps:

[0078] Step s1x1: The input accumulators of the K statistical modules respectively obtain K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]}, ..., {P[K*NN] to P[K*N-1]} in the first clock cycle of the xth statistical cycle of the first first integration cycle in the S first integration cycles, and perform the K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]}, ..., {P[K*NN] to P[K*N-1]} performs accumulation processing, wherein x is a positive integer and 1≤x≤X, and generates K accumulated photon count values ​​in the first clock cycle; the first input selection unit of the K statistical modules, under the action of the first control signal output by the control module, allows and outputs the K accumulated photon count values ​​accumulated by the one-to-one corresponding K input accumulators in the first clock cycle; the second input selection unit to the Nth input selection unit of the K statistical modules, under the action of the control signal output by the control module Under the action of the control module, the K accumulated photon count values ​​accumulated by the K input accumulators in the first clock cycle are prohibited, but are allowed to pass through and output data 0; the K accumulated photon count values ​​output by the K first input selection units are sequentially output to the first accumulating unit of the first superposition channel through the first accumulating unit of the first superposition channel, and the first limiting saturation unit is used to limit the bit width of the accumulated flight time corresponding to the accumulated photon count value that can pass through. If the bit width of the accumulated flight time corresponding to the accumulated photon count value input to the first limiting saturation unit does not exceed the limited bit width of the first limiting saturation unit, the first limiting saturation unit allows the accumulated photon count value to pass through and outputs it to the first output selection unit. Under the control of the control signal output by the control module, the first output selection unit allows the accumulated photon count value to pass through and outputs it to the first writing unit in the first superposition channel; if the bit width of the accumulated flight time in the accumulated photon count value input to the first limiting saturation unit exceeds the limited bit width of the first limiting saturation unit, the first limiting saturation unit prohibits the accumulated photon count value from passing through.

[0079] Step s1x2: The input accumulators of the K statistical modules respectively obtain K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]}, ..., {P[K*NN] to P[K*N-1]} in the second clock cycle of the xth statistical cycle of the first first integration cycle, and perform accumulation processing on the K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]}, ..., {P[K*NN] to P[K*N-1]} to generate K accumulated photon count values ​​in the first clock cycle; under the action of the first control signal output by the control module, the first input selection units of the K statistical modules prohibit the K accumulated photon count values ​​accumulated by the K input accumulators in the first clock cycle, but allow them to pass and output data 0; under the action of the control signal output by the control module, the second input selection units to the Nth input selection units of the K statistical modules allow them to pass. K accumulated photon count values ​​accumulated by K input accumulators corresponding to each other within the first clock cycle are outputted through and outputted by the K first input selection units; the K accumulated photon count values ​​outputted by the K first input selection units are sequentially outputted through the second accumulation unit of the second superposition channel to the second limit saturation unit of the second superposition channel, the second limit saturation unit being used to limit the bit width of the accumulated flight time in the accumulated photon count values ​​that can pass through; if the bit width of the accumulated flight time in the accumulated photon count values ​​inputted to the second limit saturation unit does not exceed the limited bit width of the second limit saturation unit, the second limit saturation unit allows the accumulated photon count value to pass through and outputs it to the second output selection unit; under the control of the control signal outputted by the control module, the second output selection unit allows the accumulated photon count value to pass through and outputs it to the second writing unit in the second superposition channel; if the bit width of the accumulated flight time in the accumulated photon count value inputted to the second limit saturation unit exceeds the limited bit width of the second limit saturation unit, the second limit saturation unit prohibits the accumulated photon count value from passing through.

[0080] Step s1x3: After the first to N-th writing units of the K statistical modules store the N*K accumulated photon count values ​​accumulated by the K input accumulators in the x-th statistical period within the first first integration period in the N*K storage units (i.e., M storage units) of the current storage module (i.e., the x-1-th storage module corresponding to the x-th statistical period), the first to N-th writing units of the K statistical modules point to the next storage module (i.e., the x-th storage module), and the input accumulators of the K statistical modules continue to obtain the N*K groups of first initial flight time data of the x+1-th statistical period of the first first integration period, and the first superposition channel to the second superposition channel of the K statistical modules repeat the above steps s1x1 and s1x2 X times until the first superposition channel to the second superposition channel of the K statistical modules sequentially complete {step S111, step S112}, …, {step S1x1, step S1x2}, …, to {step S1X1, step S1X2} in the X statistical periods of the first first integration period. Referring to the storage schematic diagram of the time-of-flight data within the first integration period shown in FIG7 , the first superposition channel to the second superposition channel of the K statistical modules sequentially complete the cumulative sampling of K groups of first initial time-of-flight data {P0 to P[N-1]}, …, {P[k*NN] to P[k*N-1]}, …, {P[K*NN] to P[K*N-1]} for each clock cycle of the X*N clock cycles of the X statistical cycles of the first first integration period, and store the obtained X*N*K accumulated photon count values ​​corresponding to the X*N clock cycles in the X*N*K storage units (i.e., X*M storage units) of the X storage modules, thereby completing the cumulative sampling and storage of the first initial time-of-flight data of the X statistical cycles of the first first integration period.

[0081] It can be understood that, in this embodiment, before the end of the Nth clock cycle of each statistical cycle, the nth output selection unit of the K statistical modules continues to output the accumulated photon count values ​​obtained by the corresponding input accumulator to their respective first writing units, so as to ensure that when the Nth clock cycle of each statistical cycle arrives and the Nth writing units of the K statistical modules obtain the K accumulated photon count values ​​accumulated by the K input accumulators in the Nth clock cycle of each statistical cycle, the nth writing units of the K statistical modules can obtain the accumulated photon count values ​​accumulated by the K input accumulators in the nth clock cycle of each statistical cycle. The K accumulated photon count values ​​are obtained by the first writing unit to the N-th writing unit of the K statistical modules, that is, the N*K accumulated photon count values ​​accumulated by the K input accumulators in N clock cycles of each statistical cycle; when the first writing unit to the N-th writing unit of the K statistical modules obtain the N*K accumulated photon count values ​​accumulated by the K input accumulators in each statistical cycle, the first writing unit to the N-th writing unit of the K statistical modules perform a write operation to write the N*K accumulated photon count values ​​accumulated by the K input accumulators in each statistical cycle into the storage module currently pointed to.

[0082] Exemplarily, after completing the cumulative sampling and storage of all first initial flight time data of X statistical periods of the first first integration period in S first integration periods based on the above steps s1x1 to s1x3, when the first superposition channel to the second superposition channel of the K statistical modules enter the second first integration period, the cumulative photon count values ​​of the same cumulative flight time of the first first integration period are sequentially read from the storage and output to the first to the Nth cumulative units of the K statistical modules, so as to perform a first superposition of the cumulative photon count values ​​of the same cumulative flight time in the first first integration period and the second first integration period to obtain a first superposition time-of-flight data set, and store the obtained X*N*K first superposition photon count values ​​corresponding to the X*N clock periods in the X*N*K storage units of the X storage modules. Specifically, the following steps are included:

[0083] Step 1: In the first statistical cycle of the second first integration period, the first write unit and the N-th write unit in the K statistical modules point to the write end of the first storage module in the storage module; the first readout unit and the N-th readout unit in the K statistical modules point to the readout end of the first storage module in the storage module, and sequentially read the K accumulated photon count values ​​of each clock cycle in the first statistical cycle of the first first integration period, and output them to the first accumulation unit to the N-th accumulation unit of the K statistical modules, so that the first accumulation unit to the N-th accumulation unit sequentially convert the second photon count values ​​in the first statistical cycle of the second first integration period into the second photon count value in the first statistical cycle of the second first integration period. The N*K accumulated photon count values ​​accumulated in the first statistical period of the first integration period are superimposed on the N*K accumulated photon count values ​​accumulated in the first statistical period of the second first integration period, and under the control of the control signal, the N*K superimposed photon count values ​​corresponding to the first statistical period obtained after the superposition are output to the first writing unit to the Nth writing unit through the first limiting saturation unit to the Nth limiting saturation unit and the first output selection unit to the N-1th output selection unit in the K statistical modules in sequence, and the first writing unit to the Nth writing unit stores the N*K superimposed photon count values ​​in the first storage module of the memory.

[0084] Step 2: In the second statistical period of the second first integration period, the first write unit and the Nth write unit in the K statistical modules point to the write end of the second storage module in the storage module; the first readout unit and the Nth readout unit in the K statistical modules point to the readout end of the second storage module in the storage module, and read the K accumulated photon count values ​​of each clock cycle in the second statistical period of the first first integration period in sequence, and output them to the first to Nth accumulation units of the K statistical modules, so that the first to Nth accumulation units superimpose the N*K accumulated photon count values ​​accumulated in the second statistical period of the second first integration period with the N*K accumulated photon count values ​​accumulated in the second statistical period of the second first integration period, and output the N*K superimposed photon count values ​​corresponding to the second statistical period obtained after superposition to the first to Nth write units, and the first to Nth write units store the N*K superimposed photon count values ​​corresponding to the second statistical period in the second storage module of the memory.

[0085] Step 3: Repeat Step 1 and Step 2 X times for the first to Nth superposition channels of the K statistical modules until the first to second superposition channels of the K statistical modules sequentially complete the first superposition of the N*K superimposed photon count values ​​within the X statistical periods of the first first integration period and the N*K superimposed photon count values ​​within the X statistical periods of the second first integration period, thereby obtaining a first superimposed time-of-flight data set. The X*N*K superimposed photon count values ​​corresponding to the X*N clock periods obtained from the first superposition are stored in X*N*K storage cells (i.e., X*M storage cells) of the X storage modules, thereby completing the cumulative sampling of the initial time-of-flight data for the X statistical periods of the second first integration period and simultaneously completing the first superposition and storage of the accumulated photon count values ​​at the same accumulated flight time in the first first integration period and the second first integration period.

[0086] Step 4: Based on the above steps 1 to 3, when the first superposition channel to the second superposition channel of the K statistical modules enter the third first integration period, the first superposition channel to the Nth superposition channel in the K statistical modules repeatedly perform the above steps 1 to 3. That is, the first readout unit to the Nth readout unit in the K statistical modules sequentially read the superposition photon count values ​​at the same accumulated flight time in the first superposition time-of-flight data set stored in the memory, and output them to the first accumulation unit to the Nth accumulation unit of the K statistical modules, so as to perform a second superposition on the first superposition photon count values ​​in the first superposition time-of-flight data set obtained by the first superposition and the accumulated photon count values ​​at the same accumulated flight time in the third first integration period to obtain a second superposition time-of-flight data set, and store the obtained X*N*K second superposition photon count values ​​corresponding to the X*N clock periods in the X*N*K storage units of the X storage modules. By analogy, when the first superposition channel to the second superposition channel of the K statistical modules enter the S-th first integration period, the first readout unit to the N-th readout unit in the K statistical modules sequentially read the superimposed photon count values ​​at the same accumulated flight time in the S-1-th superimposed flight time data set stored in the memory, and output them to the first accumulating unit to the N-th accumulating unit of the K statistical modules, so as to perform the S-1-th superposition of the S-1-th superimposed photon count value in the S-1-th superimposed flight time data set obtained by the S-2-th superposition and the accumulated photon count value at the same accumulated flight time in the S-th first integration period to obtain the S-1-th superimposed flight time data set, and store the obtained X*N*K S-1-th superimposed photon count values ​​corresponding to the X*N clock periods in the X*N*K storage units of the X storage modules, thereby achieving superposition of the accumulated photon count values ​​at the same accumulated flight time in the S first integration periods.

[0087] In an optional implementation, the nth input selection unit in each statistical module includes an nth data selector MUXn, and the nth data selector MUXn is a 2-to-1 data selector. The nth data selector MUXn includes two data input terminals, a data output terminal, and a selection input terminal. One data input terminal of the nth data selector MUXn is connected to the output terminal of the corresponding input accumulator, the other data input terminal receives data 0, the data output terminal is connected to an input terminal of the corresponding nth accumulator, and the selection input terminal is connected to the signal output terminal of the control module. Under the action of a first control signal, the nth data selector MUXn selects to output the accumulated photon count value accumulated by the corresponding input accumulator in the nth clock cycle of each statistical period, and prohibits the output of the accumulated photon count value accumulated in other clock cycles except the nth clock cycle among the N clock cycles in each statistical period. When the nth data selector MUXn prohibits the output of the accumulated photon count value accumulated in other clock cycles except the nth clock cycle among the N clock cycles in each statistical period under the action of the first control signal, the nth data selector MUXn selects to output data 0.

[0088] In an optional embodiment, the nth output selection unit in each statistical module includes a data selector MUX_n, and the data selector MUX_n adopts a 2-to-1 data selector; the data selector MUX_n includes two data input terminals, a data output terminal and a selection input terminal; one data input terminal of the data selector MUX_n is connected to the output terminal of the nth limit saturation unit, the other data input terminal is connected to the output terminal of the nth write unit, the data output terminal is connected to the input terminal of the nth write unit, and the selection input terminal is connected to the control signal output terminal of the control module.

[0089] When the K input accumulators obtain the first initial flight time data of the nth clock cycle of each statistical period, the nth data selector MUXn corresponding to the nth input selection unit, under the action of the first control signal, selects to input the accumulated photon count value accumulated by the corresponding input accumulator in the nth clock cycle of each statistical period. If the accumulated photon count value does not exceed the limit bit width of the nth limit and saturation unit, the nth data selector MUX_n corresponding to the nth output selection unit, under the action of the first control signal, selects to obtain the data output by the nth limit and saturation unit and outputs it to the nth write unit. When the K input accumulators obtain the initial flight time data of a non-nth clock cycle of each statistical period, the nth data selector MUXn corresponding to the nth input selection unit, under the action of the first control signal, selects to input data 0, and the data selector MUX_n corresponding to the nth output selection unit, under the action of the control signal, selects to obtain the data temporarily stored in the nth write unit and outputs it to the nth write unit again.

[0090] When the K input accumulators obtain the first initial flight time data of the Nth clock cycle of each statistical period, the data selector MUXN corresponding to the Nth input selection unit selects the accumulated photon count value accumulated by the corresponding input accumulator in the Nth clock cycle of each statistical period under the action of the first control signal. If the accumulated photon count value does not exceed the limit bit width of the Nth limit saturation unit, the Nth limit saturation unit outputs the accumulated photon count value to the Nth write unit.

[0091] When the Nth write unit of the K statistical modules obtains the accumulated photon count value, the first write unit to the Nth write unit of the K statistical modules perform a write operation, and write the N*K accumulated photon count values ​​accumulated by the K input accumulators in each statistical period into the currently pointed storage module.

[0092] As an example and not a limitation, referring to the specific structural diagram of a flight time statistics device shown in Figure 8 and a timing diagram of the first integration period shown in Figure 9, it is assumed that M=4, N=2, K=2; the number of statistical modules included in the flight time statistics device is two, namely the first statistical module and the second statistical module, and the number of superposition channels included in each statistical module is two; the number of clock cycles included in each statistical period is two, namely the first clock period and the second clock period; the number of clock cycles included in each first integration period is 2*X; the number of storage units included in each storage module is four.

[0093] (1) When the first statistical module and the second statistical module obtain two sets of first initial flight time data {P0, P1} and {P2, P3} of the first clock cycle of the x-th statistical cycle:

[0094] The input accumulator A1 of the first statistical module and the input accumulator A4 of the second statistical module respectively accumulate the two sets of first initial flight time data {P0, P1} and {P2, P3} input in the first clock cycle of the xth statistical cycle to generate a first accumulated photon counting value P01 and a second accumulated photon counting value P23 corresponding to the first clock cycle. Under the action of the first control signal, the first data selector MUX1 corresponding to the first input selection unit of the first statistical module selects the first accumulated photon count value P01 corresponding to the first clock cycle as input. If the first accumulated photon count value P01 corresponding to the first clock cycle does not exceed the limit bit width of the first limit and saturation unit included in the first statistical module, the data selector MUX_1 corresponding to the first output selection unit of the first statistical module selects the data output by the first limit and saturation unit included in the first statistical module, that is, the first accumulated photon count value P01, under the action of the first control signal, and outputs it to the first write unit hist_wdat0 of the first statistical module; under the action of the first control signal, the first data selector MUX1 corresponding to the first input selection unit of the second statistical module selects the second accumulated photon count value P23 corresponding to the first clock cycle as input. Under the action of the first control signal, the data selector MUX1 corresponding to the first input selection unit of the second statistical module selects the second accumulated photon count value P23 corresponding to the first clock cycle. If the second accumulated photon count value P23 corresponding to the first clock cycle does not exceed the limit bit width of the first limit and saturation unit included in the second statistical module, the data selector MUX_1 corresponding to the first output selection unit of the second statistical module selects the data output by the first limit and saturation unit included in the second statistical module, that is, the second accumulated photon count value P23, and outputs it to the first write unit hist_wdat1 of the second statistical module.

[0095] (2) When the first statistical module and the second statistical module obtain two sets of first flight time data {P0, P1} and {P2, P3} of the second clock cycle of the x-th statistical cycle:

[0096] The input accumulator A1 of the first statistical module and the input accumulator A4 of the second statistical module respectively accumulate the two sets of first initial flight time data {P0, P1} and {P2, P3} input in the second clock cycle of the x-th statistical cycle to generate the first accumulated photon count value P01 and the second accumulated photon count value P23 corresponding to the second clock cycle. Under the action of the first control signal, the data selector MUX1 corresponding to the first input selection unit of the first statistical module allows the data 0 to pass through and output. Under the action of the first control signal, the data selector MUX_2 corresponding to the first output selection unit of the first statistical module allows the data temporarily stored in the first write unit of the first statistical module to pass through and output, that is, output the first accumulated photon count value P01 corresponding to the first clock cycle to the first write unit of the first statistical module; under the action of the first control signal, the data selector MUX_2 corresponding to the second input selection unit of the first statistical module selects the first accumulated photon count value P01 corresponding to the second clock cycle to be input. Sub-count value P01, if the first accumulated photon counting value P01 corresponding to the second clock cycle does not exceed the limit bit width of the second limit and saturation unit included in the first statistical module, the second limit and saturation unit included in the first statistical module outputs the first accumulated photon counting value P01 corresponding to the second clock cycle; under the action of the first control signal, the data selector MUX_1 corresponding to the second output selection unit of the first statistical module obtains the data output by the second limit and saturation unit included in the first statistical module, that is, the first accumulated photon counting value P01 corresponding to the second clock cycle, and outputs it to the second write unit hist_wdat2 of the first statistical module. Under the action of the control signal, the data selector MUX1 corresponding to the first input selection unit of the second statistical module allows the data 0 to pass through and output. Under the action of the control signal, the data selector MUX_2 corresponding to the first output selection unit of the second statistical module allows the data temporarily stored in the first writing unit of the second statistical module to pass through and output, that is, the second accumulated photon count value P23 corresponding to the first clock cycle to the first writing unit of the second statistical module; under the action of the control signal, the data selector MUX1 corresponding to the second input selection unit of the second statistical module selects to input the second accumulated photon count value P23 corresponding to the second clock cycle. P23, if the second accumulated photon count value P23 corresponding to the second clock cycle does not exceed the limit bit width of the second limit saturation unit included in the second statistical module, the second limit saturation unit included in the second statistical module outputs the second accumulated photon count value P23 corresponding to the second clock cycle; under the action of the first control signal, the data selector MUX2 corresponding to the second output selection unit of the second statistical module obtains the data output by the second limit saturation unit included in the second statistical module, that is, the second accumulated photon count value P23 corresponding to the second clock cycle, and outputs it to the second write unit hist_wdat3 of the second statistical module.

[0097] At this time, the first writing unit of the first statistical module temporarily stores the first accumulated photon count value P01 corresponding to the first clock cycle, and the first writing unit of the second statistical module temporarily stores the second accumulated photon count value P23 corresponding to the first clock cycle; the second writing unit of the first statistical module temporarily stores the first accumulated photon count value P01 corresponding to the second clock cycle, and the second writing unit of the second statistical module temporarily stores the second accumulated photon count value P23 corresponding to the second clock cycle; the first writing unit and the second writing unit of the first statistical module and the first writing unit and the second writing unit of the second statistical module write the four accumulated photon count values ​​accumulated by the input accumulators of the two statistical modules in the two clock cycles of the x-th statistical cycle (i.e., the first accumulated photon count value P01 and the second accumulated photon count value P23 corresponding to the first clock cycle of the x-th statistical cycle and the first accumulated photon count value P01 and the second accumulated photon count value P23 corresponding to the second clock cycle of the x-th statistical cycle) into the storage address a corresponding to the x-th statistical cycle. x-1 storage module.

[0098] In this embodiment, when the storage address is a x-1 After the storage module of the two statistical modules writes the four accumulated photon count values ​​corresponding to the xth statistical period, and when x<X, the first writing unit, the second writing unit of the first statistical module and the first writing unit, the second writing unit of the second statistical module point to the storage address a corresponding to the x+1th statistical period. x The storage module, the first statistical module and the second statistical module continue to perform the cumulative sampling of the initial flight time data of the x+1th statistical cycle of the current first integration cycle, and store it in the storage address a x Storage module; when the storage address is a X-1 The storage module is written with the four accumulated photon count values ​​corresponding to the Xth statistical period by the two statistical modules, that is, after the first statistical module and the second statistical module complete the accumulated sampling and storage of the initial flight time data of the current first integration period, the control module stops outputting the control signal until the next first integration period arrives, and the control module again executes the accumulated sampling and storage of the initial flight time data of X statistical periods within the first integration period.

[0099] It should be noted that, when the statistics section performs the operation of the next first integration period, the first readout unit of the first statistics module is used to read and output the first accumulated photon count value P01 corresponding to the first clock cycle of the x-th statistical period of the previous first integration period to the first accumulating unit of the first statistics module during the x-th statistical period of the next first integration period; the first readout unit of the second statistics module is used to read and output the second accumulated photon count value P23 corresponding to the first clock cycle of the x-th statistical period of the previous first integration period to the first accumulating unit of the second statistics module during the x-th statistical period of the next first integration period; the second readout unit of the first statistics module is used to read and output the second accumulated photon count value P23 corresponding to the first clock cycle of the x-th statistical period of the previous first integration period to the first accumulating unit of the second statistics module during the x-th statistical period of the next first integration period. And output the first accumulated photon count value P01 corresponding to the second clock cycle of the xth statistical cycle of the previous first integration cycle to the second accumulation unit of the first statistical module; the second readout unit of the second statistical module is used to read and output the second accumulated photon count value P23 corresponding to the second clock cycle of the xth statistical cycle of the previous first integration cycle to the second accumulation unit of the second statistical module during the xth statistical cycle of the next first integration cycle, so as to realize the superposition of histogram data corresponding to multiple first integration cycles, until the input accumulators of the K statistical modules complete the accumulated sampling of the initial flight time data of the Sth first integration cycle, and the K statistical modules complete the superposition of the histogram data corresponding to all the first integration cycles, thereby generating the final histogram data.

[0100] Example 2:

[0101] Embodiment 2 of the present application provides another laser ranging device, which includes a light-emitting unit 100, a pixel unit 200, a time-to-digital converter 300 (TDC), and a flight time statistics device 400. Referring to the structural diagram of a flight time statistics device shown in FIG10 , the flight time statistics device 400 includes a control module 430, a statistics unit 410, and a memory 420. Based on the flight time statistics device with a different structure, the laser ranging device can realize two detection modes compared with the laser ranging device provided in the above-mentioned embodiment 1. Specifically, the laser ranging device in embodiment 2 of the present application can realize a first detection mode and a second detection mode.

[0102] When the laser ranging device is in the first detection mode, the statistics unit 410 is used to obtain S first initial flight time data sets corresponding to S first integration periods, and for each first initial flight time data set, accumulate each adjacent N initial flight time data as a group to generate S accumulated flight time data sets corresponding one to one to the S first initial flight time data sets; S is a positive integer, and S ≥ 2; N is a positive integer, and N ≥ 2; the flight time statistics device is also used to perform superposition processing on the S accumulated flight time data sets to generate a first superposition flight time data set, perform superposition processing on the S accumulated flight time data sets to obtain a first superposition flight time data set, and store at least one first superposition photon count value in the first superposition flight time data set in a storage unit in a manner that one first superposition photon count value is stored, and the first superposition flight time data set is stored in the memory 420, and the first superposition flight time data set includes a first superposition photon count value corresponding one to one to each accumulated flight moment.

[0103] Among them, each first initial flight time data set includes multiple first initial flight time data, each first initial flight time data includes a flight time output by the TDC and a photon count value corresponding to the flight time; each accumulated flight time data set includes at least one accumulated flight time data, each accumulated flight time data includes at least one accumulated flight time after accumulation of N adjacent flight times and at least one accumulated photon count value corresponding to at least one accumulated flight time; the first superimposed flight time data set includes at least one first superimposed flight time data obtained by superimposing the accumulated flight time data corresponding to the same accumulated flight time in S accumulated flight time data sets, and each first superimposed flight time data includes a first superimposed photon count value obtained by S accumulated photon count values ​​corresponding to at least one accumulated flight time.

[0104] When the laser ranging device is in the second detection mode, the statistics unit 410 is used to obtain S second initial flight time data sets within S second integration periods, and perform superposition processing on the S second initial flight time data sets to generate a second superposition flight time data set, and store the second superposition flight time data set in the memory 420 in a manner that at least one second superposition photon count value in the second superposition flight time data set is stored in a storage unit.

[0105] Among them, each second initial flight time data set includes multiple second initial flight time data, each second initial flight time data includes multiple flight times output by the TDC and multiple photon counting values ​​corresponding one-to-one to the multiple flight times; the second superimposed flight time data set includes at least one second superimposed flight time data obtained by superimposing the second initial flight time data corresponding to the same flight time in S second initial flight time data sets, and each second superimposed flight time data includes multiple second superimposed photon counting values ​​corresponding one-to-one to the multiple flight times.

[0106] In the second embodiment, it is assumed that each first integration period includes X*N first clock periods, each first clock period includes M first initial flight time data, each second integration period includes X second clock periods, each second clock period includes M second initial flight time data, wherein X ≥ 2, M ≥ 2, M = K*N, M, K, and X are all positive integers, and K ≥ 1. Referring to the structural diagram of a flight time statistics device shown in FIG10 , the statistics unit 410 in the flight time statistics device 400 includes K statistics modules 411 connected in parallel. The control module 430 is used to output a second control signal, and the second control signal is in the first state or the second state.

[0107] When the laser ranging device is in the first detection mode, the second control signal output by the control module is in the first state, and the M first initial time-of-flight data corresponding to each clock cycle are divided into K first initial time-of-flight data sets according to the first division method. The K statistical modules are configured to, under the action of the second control signal in the first state, sequentially acquire the K first initial time-of-flight data sets in each first clock cycle within each first integration period, and accumulate the acquired first initial time-of-flight data sets to generate an accumulated time-of-flight data set. The K statistical modules are further configured to, under the action of the second control signal in the first state, superimpose the S accumulated time-of-flight data sets to generate a first superimposed time-of-flight data set, superimpose the S accumulated time-of-flight data sets to obtain a first superimposed time-of-flight data set, and store the first superimposed time-of-flight data set in the memory 420 by storing at least one first superimposed photon count value in the first superimposed time-of-flight data set in a storage unit.

[0108] The first division method is to divide the M first initial time-of-flight data corresponding to each first clock cycle within each first integration period into K groups of first initial time-of-flight data, i.e., K first initial time-of-flight data sets, by grouping each N adjacent first initial time-of-flight data sets into a group. For example, assuming that the M first initial time-of-flight data included in each first clock cycle are sequentially represented as P0, P1, ..., P[K*N-2] to P[K*N-1], with K*N=M, then the kth first initial time-of-flight data set within each first clock cycle is {P[k*NN] to P[k*N-1]}, and the kth first initial time-of-flight data set corresponds to the kth statistical module of the K statistical modules. It should be noted that when the laser ranging device is in the first detection mode, the statistical unit 410 performs a superposition process on the accumulated time-of-flight data sets corresponding to the first to Sth first integration periods using a continuous multiple superposition method. The method for generating the first superposition time-of-flight data set can be referred to the relevant description in the first embodiment and will not be repeated here.

[0109] When the laser ranging device is in the second detection mode, the second control signal output by the control module is in a second state, and the M second initial time-of-flight data corresponding to each clock cycle are divided into K groups of second initial time-of-flight data according to the second division method, thereby obtaining K second initial time-of-flight data sets. The K statistical modules are configured to obtain, in accordance with the clock cycle sequence, the K second initial time-of-flight data sets in each second clock cycle within each second integration period under the action of the second control signal in the second state.

[0110] Among them, the second division method is a division method with P[0*K+(k-1)] to P[(N-1)*K+(k-1)] (k=1 to K) as a group, and the M initial flight time data corresponding to each second clock cycle in each second integration period are divided into K second initial flight time data sets, then the kth second initial flight time data set in each second clock cycle is {P[0*K+(k-1)], P[1*K+(k-1)],…, P[(N-1)*K+(k-1)]}, and the kth second initial flight time data set corresponds to the kth statistical module among the K statistical modules. It should be noted that when the laser ranging device is in the second detection mode, the kth statistical module is configured to, under the action of the second control signal in the second state, obtain the N second initial time-of-flight data included in the kth second initial time-of-flight data set {P[0*K+(k-1)], P[1*K+(k-1)], …, P[(N-1)*K+(k-1)]}, and store the N second initial time-of-flight data included in the kth second initial time-of-flight data set {P[k*NN] to P[k*N-1]} in a one-to-one corresponding storage unit. When the K statistical modules obtain the second initial time-of-flight data sets corresponding to the first to Sth second integration periods, the K statistical modules are further configured to, under the action of the second control signal in the second state, perform superposition processing on the S second initial time-of-flight data sets corresponding to the first to Sth second integration periods to generate a second superposed time-of-flight data set, and store the M second superposed photon count values ​​included in the second superposed time-of-flight data set in the one-to-one corresponding M storage units.

[0111] In an embodiment of the present application, when the laser ranging device is in the second detection mode, the statistics unit 410 can also use a continuous multiple superposition method to superimpose the second initial flight time data sets corresponding to the first to Sth second integration periods to generate a second superimposed flight time data set.

[0112] Specifically, when the K statistical modules obtain the second initial flight time data set corresponding to the first second integration period, the K statistical modules write the second initial flight time data set corresponding to the first second integration period into the memory; when the K statistical modules obtain the initial flight time data set corresponding to the second second integration period, the K statistical modules read the second initial flight time data set corresponding to the first second integration period from the memory, and perform a first superposition processing with the second initial flight time data set corresponding to the second second integration period to obtain the first second superposition flight time data set, and write the first second superposition flight time data set into the memory; when the K statistical modules obtain the initial flight time data set corresponding to the third second integration period, the K statistical modules read the first second superposition flight time data set from the memory, and perform a second superposition processing with the second initial flight time data set corresponding to the third second integration period to obtain the second second superposition flight time data set, and write the second second superposition flight time data set into the memory. By analogy, the above operations are performed multiple times in succession until the K statistical modules obtain the second initial flight time data set corresponding to the S-th second integration period, the K statistical modules read the S-2th second superimposed flight time data set from the memory, perform the S-1th superposition processing on the second initial flight time data set corresponding to the S-th second integration period, obtain the S-1th second superimposed flight time data set, and write the S-1th second superimposed flight time data set into the memory 420.

[0113] In the embodiment of the present application, the number of storage units included in the memory 420 is X*M, where X is a positive integer and X ≥ 1. When the laser ranging device is in the first detection mode, the X*M storage units included in the memory can store a maximum of X*M (i.e., X*N*K) accumulated photon count values. Accordingly, the number of clock cycles included in the first integration period can be up to (X*N*K) / K (i.e., X*N); the detection distance L1 that the laser ranging device can achieve in the first integration period is L1 = c*(X*N*t), where c is the speed of light and t is the duration of one clock cycle; the detection accuracy Δt1 of the laser ranging device in the first detection mode is N*t. When the laser ranging device is in the second detection mode, the X*M storage units included in the memory can store up to X*M initial flight time data. Accordingly, the number of clock cycles included in the second integration period can reach up to (X*M) / M (i.e., X). The detection distance L2 that the laser ranging device can achieve in the second integration period is L2 = c*(X*t), and the detection accuracy of the laser ranging device in the second detection mode is Δt2 = t. From the above, it can be seen that L1 = N*L2, and Δt1 = N*Δt2. In other words, the detection distance of the laser ranging device in the first detection mode is greater than the detection distance in the second detection mode, which can meet the laser ranging device's detection requirements for long detection distances. The ranging accuracy of the laser ranging device in the second detection mode is less than the detection accuracy in the first detection mode, which can meet the laser ranging device's detection requirements for high detection accuracy.

[0114] Based on the laser ranging device provided in Example 2 of the present application, different detection requirements of the laser ranging device can be met by switching detection modes. The flight time statistics device provided in this application uses a second control signal to control each statistical module to output the accumulated photon count value or initial flight time data to the memory. While achieving flight time statistics in the two detection modes of the laser ranging device, it is also convenient to simplify the structure of each statistical module.

[0115] Furthermore, the X*M storage units in the memory can be divided into X storage modules, and the storage addresses of the X storage modules are a0, a1, ... to a X-1 Each storage module includes M storage units. The X*N first clock cycles included in a first integration period can be divided into X first statistical cycles, each of which includes N clock cycles. The X second clock cycles included in a second integration period can be divided into X second statistical cycles, each of which includes 1 clock cycle.

[0116] When the laser ranging device is in the first detection mode, the storage address is a x-1The M storage units included in the storage module are used to store the N*K accumulated photon count values ​​accumulated by the K statistical modules in the xth first statistical cycle of the current first integration cycle, that is, the N*K accumulated photon count values ​​corresponding to the N first clock cycles included in the xth first statistical cycle. When the laser ranging device is in the second detection mode, the storage address is a x-1 The M storage units included in the storage module are used to store the M second initial flight time data corresponding to the xth second clock cycle of the current second integration period (ie, the xth second statistical cycle) acquired by the K statistical modules.

[0117] Specifically, when the laser ranging device is in the first detection mode, the K statistical modules are used to accumulate the N*M first initial flight time data corresponding to the N first clock cycles included in the current first statistical cycle, and store the accumulated N*K accumulated photon count values ​​in the M storage units of the current storage module. Then, the output ends of the K statistical modules point to the next storage module; the K statistical modules are used to accumulate the N*M first initial flight time data corresponding to the N first clock cycles included in the next first statistical cycle, and store the accumulated N*K accumulated photon count values ​​in the M storage units of the next storage module. The above operation is repeated until the output ends of the K statistical modules point to the storage address a. X-1 The storage module, K statistical modules accumulate the N*M first initial flight time data corresponding to the N first clock cycles included in the Xth first statistical cycle, and store the accumulated N*K accumulated photon count values ​​in the storage address a X-1 After the K statistical modules complete the statistics of all the first initial flight time data in the current first integration period, the control module stops controlling the K statistical modules. If there are still first integration periods in a single time frame that have not completed the flight time statistics, then when the next first integration period arrives, the control module re-controls the K statistical modules to enable the flight time statistics device to complete the statistics of all the first initial flight time data in the next first integration period. When the flight time statistics device completes the statistics of all the first initial flight time data of S first integration periods in a single time frame, the control module can stop controlling the K statistical modules again until the next time frame arrives.

[0118] When the laser ranging device is in the second detection mode, and after the K statistical modules store the M second initial flight time data corresponding to the current second clock cycle in the M storage units of the current storage module, the output ends of the K statistical modules point to the next storage module; the K statistical modules store the M second initial flight time data corresponding to the next second clock cycle in the M storage units of the next storage module; and this operation is repeated until the output ends of the K statistical modules point to the storage address a. X-1 The storage module K statistical modules store the M second initial flight time data corresponding to the X-th second clock cycle in the current second integration period in the storage address a X-1 When the K statistical modules complete the flight time statistics within the current second integration period, the control module stops controlling the K statistical modules. If there are still second integration periods in a single time frame that have not completed the flight time statistics, then when the next second integration period arrives, the control module re-controls the K statistical modules to enable the flight time statistics device to complete the flight time statistics within the next second integration period. When the flight time statistics device completes the flight time statistics for all second integration periods within a single time frame, the control module may again stop controlling the K statistical modules until the next time frame arrives.

[0119] In an embodiment of the present application, the control module is used to output a control signal. As shown in Figure 10, specifically, the control module includes a first control module and a second control module. The first control module is used to output a first control signal and a second control signal, wherein the first control signal is a clock cycle control signal and the second control signal is a sampling mode control signal; the second control signal can be in a first state or a second state, and when the second control signal is in the first state, the laser ranging device is in a first detection mode (i.e., cumulative sampling mode), and when the second control signal is in the second state, the laser ranging device is in a second detection mode (i.e., normal sampling mode); the second control module is used to output a combined control signal based on the first control signal and the second control signal output by the first control module. Exemplarily, the second control module can be an AND gate.

[0120] In the embodiment of the present application, the K statistical modules in the statistical unit have the same structure. As shown in Figure 11, in a specific implementation of this embodiment, each statistical module includes an input accumulator and N superposition channels connected in parallel, namely, a first superposition channel, a second superposition channel, to an Nth superposition channel, and the input accumulator is connected in series with the N superposition channels connected in parallel.

[0121] Specifically, the input accumulator includes N input terminals and one output terminal, and each superposition channel includes a first statistics input terminal, a second statistics input terminal, a first superposition output terminal, and a superposition feedback terminal. The input accumulator of each statistics module is configured to obtain K sets of first initial time-of-flight data sets for each first clock cycle within each first integration period, and to perform accumulation processing on each set of initial time-of-flight data sets in the K sets of first initial time-of-flight data sets to generate an accumulated time-of-flight data set corresponding to each first integration period.

[0122] The output end of the input accumulator is connected to the first statistical input ends of the first superposition channel and the second superposition channel through the Nth superposition channel. When the second control signal is in a first state, the N first superposition input ends are used to receive, in accordance with the second control signal, N*K accumulated photon count values ​​generated by the input accumulator during the N first clock cycles within each first statistical cycle of each first integration cycle.

[0123] Specifically, when the second control signal output by the control module is in the first state, the laser ranging device is in the first detection mode. According to the order of the first clock cycle in each first statistical cycle, the first statistical input end of the nth superposition channel included in the K statistical modules allows the input of the K accumulated photon count values ​​accumulated by the input accumulator of each statistical module in the nth first clock cycle of the current first statistical cycle, and the other superposition channels in the K statistical modules (that is, the other superposition channels except the nth superposition channel in the N superposition channels of each statistical module) are prohibited from inputting the K accumulated photon count values ​​accumulated by the input accumulator of each statistical module in the nth clock cycle; when the Nth superposition channel of the K statistical modules completes the input of the K accumulated photon count values ​​accumulated by the input accumulator of each statistical module in the N clock cycle, that is, the K statistical modules complete the first clock cycle of the current first statistical cycle. After the N*K accumulated photon count values ​​from the first first statistical cycle to the Nth clock cycle are input, the K statistical modules again complete the input of the N*K accumulated photon count values ​​from the first first clock cycle to the Nth first clock cycle of the next first statistical cycle to the input accumulator of each statistical module in the order of the first clock cycle in the next first statistical cycle, until the K statistical modules complete the input of the X*N*K accumulated photon count values ​​of the X first statistical cycles of the current first integration cycle; when the laser ranging device enters the next first integration cycle, the K statistical modules again perform the above operation to complete the input of the X*N*K accumulated photon count values ​​of the X first statistical cycles of the next first integration cycle, until the input of the accumulated photon count values ​​of all the first integration cycles to be completed is completed.

[0124] The second statistical input ends of the first to Nth superposition channels of the K statistical modules are respectively used to obtain a second initial time-of-flight data set corresponding to the statistical modules in each second clock cycle within each second integration period. Furthermore, when the second control signal is in the second state, the output ends of the first to Nth superposition channels of the K statistical modules sequentially point to X storage modules in the memory in the order of X second clock cycles within each integration period. That is, the K*N superposition output ends corresponding to the first to Nth superposition channels of the K statistical modules point to the current corresponding statistical module in the current second statistical period and to the next corresponding storage module in the next second statistical period.

[0125] Specifically, when the second control signal output by the control module is in the second state, the laser ranging device is in the second detection mode. In the order of X second clock cycles (i.e., second statistical cycles) within each second integration period, the second statistical input terminals of the first through Nth superposition channels included in the K statistical modules allow input of K sets of second initial time-of-flight data for each second clock cycle. This operation is repeated until the first through Nth superposition channels included in the K statistical modules complete inputting K sets of second initial time-of-flight data for the X second clock cycles, and then the first through Nth superposition channels included in the K statistical modules complete inputting X*M sets of second initial time-of-flight data for the X second clock cycles of the current second integration period. When the laser ranging device enters the next second integration period, the K statistical modules again perform the above operation to complete inputting X*M sets of second initial time-of-flight data for the X second clock cycles of the next second integration period, until inputting the second initial time-of-flight data for all required second integration periods is completed.

[0126] It should be noted that when the second control signal output by the control module is in the second state, the nth superposition channel in the kth statistical module in the K statistical modules is used to obtain the nth second initial flight time data in the kth second initial flight time data set {P[0*K+(k-1)], P[1*K+(k-1)],…, P[(N-1)*K+(k-1)]} of a second clock cycle, that is, the K statistical modules correspond one-to-one to the K groups of second initial flight time data of each second clock cycle, and the nth superposition channel in the kth statistical module corresponds to the nth second initial flight time data in the N second initial flight time data of the kth group of second initial flight time data of each second clock cycle. The K*N superposition output terminals of the K statistical modules sequentially point to the write terminals of the X storage modules of the memory in the order of the second clock cycles during each second integration period. That is, each second clock cycle corresponds to one storage module. The K*N superposition output terminals of the K statistical modules point to the write terminal of the storage module with storage address ax-1 during the xth clock cycle of each second integration period. The read terminals of the X statistical modules of the memory 420 sequentially point to the K*N superposition feedback terminals of the K statistical modules in the order of the second clock cycles during each second integration period. That is, the read terminal of the storage module with storage address ax-1 points to the K*N superposition feedback terminals of the K statistical modules during the xth second clock cycle of each second integration period.

[0127] In one example, the structure and function of each statistical module are exemplarily described by taking the kth statistical module among the K statistical modules as an example.

[0128] Specifically, when the second control signal output by the control module is in the first state, the laser ranging device is in the first detection mode. The input accumulator included in the kth statistical module is used to obtain the kth group of first initial flight time data P[k*NN] to P[k*N-1] in each first clock cycle, and accumulate the N first initial flight time data P[k*NN] to P[k*N-1] to generate a kth accumulated photon count value. The first superposition channel included in the kth statistical module is turned on in the first first clock cycle of each first statistical period to store the kth accumulated photon count value generated by the input accumulator of the kth statistical module in the first first clock cycle of the first statistical period in the corresponding storage unit of the current storage module corresponding to the first statistical period; the nth superposition channel included in the kth statistical module is turned on in the nth clock cycle of each first statistical period to store the kth accumulated photon count value generated by the input accumulator of the kth statistical module in the nth first clock cycle of the first statistical period in the one-to-one corresponding storage unit of the current storage module; the Nth superposition channel included in the kth statistical module is turned on in the Nth first clock cycle of each first statistical period to store the kth accumulated photon count value generated by the input accumulator of the kth statistical module in the Nth first clock cycle of the first statistical period in the one-to-one corresponding storage unit of the current pointing storage module; n is a positive integer, and 1≤n≤N.

[0129] When the laser ranging device is in the first detection mode, the time-of-flight statistics device sequentially turns on the first, second, through Nth superposition channels in each first statistics module according to the N clock cycles of the first statistics cycle, thereby achieving cumulative sampling and storage of the first initial time-of-flight data corresponding to each first statistics cycle. This ensures that the statistics of the first initial time-of-flight data of each first clock cycle do not interfere with each other. Furthermore, by repeatedly turning on the first, second, through Nth superposition channels X times, cumulative sampling and storage of the first initial time-of-flight data corresponding to each first integration cycle are achieved, without increasing the number of superposition channels, resulting in a simple structure.

[0130] For example, assuming that the number of clock cycles included in the first integration period is N*X, the detection distance L1 that the laser ranging device can achieve in the first integration period is L1 = c*(N*X*t), where c is the speed of light and t is the duration of one clock period. The kth statistical module obtains N*X kth groups of first initial flight time data P[k*NN] to P[k*N-1] corresponding to N*X clock periods in a clock period sequence, and performs cumulative sampling on the kth group of first initial flight time data P[k*NN] to P[k*N-1] within the N*X clock periods to generate N*X cumulative photon count values. The kth statistical module is further configured to, under the control of a second control signal in a first state output by the control module, store the N*X cumulative photon count values ​​obtained by cumulative sampling in the N*X clock periods corresponding to each first integration period in corresponding N*X storage units. K statistical modules acquire N*X K sets of first initial time-of-flight data corresponding to N*X clock cycles in a clock cycle sequence, generating N*X*K, i.e., M*X, accumulated photon count values, and are further configured to store the M*X accumulated photon count values ​​in M*X corresponding storage units. When the laser ranging device completes a first integration cycle, the control module ceases controlling the K statistical modules until the next first integration cycle arrives, at which point the control module re-controls the K statistical modules to store the accumulated photon count values ​​obtained by cumulative sampling during the next first integration cycle in the corresponding storage units.

[0131] When the second control signal output by the control module is in the second state, the laser ranging device is in the second detection mode.

[0132] The kth statistical module is used to obtain the kth group of second initial flight time data of each second clock cycle within the second integration period, wherein the kth group of second flight time data includes N second initial flight time data P[(k-1)],…,P[(k-1)+(N-2)*K] to P[(k-1)+(N-1)*K] among the M second initial flight time data P[0] to P[K*N-1] of each second clock cycle. The N superposition channels included in the kth statistical module are turned on under the action of the second control signal; the first superposition channel of the kth statistical module is used to store the nth second initial flight time data in the kth group of second initial flight time data obtained for each second clock cycle in a storage unit of the current storage module; the nth superposition channel of the kth statistical module is used to store the nth second initial flight time data in the kth group of second initial flight time data obtained for each second clock cycle in a storage unit of the current storage module; the Nth superposition channel of the kth statistical module is used to store the Nth second initial flight time data in the kth group of second initial flight time data obtained for each second clock cycle in a storage unit of the current storage module, thereby realizing the sampling and storage of the second initial flight time data corresponding to each second clock cycle in each second integration period.

[0133] For example, assuming that the number of clock cycles included in the second integration period is X, the detection distance L2 that the laser ranging device can achieve in the second integration period is L = c*(X*t), where c is the speed of light and t is the duration of one clock cycle. The k-th statistical module obtains X k-th groups of second initial flight time data {P[0*K+(k-1)], P[1*K+(k-1)], ..., P[(N-1)*K+(k-1)]} corresponding to the X second clock cycles in the order of the second clock cycles in the second integration period, and under the control of the second control signal in the second state output by the control module, stores the X k-th groups of second initial flight time data {P[0*K+(k-1)], P[1*K+(k-1)], ..., P[(N-1)*K+(k-1)]} obtained in the X clock cycles corresponding to each second integration period in one-to-one corresponding N*X storage units. The K statistical modules sequentially store the acquired XK sets of second initial time-of-flight data corresponding to X clock cycles, i.e., the X*M second initial time-of-flight data, in N*X*K (i.e., X*M) corresponding storage units. When the laser ranging device completes a second integration cycle, the control module stops controlling the K statistical modules until the next second integration cycle arrives, at which point the control module re-controls the K statistical modules to store the initial time-of-flight data for the next second integration cycle in the corresponding storage units.

[0134] In the second embodiment, the structures of the first to N-1th superposition channels in each statistical module are the same, and the structure of the Nth superposition channel in each statistical module is different from the structure of the first N-1 superposition channels. Referring to the structural schematic diagram of the kth statistical module among the K statistical modules shown in FIG12 , the specific structure of the first N-1 superposition channels in each statistical module is exemplarily described by taking the first N-1 superposition channels of the kth statistical module (i.e., the nth superposition channel among the first to N-1th superposition channels) as an example, where n is a positive integer and 1≤n≤N-1.

[0135] In a possible implementation, the nth superposition channel of each statistical module includes an nth input selection unit, an nth selection unit, an nth accumulation unit, an nth limit saturation unit, an nth output selection unit, an nth writing unit, and an nth reading unit.

[0136] Specifically, the nth input selection unit includes two input terminals, an output terminal, and a control terminal. One input terminal is connected to the output terminal of the input accumulator in the statistical module in which it is located, the other input terminal receives data 0, the output terminal is connected to an input terminal of the nth selection unit, and the control terminal is connected to the output terminal of the first control module in the control module. When the second control signal is in a first state, the nth input selection unit is configured to select, in accordance with the second control signal, during the nth first clock cycle within each first statistical cycle, the accumulated photon count value of the kth group of first initial time-of-flight data corresponding to the nth first clock cycle, and output it to the nth selection unit.

[0137] The nth selection unit includes two input ends, an output end and a control end, one of the input ends is used to obtain the nth initial flight time data in the kth group of second initial flight time data in each clock cycle, the kth group of second flight time data includes N initial flight time data P[(k-1)], ..., P[(k-1)+(N-2)*K] to P[(k-1)+(N-1)*K] among the M initial flight time data P[0] to P[K*N-1] in each clock cycle, the other input end is connected to the output end of the nth selection unit, the output end is connected to an input end of the nth accumulation unit, and the control end is connected to the output end of the first control module in the control module. In which, when the second control signal is in the first state, the nth selection unit is used to select, according to the second control signal, in the nth first clock cycle in each first statistical cycle, the accumulated photon count value of the kth group of first initial flight time data corresponding to the nth first clock cycle output by the nth input selection unit and output it to the nth accumulation unit; when the second control signal is in the second state, the nth selection unit is used to select, according to the second control signal, in the nth second clock cycle in each second integration cycle, the nth second initial flight time data in the kth group of second initial flight time data within the nth second clock cycle and output it to the nth accumulation unit.

[0138] The nth accumulating unit includes two input terminals and one output terminal, one input terminal is connected to the output terminal of the nth selecting unit, and the output terminal is connected to the input terminal of the nth limiting and saturating unit. The nth limiting and saturating unit includes one input terminal and one output terminal, the input terminal is connected to the output terminal of the nth accumulating unit, and the output terminal is connected to an input terminal of the nth output selecting unit.

[0139] The nth output selection unit includes two input terminals, one output terminal, and a control terminal, wherein one input terminal is connected to the output terminal of the nth limit and saturation unit, the other input terminal is connected to an output terminal of the nth write unit, the output terminal is connected to the input terminal of the nth write unit, and the control terminal is connected to the output terminal of the second control module in the control module. When the second control signal is in a first state, the nth output selection unit is configured to output data output by the nth limit and saturation unit to the nth write unit in the nth first clock cycle within each first statistical period according to the first control signal; and when the second control signal is in a second state, the nth output selection unit is configured to output data output by the nth write unit to the nth write unit in the nth second clock cycle according to the second control signal.

[0140] The nth writing unit includes an input terminal and two output terminals, the input terminal is connected to the output terminal of the nth output selection unit, one of the output terminals is connected to the other input terminal of the nth output selection unit, and the other output terminal is connected to the memory. The nth reading unit includes an input terminal and an output terminal, the input terminal is connected to the memory, and the output terminal is connected to the other input terminal of the nth accumulating unit.

[0141] 12 , in a possible implementation, the Nth superposition channel of each statistical module includes an Nth input selection unit, an Nth selection unit, an Nth accumulation unit, an Nth limit saturation unit, an Nth writing unit, and an Nth reading unit.

[0142] Specifically, the Nth input selection unit includes two input terminals, one output terminal, and a control terminal, wherein one input terminal is connected to the output terminal of the input accumulator of the statistical module in which it is located, the other input terminal receives data 0, the output terminal is connected to an input terminal of the Nth selection unit, and the control terminal is connected to the output terminal of the first control module in the control modules. When the second control signal is in a first state, the Nth input selection unit is configured to select, in accordance with the second control signal in the first state, during the Nth first clock cycle within each first statistical cycle, the accumulated photon count value of the kth group of first initial time-of-flight data corresponding to the Nth first clock cycle, and output it to the Nth selection unit.

[0143] The Nth selection unit includes two input terminals, an output terminal and a control terminal, one of which is used to obtain the Nth initial flight time data in the kth group of second initial flight time data in each clock cycle, and the kth group of second flight time data includes N initial flight time data P[(k-1)], ..., P[(k-1)+(N-2)*K] to P[(k-1)+(N-1)*K] in the M initial flight time data P[0] to P[K*N-1] of each clock cycle, the other input terminal is connected to the output terminal of the Nth selection unit, the output terminal is connected to an input terminal of the Nth accumulation unit, and the control terminal is connected to the output terminal of the first control module in the control module. In which, when the second control signal is in the first state, the Nth selection unit is used to select the accumulated photon count value of the kth group of first initial flight time data corresponding to the Nth first clock cycle in each first statistical period according to the second control signal in the first state, and output it to the Nth accumulation unit; when the second control signal is in the second state, the Nth selection unit is used to select the Nth second initial flight time data in the kth group of second initial flight time data in the Nth second clock cycle in each second integration period according to the second control signal in the second state, and output it to the Nth accumulation unit.

[0144] The Nth accumulator unit includes two input terminals and one output terminal, one input terminal is connected to the output terminal of the Nth selection unit, and the output terminal is connected to the input terminal of the Nth limit and saturation unit. The Nth limit and saturation unit includes one input terminal and one output terminal, the input terminal is connected to the output terminal of the Nth accumulator unit, and the output terminal is connected to an input terminal of the Nth output selection unit. The Nth write unit includes one input terminal and two output terminals, the input terminal is connected to the output terminal of the Nth output selection unit, one output terminal is connected to another input terminal of the Nth output selection unit, and the other output terminal is connected to the memory. The Nth readout unit includes one input terminal and one output terminal, the input terminal is connected to the memory, and the output terminal is connected to another input terminal of the Nth accumulator unit.

[0145] In one example, when the second control signal output by the control module is in the first state, the laser ranging device is in the first detection mode. If N=2, that is, the number of superposition channels included in each statistical module is two; each first integration period includes X first statistical periods, and the number of first clock periods included in each first statistical period is two, that is, the number of first clock periods included in each first integration period is 2*X; then, for S first integration periods, the specific workflow of the first superposition channel to the Nth superposition channel of the K statistical modules in the S first integration periods includes the following steps:

[0146] Step s2x1: When the second control signal output by the control module is in the first state, the laser ranging device is in the first detection mode, and the input accumulators of the K statistical modules respectively obtain K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]}, ..., {P[K*NN] to P[K*N-1]} in the first first clock cycle of the x-th first statistical cycle of the first first integration cycle in the S first integration cycles, and perform the K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]}, ..., {P[K*NN] to P[K*N-1]}. N-1]} performs accumulation processing, where x is a positive integer and 1≤x≤X, to generate K accumulated photon count values ​​within the first first clock cycle; under the influence of the second control signal in the first state output by the control module, the first input selection units of the K statistical modules allow the K accumulated photon count values ​​accumulated by the one-to-one corresponding K input accumulators within the first first clock cycle to pass through and output; under the influence of the second control signal output by the control module, the second input selection units to the Nth input selection unit of the K statistical modules prohibit the K accumulated photon count values ​​accumulated by the K input accumulators within the first first clock cycle from passing through, but allow the K accumulated photon count values ​​to pass through and output data 0. Under the influence of the second control signal in the first state output by the control module, the first selection units of the K statistical modules allow the K accumulated photon count values ​​accumulated by the one-to-one corresponding K first input selection units within the first first clock cycle to pass through and output. The K accumulated photon count values ​​output by the K first selection units are sequentially output to the first limiting and saturation unit of the first superposition channel through the first accumulation unit of the first superposition channel. The first limiting and saturation unit is used to limit the bit width of the accumulated flight time corresponding to the accumulated photon count value that can pass through. If the bit width of the accumulated flight time corresponding to the accumulated photon count value input to the first limiting and saturation unit does not exceed the limited bit width of the first limiting and saturation unit, the first limiting and saturation unit allows the accumulated photon count value to pass through and outputs it to the first output selection unit. Under the control of the combined control signal output by the control module, the first output selection unit allows the accumulated photon count value to pass through and outputs it to the first writing unit in the first superposition channel. If the bit width of the accumulated flight time in the accumulated photon count value input to the first limiting and saturation unit exceeds the limited bit width of the first limiting and saturation unit, the first limiting and saturation unit prohibits the accumulated photon count value from passing through.

[0147] Step s2x2: When the second control signal output by the control module is in the first state, the laser ranging device is in the first detection mode, and the input accumulators of the K statistical modules respectively obtain K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]}, ..., {P[K*NN] to P[K*N-1]} in the second first clock cycle of the xth first statistical cycle of the first first integration period, and perform the K groups of first initial flight time data {P0 to P[N-1]}, ..., {P[k*NN] to P[k*N-1]}, ..., {P[K*NN] to P[K*N- 1]} performs accumulation processing to generate K accumulated photon count values ​​within the first first clock cycle; under the influence of the second control signal in the first state output by the control module, the second input selection units of the K statistical modules allow the K accumulated photon count values ​​accumulated by the one-to-one corresponding K input accumulators within the second first clock cycle to pass through and output; under the influence of the second control signal in the first state output by the control module, the first input selection units and the third to Nth input selection units of the K statistical modules prohibit the K accumulated photon count values ​​accumulated by the K input accumulators within the second first clock cycle from passing through, and instead allow the K accumulated photon count values ​​to pass through and output data 0. Under the influence of the second control signal in the first state output by the control module, the second selection units of the K statistical modules allow the K accumulated photon count values ​​accumulated by the one-to-one corresponding K second input selection units within the second first clock cycle to pass through and output. The K accumulated photon count values ​​output by the K second selection units are sequentially output to the second limiting and saturation unit of the second superposition channel through the second accumulation unit of the second superposition channel. The second limiting and saturation unit is used to limit the bit width of the accumulated flight time in the accumulated photon count values ​​that can pass through. If the bit width of the accumulated flight time in the accumulated photon count values ​​input to the second limiting and saturation unit does not exceed the limited bit width of the second limiting and saturation unit, the second limiting and saturation unit allows the accumulated photon count value to pass through and outputs it to the second output selection unit. Under the control of the combined control signal output by the control module, the second output selection unit allows the accumulated photon count value to pass through and outputs it to the second writing unit in the second superposition channel; if the bit width of the accumulated flight time in the accumulated photon count value input to the second limiting and saturation unit exceeds the limited bit width of the second limiting and saturation unit, the second limiting and saturation unit prohibits the accumulated photon count value from passing through.

[0148] Step s2x3: When the second control signal output by the control module is in the first state, the laser ranging device is in the first detection mode. If the first writing unit to the Nth writing unit of the K statistical modules store the N*K accumulated photon count values ​​obtained by the K input accumulators in the xth first statistical period of the first first integration period in the N*K storage units (i.e., M storage units) of the current storage module (i.e., the x-1th storage module), the first writing unit to the Nth writing unit of the K statistical modules point to the next storage module (i.e., the xth storage module). block), the input accumulators of the K statistical modules continue to obtain the initial flight time data of the x+1th statistical period of the first first integration period, and the first superposition channel to the second superposition channel of the K statistical modules repeat the above steps s2x1 and s2x2 X times until the first superposition channel to the second superposition channel of the K statistical modules sequentially complete {step S211, step S212}, …, {step S2x1, step S2x2}, …, to {step S2X1, step S2X2} in the X statistical periods of the first first integration period. Referring to the storage schematic diagram of the time-of-flight data within the first integration period shown in FIG7 , the first superposition channel to the second superposition channel of the K statistical modules sequentially complete the cumulative sampling of K groups of first initial time-of-flight data {P0 to P[N-1]}, …, {P[k*NN] to P[k*N-1]}, …, {P[K*NN] to P[K*N-1]} for each clock cycle of the X*N first statistical periods of the first first integration period, and store the obtained X*N*K accumulated photon count values ​​corresponding to the X*N first clock periods in the X*N*K storage units (i.e., X*M storage units) of the X storage modules, thereby completing the cumulative sampling and storage of the first initial time-of-flight data of the X first statistical periods of the first first integration period.

[0149] After completing the cumulative sampling and storage of all first initial time-of-flight data for the X statistical periods of the first first integration period of the S first integration periods based on steps s2x1 to s2x3, when the first superposition channel to the second superposition channel of the K statistical modules enter the second first integration period, the accumulated photon count values ​​for the same accumulated time of flight in the first first integration period are sequentially read from the storage and output to the first to Nth accumulation units of the K statistical modules, thereby performing a first superposition of the accumulated photon count values ​​for the same accumulated time of flight in the first first integration period and the second first integration period to obtain a first superposition time-of-flight data set. The obtained X*N*K first superposition photon count values ​​corresponding to the X*N clock periods are then stored in the X*N*K storage units of the X storage modules. The specific superposition steps can be referred to the relevant description in Implementation 1 and will not be repeated here.

[0150] In another example, when the second control signal output by the control module is in the second state, the laser ranging device is in the second detection mode. If N=2, each second integration period includes X second statistical periods, and each second statistical period includes one second clock period, that is, the number of second clock periods included in each second integration period is 2*X. Then, for S second integration periods, the specific workflow of the first to Nth superposition channels of the K statistical modules in the S second integration periods includes the following steps:

[0151] Step s3x1: When the second control signal output by the control module is in the second state, the laser ranging device is in the second detection mode. In the first second clock cycle within the first second integration period, the first selection units of the K statistical modules are used to respectively obtain the first second initial flight time data in each group of the K groups of second initial flight time data within the first second clock cycle, and under the action of the second control signal in the second state output by the control module, select the first second initial flight time data in each group of the second initial flight time data and output it to the corresponding first limit saturation unit. If the bit width of the flight moment corresponding to the second initial flight time data input to the first limit saturation unit does not exceed the limit bit width of the first limit saturation unit, the first limit saturation unit allows the first second initial flight time data in each group of the second initial flight time data in the first second clock cycle to pass through and output it to the first output selection unit. Under the control of the combined control signal output by the control module, the first output selection unit allows the first second initial flight time data in each group of the second initial flight time data in the first second clock cycle to pass through and output it to the first write unit in the first superposition channel.

[0152] The second selection units of the K statistical modules respectively obtain the second second initial flight time data in each group of the K groups of second initial flight time data within the first second clock cycle, and under the action of the second control signal in the second state output by the control module, select the second second initial flight time data in each group of second initial flight time data and output it to the corresponding second limit saturation unit. If the bit width of the flight moment corresponding to the second initial flight time data input to the second limit saturation unit does not exceed the limit bit width of the second limit saturation unit, the first limit saturation unit allows the second second initial flight time data in each group of second initial flight time data in the first second clock cycle to pass and output it to the second output selection unit. Under the control of the combined control signal output by the control module, the second output selection unit allows the second second initial flight time data in each group of second initial flight time data in the first second clock cycle to pass and output it to the second write unit in the second superposition channel.

[0153] Step s3x2: When the second control signal output by the control module is in the second state, the laser ranging device is in the second detection mode. In the second second clock cycle within the first second integration period, the first selection units of the K statistical modules are used to respectively obtain the first second initial flight time data in each group of the K groups of second initial flight time data within the second second clock cycle, and under the action of the second control signal in the second state output by the control module, select the first second initial flight time data in each group of the second initial flight time data and output it to the corresponding first limit saturation unit. If the bit width of the flight moment corresponding to the second initial flight time data input to the first limit saturation unit does not exceed the limit bit width of the first limit saturation unit, the first limit saturation unit allows the first second initial flight time data in each group of the second initial flight time data in the second second clock cycle to pass through and output it to the first output selection unit. Under the control of the combined control signal output by the control module, the first output selection unit allows the first second initial flight time data in each group of the second initial flight time data in the second second clock cycle to pass through and output it to the first write unit in the first superposition channel.

[0154] The second selection units of the K statistical modules respectively obtain the second second initial flight time data in each group of the K groups of second initial flight time data within the second second clock cycle, and under the action of the second control signal in the second state output by the control module, select the second second initial flight time data in each group of second initial flight time data and output it to the corresponding second limit saturation unit. If the bit width of the flight moment corresponding to the second initial flight time data input to the second limit saturation unit does not exceed the limit bit width of the second limit saturation unit, the first limit saturation unit allows the second second initial flight time data in each group of second initial flight time data in the second second clock cycle to pass and output it to the second output selection unit. Under the control of the combined control signal output by the control module, the second output selection unit allows the second second initial flight time data in each group of second initial flight time data in the second second clock cycle to pass and output it to the second write unit in the second superposition channel.

[0155] Step s3x3: If the first writing unit to the Nth writing unit of the K statistical modules store the N*K second initial flight time data obtained by the first selecting unit to the Nth selecting unit in the xth second clock cycle of the first second integration period in the N*K storage units (i.e., M storage units) of the current storage module (i.e., the x-1th storage module), the first writing unit to the Nth writing unit of the K statistical modules point to the next storage module (i.e., the xth storage module), the first selecting unit to the Nth selecting unit of the K statistical modules continue to obtain the second initial flight time data of the x+1th second clock cycle of the first second integration period, and the first superposition channel to the second superposition channel repeat the above steps s3x1 and s3x2 X times until the first superposition channel to the second superposition channel of the K statistical modules sequentially complete {step S311, step S312}, …, {step S3x1, step S3x2}, …, to {step S3X1, step S3X2} in the X second clock cycles of the first second integration period. Referring to the storage schematic diagram of the second initial flight time data within the second integration period shown in Figure 13, the first superposition channel to the second superposition channel of the K statistical modules sequentially stores the M second initial flight time data of each clock cycle of the X first clock cycles of the X second clock cycles of the first second integration period in the X*N*K storage units (i.e., X*M storage units) of the X storage modules, completing the storage of the second initial flight time data of the X second clock cycles of the first second integration period.

[0156] After completing the sampling and storage of all second initial time-of-flight data in the first second integration period based on steps s3x1 to s3x3 above, when the first superposition channel to the second superposition channel of the K statistical modules enter the second second integration period, the second initial time-of-flight data for the same flight time within the same second clock cycle of the first second integration period are sequentially read from the storage and output to the first accumulator unit to the Nth accumulator unit of the K statistical modules, so as to perform a first superposition of the second initial time-of-flight data for the same flight time in the first second integration period and the second second integration period to obtain a first superposition time-of-flight data set, and store the obtained X*M second superposition photon count values ​​corresponding to the X second clock cycles in the X*M storage units of the X storage modules.

[0157] In an optional embodiment, the nth selection unit in each statistical module includes a data selector MUXn_, which is a 2-to-1 data selector. The data selector MUXn_ includes two data inputs, a data output, and a selection input. One data input of the nth data selector MUXn is connected to the output of the nth input selection unit in the corresponding statistical module, the other data input is used to obtain the second initial flight time data, the data output is connected to an input of the nth accumulator in the corresponding statistical module, and the selection input is connected to the signal output of the control module.

[0158] When the second control signal output by the control module is in the first state, the laser ranging device is in the first detection mode, and the data selector MUXn_, under the action of the second control signal in the first state, selects to output the accumulated photon count value output by the corresponding nth input selection unit in the nth clock cycle of each statistical cycle; when the second control signal output by the control module is in the second state, the laser ranging device is in the second detection mode, and the data selector MUXn_, under the action of the second control signal in the second state, selects to output the corresponding second initial flight time data.

[0159] As an example, and not a limitation, refer to the schematic diagram of the specific structure of a flight time statistics device shown in FIG14 and the timing diagrams of the first and second integration periods shown in (a) and (b) of FIG15 . In FIG15 , the control module outputs a clock cycle control signal, clock, where a continuous high and low level constitute a clock cycle; sta_vld is a signal used to control the duration of the integration period, and sta_vld is a high level during an integration period; mem_wen is a periodic alternation of low and high levels, where a continuous low and high level constitute a statistics period. Assume that M=4, N=2, K=2; the flight time statistics device includes two statistics modules, namely a first statistics module and a second statistics module, and each statistics module includes two superposition channels; the first integration period includes X first statistical periods, and each statistical period includes two first clock periods, namely the first first clock period and the second first clock period, that is, the number of clock periods included in each first integration period is 2*X; the second integration period includes X second statistical periods, and the number of second clock periods included in each second statistical period is 1, that is, the number of second clock periods included in each second integration period is X; the number of storage units included in each storage module is four.

[0160] (1) When the second control signal output by the control module is in the first state and the laser ranging device is in the first detection mode:

[0161] When the first statistical module and the second statistical module obtain two sets of first initial flight time data {P0, P1} and {P2, P3} of the first clock cycle of the x-th statistical cycle within the first integration period, the input accumulator A1 of the first statistical module and the input accumulator A4 of the second statistical module respectively accumulate the two sets of first initial flight time data {P0, P1} and {P2, P3} input in the first first clock cycle of the x-th first statistical cycle to generate a first accumulated photon count value P01 and a second accumulated photon count value P23 corresponding to the first first clock cycle.

[0162] Under the action of the second control signal, the first data selector MUX1 and the first selector MUX1_ corresponding to the first input selection unit of the first statistical module select the first accumulated photon count value P01 corresponding to the first first clock cycle as input. If the first accumulated photon count value P01 corresponding to the first first clock cycle does not exceed the limit bit width of the first limit and saturation unit included in the first statistical module, the data selector MUX_1 corresponding to the first output selection unit of the first statistical module selects the data output by the first limit and saturation unit included in the first statistical module, i.e., the first accumulated photon count value P01, under the action of the combined control signal, and outputs it to the first write unit hist_wdat0 of the first statistical module. Under the action of the second control signal, the first data selector MUX1 and the first selector MUX1_ corresponding to the first input selection unit of the second statistical module select the second accumulated photon count value P23 corresponding to the first clock cycle as input. The data selector MUX1 corresponding to the first input selection unit of the second statistical module and the first selector MUX1_, under the action of the second control signal, select the second accumulated photon count value P23 corresponding to the first first clock cycle as input. If the second accumulated photon count value P23 corresponding to the first first clock cycle does not exceed the limit bit width of the first limit and saturation unit included in the second statistical module, the data selector MUX_2 corresponding to the first output selection unit of the second statistical module, under the action of the combined control signal, selects the data output by the first limit and saturation unit included in the second statistical module, that is, the second accumulated photon count value P23, and outputs it to the first write unit hist_wdat1 of the second statistical module.

[0163] When the first statistical module and the second statistical module obtain two sets of flight time data {P0, P1} and {P2, P3} of the second first clock cycle of the x-th statistical cycle within the first integration period: the input accumulator A1 of the first statistical module and the input accumulator A4 of the second statistical module respectively accumulate the two sets of first initial flight time data {P0, P1} and {P2, P3} input of the second first clock cycle of the x-th second statistical cycle to generate a first accumulated photon counting value P01 and a second accumulated photon counting value P23 corresponding to the second first clock cycle.The data selector MUX1 corresponding to the first input selection unit of the first statistical module and the data selector MUX1_ corresponding to the first selection unit are allowed to pass and output data 0 under the action of the second control signal. The data selector MUX_1 corresponding to the first output selection unit of the first statistical module is allowed to pass and output the data temporarily stored in the first write unit of the first statistical module under the action of the combined control signal, that is, the first accumulated photon count value P01 corresponding to the second first clock cycle is output to the first write unit of the first statistical module; the data selector MUX2 corresponding to the second input selection unit of the first statistical module and the data selector MUX2_ corresponding to the first selection unit are allowed to pass and output the data temporarily stored in the first write unit of the first statistical module under the action of the combined control signal. Under the action of the combined control signal, the data selector MUX_1_ corresponding to the second output selection unit of the first statistical module selects to obtain the data output by the second limit saturation unit included in the first statistical module, that is, the first accumulated photon count value P01 corresponding to the second first clock cycle, and outputs it to the second write unit hi of the first statistical module. st_wdat2; the data selector MUX1 corresponding to the first input selection unit of the second statistical module and the first selection unit MUX1_ are allowed to pass and output data 0 under the action of the second control signal, and the data selector MUX1_ corresponding to the first output selection unit of the second statistical module are allowed to pass and output the data temporarily stored in the first write unit of the second statistical module under the action of the combined control signal, that is, the second accumulated photon count value P23 corresponding to the first first clock cycle is output to the first write unit of the second statistical module; the data selector MUX2 corresponding to the second input selection unit of the second statistical module and the first selection unit MUX2_ are selected to input the second under the action of the second control signal. The second accumulated photon count value P23 corresponding to the first clock cycle, if the second accumulated photon count value P23 corresponding to the second first clock cycle does not exceed the limit bit width of the second limit saturation unit included in the second statistical module, the second limit saturation unit included in the second statistical module outputs the second accumulated photon count value P23 corresponding to the second first clock cycle; under the action of the combined control signal, the data selector MUX_2 corresponding to the second output selection unit of the second statistical module obtains the data output by the second limit saturation unit included in the second statistical module, that is, the second accumulated photon count value P23 corresponding to the second first clock cycle, and outputs it to the second write unit hist_wdat3 of the second statistical module.

[0164] At this time, the first writing unit of the first statistical module temporarily stores the first accumulated photon count value P01 corresponding to the first first clock cycle within the first integration period, and the first writing unit of the second statistical module temporarily stores the second accumulated photon count value P23 corresponding to the first first clock cycle; the second writing unit of the first statistical module temporarily stores the first accumulated photon count value P01 corresponding to the second first clock cycle, and the second writing unit of the second statistical module temporarily stores the second accumulated photon count value P23 corresponding to the second first clock cycle; the first writing unit and the second writing unit of the first statistical module and the first writing unit and the second writing unit of the second statistical module write the four accumulated photon count values obtained by accumulating the input accumulators of the two statistical modules within two first clock cycles of the x-th first statistical period (i.e., the first accumulated photon count value P01 corresponding to the first first clock cycle of the x-th statistical period, the second accumulated photon count value P23, the first accumulated photon count value P01 corresponding to the second first clock cycle of the x-th statistical period, and the second accumulated photon count value P23) into the storage module with the storage address ax-1.

[0165] In this embodiment, when the storage module with the storage address ax-1 is written with the four accumulated photon count values corresponding to the x-th first statistical period by the two first statistical modules, and x < X, the first writing unit and the second writing unit of the first statistical module and the first writing unit and the second writing unit of the second statistical module point to the storage module with the storage address ax. The first statistical module and the second statistical module continue to perform the accumulation sampling of the first initial flight time data of the (x + 1)-th first statistical period of the current first integration period and store it in the storage module with the storage address ax; when the storage module with the storage address aX-1 (here X is in uppercase) is written with the four accumulated photon count values corresponding to the X-th first statistical period by the two statistical modules, that is, after the first statistical module and the second statistical module complete the accumulation sampling and storage of the first initial flight time data of the first integration period, the control module stops outputting the control signal until the next first integration period arrives, and the control module performs the accumulation sampling and storage of the first initial flight time data of X statistical periods within the first integration period again.

[0166] It should be noted that when the statistics section performs the operation of the next first integration period, the first readout unit of the first statistics module is used to read and output the first accumulated photon count value P01 corresponding to the first clock cycle of the xth first statistical period of the previous first integration period to the first accumulation unit of the first statistics module during the xth first statistical period of the next first integration period; the first readout unit of the second statistics module is used to read and output the second accumulated photon count value P23 corresponding to the first clock cycle of the xth first statistical period of the previous first integration period to the first accumulation unit of the second statistics module during the xth first statistical period of the next first integration period; the second readout unit of the first statistics module is used to read and output the second accumulated photon count value P23 corresponding to the first clock cycle of the xth first statistical period of the previous first integration period to the first accumulation unit of the second statistics module during the xth first statistical period of the next first integration period. The first accumulated photon count value P01 corresponding to the second clock cycle of the xth first statistical cycle of the previous first integration cycle is given to the second accumulation unit of the first statistical module; the second readout unit of the second statistical module is used to read and output the second accumulated photon count value P23 corresponding to the second clock cycle of the xth first statistical cycle of the previous first integration cycle to the second accumulation unit of the second statistical module during the xth first statistical cycle of the next first integration cycle, so as to realize the superposition of the second accumulated photon count values ​​corresponding to multiple first integration cycles, until the input accumulators of the K statistical modules complete the accumulated sampling of the first initial flight time data of the Sth first integration cycle, and the K statistical modules complete the superposition of the second accumulated photon count values ​​corresponding to all the first integration cycles, thereby generating the final histogram data.

[0167] (2) When the second control signal output by the control module is in the second mode and the laser ranging device is in the second detection mode:

[0168] The first statistical module and the second statistical module respectively obtain two groups of second initial flight time data {P0, P2} and {P1, P3} of the first second clock cycle in the second integration period. The first selector MUX1_ of the first statistical module selects the first second initial flight time data P0 in the first group of second initial flight time data corresponding to the first second clock cycle under the action of the second control signal in the second mode. If the second initial flight time data P0 does not exceed the limit bit width of the first limit saturation unit included in the first statistical module, the data selector MUX_1 corresponding to the first output selection unit of the first statistical module selects the data output by the first limit saturation unit included in the first statistical module under the action of the combined control signal, that is, the first second initial flight time data P0 in the first group of second initial flight time data corresponding to the first second clock cycle, and outputs it to the first write unit hist_wdat0 of the first statistical module.

[0169] The second selector MUX2_ of the first statistical module selects the first second initial flight time data P1 in the second group of second initial flight time data corresponding to the first second clock cycle under the action of the second control signal in the second mode. If the second initial flight time data P1 does not exceed the limited bit width of the first limit saturation unit included in the first statistical module, the data selector MUX_1 corresponding to the second output selection unit of the first statistical module selects the data output by the first limit saturation unit included in the input first statistical module under the action of the combined control signal, that is, the first second initial flight time data P1 in the second group of second initial flight time data corresponding to the first second clock cycle, and outputs it to the second write unit hist_wdat1 of the first statistical module.

[0170] The first selector MUX1_ of the second statistical module, under the action of the second control signal in the second mode, selects the second second initial flight time data P2 in the first group of second initial flight time data corresponding to the first second clock cycle. If the second initial flight time data P2 does not exceed the limited bit width of the first limit saturation unit included in the second statistical module, the data selector MUX_1 corresponding to the first output selection unit of the second statistical module, under the action of the combined control signal, selects the data output by the first limit saturation unit included in the second statistical module, that is, the second second initial flight time data P2 in the first group of second initial flight time data corresponding to the first second clock cycle, and outputs it to the first write unit hist_wdat2 of the second statistical module.

[0171] Under the action of the second control signal, the second selector MUX2_ of the second statistics module selects the second second initial flight time data P3 in the second set of second initial flight time data corresponding to the first second clock cycle. If the second initial flight time data P3 does not exceed the limit bit width of the second limit saturation unit included in the second statistics module, the data selector MUX_1 corresponding to the first output selection unit of the second statistics module selects the data output by the second limit saturation unit included in the second statistics module, that is, the second second initial flight time data P3 in the second set of second initial flight time data corresponding to the first second clock cycle, and outputs it to the second write unit hist_wdat3 of the second statistics module. In this embodiment, when the storage module with the storage address ax-1 (x is lowercase here) is stored with the four second initial flight time data corresponding to the xth second clock cycle in the second integration period, and x < X, the first write unit and the second write unit of the first statistics module and the first write unit and the second write unit of the second statistics module point to the storage module with the storage address ax. The first statistics module and the second statistics module continue to execute to obtain the four second initial flight time data of the (x + 1)th second clock cycle of the current second integration period and store them in the storage module with the storage address ax; when the storage module with the storage address aX-1 (X is uppercase here) is written with the four second initial flight time data corresponding to the Xth second clock cycle by the two statistics modules, that is, after the first statistics module and the second statistics module complete the storage of the second initial flight time data of the current second integration period, the control module stops outputting the control signal until the next second integration period arrives, and the control module executes the storage operation of the second initial flight time data of X second clock cycles in the second integration period again.

[0172] It should be noted that when the statistics section performs the operation of the next second integration cycle, the first readout unit of the first statistics module is used to read and output the first second initial flight time data P0 corresponding to the xth second clock cycle of the previous second integration cycle to the first accumulator unit of the first statistics module during the xth second clock cycle of the next second integration cycle; the first readout unit of the second statistics module is used to read and output the second second initial flight time data P1 corresponding to the xth second clock cycle of the previous second integration cycle to the first accumulator unit of the second statistics module during the xth second clock cycle of the next second integration cycle; the second readout unit of the first statistics module is used to read and output the second second initial flight time data P1 corresponding to the xth second clock cycle of the previous second integration cycle to the first accumulator unit of the second statistics module during the xth second clock cycle of the next second integration cycle. The third second initial flight time data P2 corresponding to the xth second clock cycle of the second integration cycle is given to the second accumulation unit of the first statistical module; the second readout unit of the second statistical module is used to read and output the fourth second initial flight time data P3 corresponding to the xth second clock cycle of the previous second integration cycle to the second accumulation unit of the second statistical module during the xth second clock cycle of the next second integration cycle, so as to realize the superposition of the second initial flight time data corresponding to multiple first integration cycles, until the input accumulators of the K statistical modules complete the cumulative sampling of the second initial flight time data of the Sth second integration cycle, and the K statistical modules complete the superposition of the second initial flight time data corresponding to all second integration cycles, thereby generating the final histogram data.

[0173] In one possible implementation, based on the same inventive concept and according to the flight time statistics device provided in the above-mentioned embodiment 1, the embodiment of the present application further provides a flight time statistics method, the method comprising: obtaining S first initial flight time data sets within S first integration periods, and performing accumulation processing on each first initial flight time data set with each adjacent N first initial flight time data as a group to obtain S accumulated flight time data sets corresponding one-to-one to the S first initial flight time data sets, where S is a positive integer, S≥2, and N is a positive integer, N≥2; each first initial flight time data set includes multiple first initial flight time data corresponding one-to-one to multiple flight moments, and each accumulated flight time data set includes at least one accumulated photon count value corresponding one-to-one to at least one accumulated flight moment; performing superposition processing on the S accumulated flight time data sets to obtain a superimposed flight time data set, and storing the superimposed flight time data set in a memory in a manner that one superimposed photon count value is stored in one storage unit, and the superimposed flight time data set includes a superimposed photon count value corresponding one-to-one to each accumulated flight moment.

[0174] In a possible implementation, based on the same inventive concept, according to the flight time statistics device provided in the above-mentioned embodiment 2, the embodiment of the present application further provides a flight time statistics method, the method comprising: in a first detection mode, obtaining S first initial flight time data sets within S first integration periods, and performing accumulation processing on each first initial flight time data set with each adjacent N first initial flight time data as a group, to obtain S accumulated flight time data sets corresponding to the S first initial flight time data sets one by one, S is a positive integer, S ≥ 2, N is a positive integer, N ≥ 2; each first initial flight time data set is a first integral period, and ... The time data set includes multiple first initial flight time data corresponding one-to-one to multiple flight moments, and each accumulated flight time data set includes at least one accumulated photon count value corresponding one-to-one to at least one accumulated flight moment; S accumulated flight time data sets are superimposed to obtain a superimposed flight time data set, and at least one superimposed photon count value in the superimposed flight time data set is stored in a memory in a manner of storing one superimposed photon count value in one storage unit, and the superimposed flight time data set includes a superimposed photon count value corresponding one-to-one to each accumulated flight moment. In the second detection mode, S second initial flight time data sets within S second integration periods are obtained, and the S second initial flight time data sets are superimposed to obtain a second superimposed flight time data set, and at least one second superimposed photon count value in the second superimposed flight time data set is stored in a memory in a manner such that one second superimposed photon count value is stored in one storage unit; the second superimposed flight time data set includes a second superimposed photon count value corresponding to each flight moment, and each second initial flight time data set includes second initial flight time data corresponding one-to-one to multiple flight moments.

[0175] It should be noted that the specific implementation process of the flight time statistics method embodiment can refer to the specific working processes of the various modules in the flight time statistics device in the above-mentioned embodiments 1 and 2, and will not be repeated here. Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual application, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The various functional units and modules in the embodiments can be integrated into a single processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional units. In addition, the specific names of the various functional units and modules are only for the convenience of distinguishing them from each other and are not intended to limit the scope of protection of this application. Based on the same inventive concept, the embodiments of the present application also provide a terminal device. The embodiments of the present application also provide a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements the specific process of the above-mentioned statistical method embodiment. An embodiment of the present application also provides a computer program product. When the computer program product is run on a photon counting laser ranging device, the photon counting laser ranging device implements the specific process of the above statistical method embodiment when executing.

[0176] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. Among them, the computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0177] References to "one embodiment" or "some embodiments" etc. described in this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprise", "include", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in another way. In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, in this application, unless otherwise clearly specified and limited, the terms "connection", "connected", etc. should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection between two elements or the interaction relationship between two elements. Unless otherwise clearly specified, ordinary technicians in this field can understand the specific meanings of the above terms in this application according to specific circumstances.

[0178] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A flight time statistics device, characterized in that: include: Statistics department and storage; The statistics unit is used to obtain S first initial flight time data sets within S first integration periods, and perform accumulation processing on each of the first initial flight time data sets with each adjacent N first initial flight time data as a group to obtain S accumulated flight time data sets corresponding to the S first initial flight time data sets one by one, S is a positive integer, S≥2, N is a positive integer, N≥2; Each of the first initial flight time data sets includes a plurality of first initial flight time data corresponding one-to-one to a plurality of flight times, and each of the accumulated flight time data sets includes at least one accumulated photon count value corresponding one-to-one to at least one accumulated flight time; The statistical unit is also used to perform superposition processing on the S accumulated flight time data sets to obtain a superimposed flight time data set, and store the superimposed flight time data set in the memory in a manner such that at least one superimposed photon count value in the superimposed flight time data set is stored in a storage unit. The superimposed flight time data set includes superimposed photon count values ​​corresponding one by one to each of the accumulated flight moments.

2. The flight time statistics device according to claim 1, characterized in that: Each of the first integration periods includes X*N clock periods, each of the clock periods includes M first initial flight time data, X≥2, M≥2, X and M are both positive integers; The statistics unit includes: a control module and K statistics modules connected in parallel; The control module is used to output a first control signal; The K statistical modules are used to respectively obtain K groups of first initial flight time data sets in each clock cycle of each first integration period, and perform accumulation processing on N first initial flight time data in each group of the first initial flight time data according to the first control signal to obtain S accumulated flight time data sets corresponding to the S first integration periods one by one, M=K*N, K≥1, and K is a positive integer; The K statistical modules are also used to perform superposition processing on the S accumulated flight time data sets to obtain the superimposed flight time data set, and according to the first control signal, store at least one superimposed photon count value in the superimposed flight time data set in a storage unit in a manner such that the superimposed flight time data set is stored in the memory.

3. The flight time statistics device according to claim 2, characterized in that: The K statistical modules are further used to store N*K accumulated photon count values ​​corresponding to N*K groups of first initial flight time data included in N clock cycles in one statistical cycle in a storage module according to the first control signal, with each N clock cycles in each of the first integration cycles being one statistical cycle; The memory includes X storage modules, each of which includes N*K storage units, and the N*K storage units in each storage module are respectively used to store N*K accumulated photon counting values ​​corresponding to N clock cycles in one statistical cycle.

4. The flight time statistics device according to claim 2 or 3, characterized in that: Each of the statistical modules includes an input accumulator and N superposition channels connected in parallel; The input accumulator comprises N input terminals and one output terminal, and the K input accumulators in the K statistical modules are used to respectively obtain K groups of first initial flight time data sets of each clock cycle in each first integration period, and perform accumulation processing on each group of initial flight time data sets in the K groups of first initial flight time data sets to generate an accumulated flight time data set corresponding to each first integration period; Each of the superposition channels comprises a first superposition input terminal, a superposition output terminal and a superposition feedback terminal; The N first superposition input ends of the N superposition channels are connected to the output end of the input accumulator; the N first superposition input ends are used to receive, one by one according to the first control signal, N*K accumulated photon counting values ​​generated by the input accumulator in N clock cycles in each statistical cycle of each first integration cycle; The N first superposition output ends of the N superposition channels are connected to the write end of the memory; the N superposition output ends are used to store the N*K accumulated photon count values ​​generated by the input accumulator in N clock cycles in each statistical cycle of each first integration cycle in the N*K storage units of the memory according to the first control signal; The N superposition feedback ends of the N superposition channels are connected to the output ends of the N storage units in the memory in a one-to-one correspondence with the N first superposition output ends.

5. The flight time statistics device according to claim 4, characterized in that: For the N superposition channels of the kth statistical module among the K statistical modules, the nth superposition channel among the first N-1 superposition channels of the N superposition channels includes an nth input selection unit, an nth accumulation unit, an nth limit saturation unit, an nth output selection unit, an nth writing unit and an nth reading unit, n is a positive integer, and 1≤n≤N-1, k is a positive integer, and 1≤k≤K; The nth input selection unit comprises two input terminals, an output terminal and a control terminal; one input terminal of the nth input selection unit is connected to the output terminal of the input accumulator of the kth statistical module, the other input terminal is used to receive data 0, the output terminal is connected to the nth accumulator, and the control terminal is connected to the control module; in each of the nth clock cycles of the statistical cycle, the nth input selection unit is used to select the nth accumulator according to the kth statistical module. a control signal, selecting the accumulated photon count value of the kth group of first initial time-of-flight data corresponding to the nth clock cycle and outputting it to the nth accumulation unit; The nth accumulating unit comprises two input terminals and one output terminal, one input terminal of the nth accumulating unit is connected to the output terminal of the nth input selecting unit, and the output terminal is connected to the input terminal of the nth limiting saturation unit; The nth limit saturation unit comprises an input end and an output end, the input end of the nth limit saturation unit is connected to the output end of the nth accumulation unit, and the output end is connected to an input end of the nth output selection unit; The nth output selection unit includes two input terminals, one output terminal and a control terminal; one input terminal of the nth output selection unit is connected to the output terminal of the nth limit saturation unit, the other input terminal is connected to an output terminal of the nth writing unit, the output terminal is connected to the input terminal of the nth writing unit, and the control terminal is connected to the output terminal of the control module; in the nth clock cycle within each of the statistical cycles, the nth output selection unit is used to output the data output by the nth limit saturation unit to the nth writing unit according to the first control signal; The nth writing unit comprises an input terminal and two output terminals, the input terminal of the nth writing unit is connected to the output terminal of the nth output selection unit, one output terminal is connected to an input terminal of the nth output selection unit, and the other output terminal is connected to the memory; The nth readout unit comprises an input terminal and an output terminal, the input terminal of the nth readout unit is connected to the memory, and the output terminal is connected to another input terminal of the nth accumulating unit.

6. The flight time statistics device according to claim 5, characterized in that: The Nth superposition channel of the N superposition channels comprises: an Nth input selection unit, an Nth accumulation unit, an Nth limit saturation unit, an Nth writing unit and an Nth reading unit; The Nth input selection unit includes two input terminals, one output terminal and a control terminal; one input terminal of the Nth input selection unit is connected to the output terminal of the input accumulator of the kth statistical module, the other input terminal is used to receive data 0, the output terminal is connected to the Nth accumulating unit, and the control terminal is connected to the control module; in the Nth clock cycle within each of the statistical cycles, the Nth input selection unit is used to select the accumulated photon count value of the kth group of first initial flight time data corresponding to the Nth clock cycle according to the first control signal and output it to the Nth accumulating unit; The Nth accumulating unit comprises two input terminals and one output terminal; one input terminal of the Nth accumulating unit is connected to the output terminal of the Nth input selecting unit, and the output terminal is connected to the input terminal of the Nth limiting saturation unit; The Nth limit saturation unit includes an input end and an output end; the input end of the Nth limit saturation unit is connected to the output end of the Nth accumulation unit, and the output end is connected to an input end of the Nth writing unit; The Nth writing unit comprises an input terminal and two output terminals, the input terminal of the Nth writing unit is connected to the output terminal of the Nth output selection unit, one output terminal is connected to an input terminal of the Nth limit saturation unit, and the other output terminal is connected to the memory; The Nth readout unit includes an input terminal and an output terminal. The input terminal of the Nth readout unit is connected to the memory, and the output terminal is connected to another input terminal of the Nth accumulating unit.

7. A flight time statistics device, characterized in that: include: Statistics department and storage; When the flight time statistics device is in the first detection mode, the statistics unit is used to obtain S first initial flight time data sets within S first integration periods, and perform accumulation processing on each of the first initial flight time data sets with each adjacent N first initial flight time data as a group to obtain S accumulated flight time data sets corresponding to the S first initial flight time data sets, S is a positive integer, S≥2, N is a positive integer, N≥2; each of the first initial flight time data sets includes a plurality of first initial flight time data corresponding to a plurality of flight moments, and each of the accumulated flight time data sets includes at least one accumulated photon count value corresponding to at least one accumulated flight moment; the statistics unit is also used to perform superposition processing on the S accumulated flight time data sets to obtain a first superimposed flight time data set, and store the first superimposed flight time data set in the memory in a manner that at least one first superimposed photon count value in the first superimposed flight time data set is stored in a storage unit, and the first superimposed flight time data set includes a first superimposed photon count value corresponding to each of the accumulated flight moments; When the flight time statistics device is in the second detection mode, the statistics unit is used to obtain S second initial flight time data sets within S second integration periods, and perform superposition processing on the S second initial flight time data sets to obtain a second superimposed flight time data set, and store the second superimposed flight time data set in the memory in a manner that at least one second superimposed photon count value in the second superimposed flight time data set is stored in a storage unit; the second superimposed flight time data set includes a second superimposed photon count value corresponding to each of the flight moments, and each of the second initial flight time data sets includes second initial flight time data corresponding one by one to multiple flight moments.

8. The flight time statistics device according to claim 7, characterized in that: Each of the first integration periods includes X*N first clock periods, each of the first clock periods includes M first initial flight time data, each of the second integration periods includes X second clock periods, each of the second clock periods includes M second initial flight time data, X≥2, M≥2, X and M are both positive integers; The statistics unit includes: a control module and K statistics modules connected in parallel; The control module is used to output a second control signal, and the second control signal is in the first state or the second state; When the second control signal is in the first state, the flight time statistics device is in the first detection mode, the K statistics modules are used to respectively obtain K groups of first initial flight time data sets in each first clock cycle of each first integration period, and according to the second control signal, perform accumulation processing on N first initial flight time data in each group of the first initial flight time data to obtain S accumulated flight time data sets corresponding to the S first integration periods one by one, the K statistics modules are also used to perform superposition processing on the S accumulated flight time data sets to obtain the first superimposed flight time data set, and according to the second control signal, store at least one first superimposed photon count value in the first superimposed flight time data set in a storage unit in a manner such that the first superimposed flight time data set is stored in the memory, M=K*N, K≥1, K is a positive integer; When the second control signal is in the second state, the flight time statistics device is in the second detection mode, and the K statistical modules are used to obtain K groups of second initial flight time data sets in each second clock cycle of each second integration period according to the second control signal, and to perform superposition processing on the S second initial flight time data sets corresponding to the S second integration periods to obtain the second superimposed flight time data set, and to store the second superimposed flight time data set in the memory in a manner that at least one second superimposed photon count value in the second superimposed flight time data set is stored in a storage unit.

9. The flight time statistics device according to claim 8, characterized in that: The memory includes X storage modules, each of which includes N*K storage units; When the flight time statistics device is in the first detection mode, the K statistics modules are further used to, according to the second control signal, treat the X*N first clock cycles in each first integration period as a first statistics period, and store the N*K accumulated photon count values ​​corresponding to the N*K groups of first initial flight time data included in the N first clock cycles in one first statistics period in a storage module, and the N*K storage units in each storage module are respectively used to store the N*K accumulated photon count values ​​corresponding to the N clock cycles in one first statistics period; When the flight time statistics device is in the second detection mode, the K statistical modules are also used to, according to the second control signal, treat the X second clock cycles within each second integration period as a second statistical period, and store the N*K second initial flight time data included in one second clock period in a storage module, and the N*K storage units in each storage module are respectively used to store the N*K second initial flight time data corresponding to one second clock period.

10. The flight time statistics device according to claim 8 or 9, characterized in that: Each of the statistical modules includes an input accumulator and N superposition channels connected in parallel; The input accumulator comprises N input terminals and one output terminal, and the K input accumulators in the K statistical modules are used to respectively obtain K groups of first initial flight time data sets of each clock cycle in each first integration period, and perform accumulation processing on each group of initial flight time data sets in the K groups of first initial flight time data sets to generate an accumulated flight time data set corresponding to each first integration period; Each of the superposition channels comprises a first statistical input terminal, a second statistical input terminal and a first superposition output terminal; The N first statistical input terminals of the N superposition channels are connected to the output terminal of the input accumulator; When the second control signal is in the first state, the N first superposition input terminals are used to receive, in one-to-one correspondence, N*K accumulated photon counting values ​​generated by the input accumulator in N first clock cycles in each first statistical cycle of each first integration cycle according to the second control signal; When the second control signal is in the second state, the N second statistical input terminals of the N superposition channels are used to receive, one by one, N*K second initial flight time data of the input accumulator in each second statistical period of each second integration period according to the second control signal; The N first superposition output ends of the N superposition channels are connected to the writing end of the memory; When the second control signal is in the first state, the N superposition output terminals are used to store N*K accumulated photon count values ​​generated by the input accumulator in N first clock cycles in each first statistical cycle of each first integration cycle in N*K storage units of the memory according to the second control signal; When the second control signal is in the first state, the N superposition output terminals are used to store N*K second initial flight time data of the input accumulator in each second statistical period of each second integration period in N*K storage units of the memory according to the second control signal.

11. The flight time statistics device according to claim 10, characterized in that: For the N superposition channels of the kth statistical module in the K statistical modules, the nth superposition channel in the first N-1 superposition channels of the N superposition channels includes an nth input selection unit, an nth selection unit, an nth accumulation unit, an nth limit saturation unit, an nth output selection unit, an nth writing unit and an nth reading unit, n is a positive integer, and 1≤n≤N-1, k is a positive integer, and 1≤k≤K; The nth input selection unit includes two input terminals, one output terminal and a control terminal; one input terminal of the nth input selection unit is connected to the output terminal of the input accumulator of the kth statistical module, the other input terminal is used to receive data 0, the output terminal is connected to the nth selection unit, and the control terminal is connected to the control module; wherein, when the second control signal is in the first state, the nth input selection unit is used to select the accumulated photon count value of the kth group of first initial flight time data corresponding to the nth first clock cycle in each first statistical cycle according to the second control signal, and output it to the nth selection unit; The nth selection unit includes two input terminals, one output terminal and a control terminal, wherein one input terminal of the nth selection unit is used to obtain the nth second initial flight time data in the kth group of second initial flight time data in each second clock cycle, the other input terminal is connected to the output terminal of the nth input selection unit, the output terminal is connected to an input terminal of the nth accumulating unit, and the control terminal is connected to the control module; wherein when the second control signal is in the first state, the nth selection unit is used to select the accumulated photon count value of the kth group of first initial flight time data corresponding to the nth first clock cycle in each first statistical cycle according to the second control signal, and output it to the nth accumulating unit; when the second control signal is in the second state, the nth selection unit is used to select the nth second initial flight time data in the kth group of second initial flight time data in the nth second clock cycle according to the second control signal, and output it to the nth accumulating unit in the nth second clock cycle in each second integration cycle; The nth accumulating unit comprises two input terminals and one output terminal, one input terminal of the nth accumulating unit is connected to the output terminal of the nth selecting unit, and the output terminal is connected to the input terminal of the nth limiting saturation unit; The nth limit saturation unit comprises an input end and an output end, the input end of the nth limit saturation unit is connected to the output end of the nth accumulation unit, and the output end is connected to an input end of the nth output selection unit; The nth output selection unit includes two input terminals, one output terminal and a control terminal; one input terminal of the nth output selection unit is connected to the output terminal of the nth limit saturation unit, the other input terminal is connected to an output terminal of the nth writing unit, the output terminal is connected to the input terminal of the nth writing unit, and the control terminal is connected to the control module; wherein, when the second control signal is in the first state, the nth output selection unit is used to output the data output by the nth limit saturation unit to the nth writing unit in the nth clock cycle within each statistical period according to the second control signal; The nth writing unit comprises an input terminal and two output terminals, the input terminal of the nth writing unit is connected to the output terminal of the nth output selection unit, one output terminal is connected to an input terminal of the nth output selection unit, and the other output terminal is connected to the memory; The nth readout unit comprises an input terminal and an output terminal, the input terminal of the nth readout unit is connected to the memory, and the output terminal is connected to another input terminal of the nth accumulating unit.

12. The flight time statistics device according to claim 11, characterized in that: The Nth superposition channel of the N superposition channels comprises: an Nth input selection unit, an Nth selection unit, an Nth accumulation unit, an Nth limit saturation unit, an Nth writing unit and an Nth reading unit; The Nth input selection unit includes two input terminals, one output terminal and a control terminal; one input terminal of the Nth input selection unit is connected to the output terminal of the input accumulator of the kth statistical module, the other input terminal is used to receive data 0, the output terminal is connected to the Nth selection unit, and the control terminal is connected to the control module; wherein, when the second control signal is in the first state, the Nth input selection unit is used to select the accumulated photon count value of the kth group of first initial flight time data corresponding to the Nth first clock cycle in each first statistical cycle according to the second control signal, and output it to the Nth selection unit; The Nth selection unit includes two input terminals, one output terminal and a control terminal, one input terminal of the Nth selection unit is used to obtain the Nth second initial flight time data in the kth group of second initial flight time data in each second clock cycle, the other input terminal is connected to the output terminal of the Nth input selection unit, the output terminal is connected to an input terminal of the Nth accumulator unit, and the control terminal is connected to the control module; wherein, when the second control signal is in the first state, the Nth selection unit is used to select the accumulated photon count value of the kth group of first initial flight time data corresponding to the Nth first clock cycle in each first statistical cycle according to the second control signal, and output it to the Nth accumulator unit; when the second control signal is in the second state, the Nth selection unit is used to select the Nth second initial flight time data in the kth group of second initial flight time data in the Nth second clock cycle according to the second control signal, and output it to the Nth accumulator unit in the Nth second clock cycle in each second integration cycle; The Nth accumulating unit comprises two input terminals and one output terminal, one input terminal of the Nth accumulating unit is connected to the output terminal of the Nth selecting unit, and the output terminal is connected to the input terminal of the Nth limiting saturation unit; The Nth limit saturation unit includes an input end and an output end, the input end of the Nth limit saturation unit is connected to the output end of the Nth accumulation unit, and the output end is connected to an input end of the Nth writing unit; The Nth writing unit comprises an input terminal and two output terminals, the input terminal of the Nth writing unit is connected to the output terminal of the Nth limiting saturation unit, one output terminal is connected to an input terminal of the Nth limiting saturation unit, and the other output terminal is connected to the memory; The Nth readout unit includes an input terminal and an output terminal. The input terminal of the Nth readout unit is connected to the memory, and the output terminal is connected to another input terminal of the Nth accumulating unit.

13. A laser distance measuring device, characterized in that: The invention comprises the flight time statistics device as described in any one of claims 1 to 12.

Images