Calibration parameter determination method, device, medium, product, calibration apparatus, and terminal device

Abstract

The present disclosure relates to the technical field of device correction, and in particular provides a calibration parameter determination method, device, medium, product, calibration apparatus and terminal device. The method comprises: determining a direct time of flight dToF sensor temperature correction parameter associated with different temperatures according to ranging data of a plurality of terminal devices to be corrected on a first target distance at different temperatures; for each terminal device to be corrected, determining a dToF sensor hardware correction parameter associated with the terminal device to be corrected according to ranging data of the terminal device to be corrected on a second target distance and a third target distance at the same temperature; and writing the dToF sensor temperature correction parameter associated with different temperatures and the dToF sensor hardware correction parameter associated with the terminal device to be corrected into the terminal device to be corrected. The present disclosure improves the ranging accuracy of the dToF sensor.

Description

Technical Field

[0001] This disclosure relates to the field of equipment calibration technology, and in particular to a method, equipment, medium, product, calibration device, and terminal equipment for determining calibration parameters. Background Technology

[0002] With the widespread use of mobile devices, handheld terminals have become essential tools for daily life and production. Direct Time of Flight (dToF) sensors, as the core of high-precision ranging in terminal devices, act like "eyes" by measuring the time of flight of light pulses to achieve accurate ranging. They are widely used in scenarios such as precise focusing, background blurring, and facial recognition, significantly improving shooting effects in complex environments and unlocking security.

[0003] In related technologies, the accuracy of dToF sensors needs to be checked before the terminal equipment leaves the factory. However, the dToF sensor calibration schemes provided in related technologies still have the problem of poor ranging accuracy after calibration. Summary of the Invention

[0004] This disclosure is made in view of the above-mentioned problems. This disclosure provides a method, apparatus, medium, product, calibration device and terminal equipment for determining calibration parameters. This disclosure improves the ranging accuracy of dToF sensors.

[0005] According to a first aspect of this disclosure, a method for determining calibration parameters is provided, the method being applied in a parameter calibration device, comprising:

[0006] Based on the ranging data of multiple terminal devices to be calibrated at different temperatures for the distance to the first target, the temperature correction parameters of the direct time of flight (dToF) sensor associated with different temperatures are determined. For each terminal device to be calibrated, based on the ranging data of the distance to the second target and the distance to the third target of the terminal device to be calibrated at the same temperature, the hardware calibration parameters of the dToF sensor associated with the terminal device to be calibrated are determined; The dToF sensor temperature correction parameters associated with different temperatures, and the dToF sensor hardware correction parameters associated with the terminal device to be calibrated, are written into the terminal device to be calibrated.

[0007] According to a second aspect of this disclosure, an electronic device is provided, the electronic device including a memory, a processor, and a computer program stored in the memory, the processor executing the computer program to implement the method of the first aspect.

[0008] According to a third aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the method described in the first aspect.

[0009] According to a fourth aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method described in the first aspect.

[0010] According to a fifth aspect of this disclosure, a calibration apparatus is provided for enabling a terminal device to be calibrated to acquire ranging data, comprising: A housing, wherein a through hole is provided on the first surface of the housing; A slide rail is disposed inside the housing, the extension direction of the slide rail is perpendicular to the extension direction of the first surface, and a slider is disposed on the slide rail; A calibration panel, wherein the slider is fixedly connected to the calibration panel, and the projection of the through hole in the extension direction of the slide rail is located on the calibration panel; A controller, connected to the drive unit of the slider, is used to control the slider to slide on the slide rail.

[0011] According to a sixth aspect of this disclosure, a terminal device is provided, comprising: a memory, a processor, a thermal manager, a lens module, a temperature sensor, and a direct time-of-flight (dToF) sensor, wherein the thermal manager is connected to the memory, the processor, the lens module, the temperature sensor, and the dToF sensor respectively, the processor is connected to the memory and the dToF sensor respectively, the temperature sensor is used to measure the temperature of the dToF sensor, and a transparent cover plate on the lens module is used to allow infrared light emitted by the dToF sensor and returned by the target object to pass through; The memory is used to store ranging data of the distance to the first target at different temperatures, and ranging data of the distance to the second target and the distance to the third target at the same temperature. The memory is also used to store dToF sensor temperature correction parameters associated with different temperatures, as well as dToF sensor hardware correction parameters associated with the terminal device. The processor is used to receive ranging data to be calibrated collected by the dToF sensor and the current temperature collected by the temperature sensor, and then, based on the ranging data to be calibrated, the dToF sensor temperature calibration parameters associated with the current temperature in the memory, and the dToF sensor hardware calibration parameters associated with the terminal device, determine the calibration ranging data.

[0012] The calibration parameter determination method, device, medium, product, calibration apparatus, and terminal device provided in this disclosure can determine the temperature correction parameters of a dToF sensor based on ranging data of the same target distance at different temperatures. This effectively compensates for temperature-related errors such as SPAD delay drift and TDC timing deviation caused by temperature changes, improving the ranging stability and accuracy of the sensor over a wide temperature range. Simultaneously, by determining hardware correction parameters matching a single terminal device to be calibrated using ranging data of different target distances at the same temperature, it can specifically compensate for system errors caused by individual hardware differences such as glass cover assembly offset and differences in the relative positions of the transmitter and receiver, achieving personalized calibration for each terminal device. After writing these two types of correction parameters into the terminal device, the terminal device can comprehensively improve the ranging accuracy, consistency, and environmental adaptability of the dToF sensor from both the dimensions of temperature drift and hardware assembly deviation, reducing the ranging deviation of the terminal device and improving its ranging precision.

[0013] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0014] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0015] Figure 1 This is a schematic diagram illustrating the working principle of a dToF sensor according to an embodiment of this disclosure; Figure 2 This is a partial structural schematic diagram of a terminal device equipped with a dToF sensor according to an embodiment of this disclosure; Figure 3 This is a schematic diagram illustrating an implementation scenario of a calibration parameter determination scheme according to an embodiment of this disclosure; Figure 4 This is a flowchart of a calibration parameter determination method according to an embodiment of the present disclosure; Figure 5 This is a schematic diagram of the architecture of a terminal device according to an embodiment of this disclosure; Figure 6 This is a schematic diagram of the structure of a calibration device according to an embodiment of the present disclosure; Figure 7 This is a schematic diagram of another calibration device according to an embodiment of the present disclosure; Figure 8This is a schematic diagram of the structure of another calibration device according to an embodiment of the present disclosure; Figure 9 This is a schematic block diagram of the functional modules of a calibration parameter determination device according to an embodiment of the present disclosure; Figure 10 This is a schematic diagram of a computer program product according to an embodiment of the present disclosure; Figure 11 This is a hardware block diagram of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this disclosure more apparent, exemplary embodiments according to this disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments of this disclosure. It should be understood that this disclosure is not limited to the exemplary embodiments described herein.

[0017] The working principle of a dToF sensor is to emit infrared light towards a target object through a laser emitter and receive the infrared light returned by the target object through a receiver. The distance is measured by calculating the time required for the light to travel a certain distance in the medium.

[0018] like Figure 1 As shown, Figure 1 A schematic diagram illustrating the working principle of a dToF sensor is shown, including a laser emitter a1 and a receiver a2. The laser emitter a1 emits infrared light towards a target object O, and the receiver a2 receives the infrared light reflected from the target object O and records the entire process time. The distance d = c can then be calculated. t / 2, where c is the speed of light.

[0019] The ranging accuracy of dToF sensors is typically affected by multiple factors, such as temperature and the hardware structure of the dToF sensor. Regarding temperature, the avalanche diode (SPAD) of the receiver changes with temperature, causing the time measured by the subsequent time-to-digital converter (TDC) to shift, increasing the error and causing delay deviation in the timing circuit (TDC). Temperature changes also cause changes in the transmitter's transmission power and the receiver's reception threshold. Regarding the hardware structure of the dToF sensor, changes in the thickness of the transparent cover and the receiver's response time can cause distance shifts. Alternatively, if the transparent cover is misaligned or misaligned, coupled with the inaccurate relative positions of the laser emitter and receiver, the transmission and reception optical paths will be misaligned, leading to a decrease in the system's ranging accuracy.

[0020] like Figure 2 As shown, Figure 2This illustration shows a partial structural diagram of a terminal device equipped with a dToF sensor according to an embodiment of the present disclosure. The infrared light emitted by the transmitter a1 of the dToF sensor needs to pass through a transparent cover plate P of the terminal device to reach the target object O, and the infrared light returned by the target object O is received through the transparent cover plate P. Ideally, the infrared light emitted by the transmitter a1 reaches the target object O through the target optical path l1, and the infrared light returned by the target object O reaches the receiver a2 through the target optical path l2. However, due to the transparent material of the cover plate and the mirrored materials of the transmitter and receiver, specular reflection l3 occurs between the dToF sensor and the non-exposed side of the cover plate, and internal reflection l4 occurs between the dToF sensor and the exposed side of the cover plate. Therefore, variations in the thickness of the cover plate, misalignment / offset of the cover plate, and the relatively inconsistencies in the relative positions of the laser emitter and receiver all contribute to a certain degree of ranging deviation.

[0021] In related technologies, the dToF sensor on the terminal device needs to be calibrated for accuracy before the terminal device is manufactured and shipped. However, most of the calibration schemes provided in related technologies focus on a single influencing factor, resulting in poor ranging accuracy of the calibrated dToF sensor.

[0022] To address the aforementioned problems, embodiments of this disclosure provide a calibration parameter determination scheme, such as... Figure 3 As shown, Figure 3 A schematic diagram illustrating an implementation scenario of a calibration parameter determination scheme provided by an exemplary embodiment of this disclosure is shown. Figure 3 As shown, the implementation scenario 300 includes a parameter calibration device 301 and a terminal device 302. The parameter calibration device 301 is an electronic device with data processing capabilities, such as a computer, laptop, or tablet. The terminal device 302 is the terminal device to be tested, which can be a tablet, mobile phone, or wearable device.

[0023] The parameter calibration device 301 and the terminal device 302 can establish a communication link to implement the calibration parameter determination scheme provided in this embodiment.

[0024] Figure 4 A flowchart illustrating an exemplary embodiment of the present disclosure of a calibration parameter determination method, which is applied in a parameter calibration device, is shown. Figure 4 As shown, the method in this embodiment of the disclosure may include: Step S401: Based on the ranging data of the distance to the first target measured by multiple terminal devices to be calibrated at different temperatures, determine the temperature correction parameters of the direct time of flight (dToF) sensor associated with different temperatures. Step S402: For each terminal device to be calibrated, based on the ranging data of the terminal device to be calibrated at the same temperature for the distance to the second target and the distance to the third target, determine the dToF sensor hardware calibration parameters associated with the terminal device to be calibrated. Step S403: Write the dToF sensor temperature correction parameters associated with different temperatures and the dToF sensor hardware correction parameters associated with the terminal device to be calibrated into the terminal device to be calibrated. In summary, the calibration parameter determination method provided in this disclosure can determine the temperature correction parameters of the dToF sensor based on ranging data of the same target distance at different temperatures. This effectively compensates for temperature-related errors such as SPAD delay drift and TDC timing deviation caused by temperature changes, improving the ranging stability and accuracy of the sensor over a wide temperature range. Simultaneously, by determining hardware correction parameters matching a single terminal device to be calibrated using ranging data of different target distances at the same temperature, it can specifically compensate for system errors caused by individual hardware differences such as glass cover assembly offset and differences in the relative positions of the transmitter and receiver, achieving personalized calibration for each terminal device. After writing these two types of correction parameters into the terminal device, the terminal device can comprehensively improve the ranging accuracy, consistency, and environmental adaptability of the dToF sensor from both the dimensions of temperature drift and hardware assembly deviation, reducing the ranging deviation of the terminal device and improving its ranging precision.

[0025] The following are Figure 4 The specific implementation methods of each step in the illustrated embodiment are described in detail below: In step S401, the parameter calibration device determines the dToF sensor temperature correction parameters associated with different temperatures based on the ranging data of multiple terminal devices to be calibrated at different temperatures for the distance to the first target.

[0026] In this embodiment of the disclosure, the first target distance refers to the pre-set distance between the terminal device to be calibrated and the target object. Specifically, it can be determined based on actual needs, and this embodiment of the disclosure does not limit it. The dToF sensor temperature calibration parameters include temperature scaling compensation parameters and temperature offset compensation parameters. The temperature scaling compensation parameters are used to correct the sensitivity or range drift of the sensor detection value caused by temperature changes, and the temperature offset compensation parameters are used to correct the zero-point drift or bias error of the sensor output value caused by temperature changes under zero input conditions.

[0027] It should be noted that, in this embodiment of the disclosure, for each terminal device to be calibrated, the distance between the terminal device to be calibrated and the target object can be set as the first target distance, and the ambient temperature can be controlled to be different temperatures, so that the dToF sensor on the terminal device to be calibrated can collect ranging data of the first target distance at different temperatures. The ranging data is an nxn matrix, which represents the distance of nxn points on the target object collected by the terminal device to be calibrated; the specific data of n can be configured based on actual needs, and this embodiment of the disclosure does not limit it.

[0028] Understandably, the test of the terminal device to be calibrated acquires distance measurement data of the first target at different temperatures, and the parameter calibration device can read the distance measurement data of the first target at different temperatures stored in the memory of each terminal device to be calibrated.

[0029] In one optional implementation, the process by which the parameter calibration device determines the temperature correction parameters of the dToF sensor associated with different temperatures based on ranging data of multiple terminal devices to be calibrated at different temperatures for measuring the distance to a first target includes: reading ranging data of multiple terminal devices to be calibrated at different temperatures for measuring the distance to a first target; then, based on the ranging data of multiple terminal devices to be calibrated at different temperatures for measuring the distance to the first target, and a temperature correction model, using the corrected ranging data as the first target distance as the fitting target, obtaining the dToF sensor temperature correction parameters associated with different temperatures. By using ranging data of multiple terminal devices to be calibrated at different temperatures for measuring the same first target distance, and using the corrected ranging data approaching the true first target distance as the fitting target, combined with the temperature correction model for fitting and solving, the dToF sensor temperature correction parameters associated with different temperatures can be statistically extracted from batch test data, ensuring that the obtained temperature correction parameters can adapt to a wide temperature operating range, thereby significantly improving the ranging accuracy of the dToF sensor in different temperature environments.

[0030] Understandably, if the ranging data of multiple terminal devices to be calibrated at different temperatures on the first target distance test target has been pre-read and stored in the parameter calibration device, the parameter calibration device can read the ranging data of multiple terminal devices to be calibrated at different temperatures on the first target distance test target from its memory; or, if the ranging data of multiple terminal devices to be calibrated at different temperatures on the first target distance test target has not been pre-read and stored in the parameter calibration device, the parameter calibration device can read the ranging data of multiple terminal devices to be calibrated at different temperatures on the first target distance test target by sending a data read request to each terminal device to be calibrated.

[0031] The temperature correction model is as follows: d_temp = Scale(T)·d_raw-Offset(T); (Formula 1) In Formula 1, d_temp is the corrected ranging data, Scale(T) is the temperature scaling compensation parameter associated with temperature T, d_raw is the ranging data of the terminal device to be corrected for the distance to the first target, and Offset(T) is the temperature offset compensation parameter associated with temperature T.

[0032] The parameter calibration device uses ranging data of multiple terminal devices to be calibrated at different temperatures to measure the distance to the first target, and a temperature calibration model. The process of obtaining the temperature calibration parameters of the dToF sensor associated with different temperatures, with the calibrated ranging data as the first target distance as the fitting target, includes: optimizing the d_temp value after Scale (T) and Offset (T) correction at each temperature point to be as close as possible to the true value of the first target distance; statistically fitting multiple sets of original ranging data at the same temperature using the least squares method or curve fitting method; solving for the temperature scaling compensation parameter Scale (T) and temperature offset compensation parameter Offset (T) corresponding to each temperature point; and obtaining the temperature calibration parameters of the dToF sensor associated with different temperatures.

[0033] In one optional implementation, the process by which the parameter calibration device determines the dToF sensor temperature correction parameters associated with different temperatures based on ranging data of multiple terminal devices to be calibrated at different temperatures for a first target distance test target includes: reading ranging data of multiple terminal devices to be calibrated at different temperatures for a first target distance test target; then, determining multiple temperature ranges based on the maximum and minimum temperature values ​​among the multiple different temperatures; further, based on the ranging data of multiple terminal devices to be calibrated at different temperature ranges for the first target distance, and the temperature correction model, using the corrected ranging data as the first target distance as the fitting target, to obtain the dToF sensor temperature correction parameters associated with different temperature ranges. By collecting ranging data from multiple terminal devices under different temperatures for the same first target, and dividing the temperature range into multiple intervals based on the maximum and minimum temperature values ​​within the test temperature range, the wide temperature range can be segmented and refined. Then, with the corrected ranging data approaching the true distance to the first target as the fitting target, and combining the temperature correction model, the dToF sensor temperature correction parameters corresponding to each temperature interval are obtained. This achieves segmented compensation for temperature-related errors, effectively improving the accuracy and adaptability of parameter fitting within different temperature intervals. It avoids the problem of insufficient compensation accuracy of a single global model under extreme temperatures or wide temperature ranges, and significantly improves the ranging stability and measurement accuracy of the dToF sensor across the entire operating temperature range.

[0034] It should be noted that, in the embodiments of this disclosure, the parameter calibration device determines multiple temperature ranges based on the maximum and minimum temperature values ​​in multiple different temperatures. The difference between the maximum and minimum values ​​in each temperature range can be determined based on actual needs, and this embodiment of the disclosure does not limit this. The difference between the maximum and minimum values ​​in each temperature range can be the same or different.

[0035] In step S402, the parameter calibration device determines the dToF sensor hardware calibration parameters associated with each terminal device to be calibrated, based on the ranging data of the second target distance and the third target distance of the terminal device to be calibrated at the same temperature.

[0036] In this embodiment, the second target distance and the third target distance refer to the pre-set distance between the terminal device to be calibrated and the target object. Specifically, they can be determined based on actual needs, and this embodiment does not limit this. The second target distance is less than the third target distance. The dToF sensor hardware calibration parameters include a first hardware calibration parameter and a second hardware calibration parameter. The first hardware calibration parameter is a hardware calibration parameter set to correct the distortion of the time and distance conversion ratio caused by the optical path error of the dToF sensor (such as the assembly offset of the transparent cover plate, the change in the relative position of the transmitter and receiver). The second hardware calibration parameter is a fixed distance deviation value introduced by the system offset (such as the difference in the thickness of the transparent cover plate in the optical path, the difference in the response time of the transmitter and receiver devices).

[0037] In one optional implementation, the process by which the parameter calibration device determines the dToF sensor hardware calibration parameters associated with the terminal device to be calibrated based on ranging data of the second target distance and the third target distance measured by the terminal device to be calibrated at the same temperature includes: reading the ranging data of the second target distance and the third target distance measured by the terminal device to be calibrated at the same temperature; then, determining a first hardware calibration parameter based on the second target distance and the third target distance, and the ranging data of the terminal device to be calibrated for the second target distance and the third target distance; further, determining a second hardware calibration parameter based on the second target distance, the ranging data of the terminal device to be calibrated for the second target distance, and the first hardware calibration parameter; finally, determining the first hardware calibration parameter and the second hardware calibration parameter as the dToF sensor hardware calibration parameters associated with the terminal device to be calibrated; the same temperature can be room temperature or a preset temperature, specifically determined based on actual needs, and this disclosure does not limit this. The system can take measured data of two different target distances (second target distance and third target distance) of the same terminal device under the same temperature. First, it determines the first hardware correction parameter based on the two sets of real distances and corresponding ranging data. Then, it combines the second target distance and its ranging data with the obtained first hardware correction parameter to further solve for the second hardware correction parameter. This can accurately separate and compensate for non-temperature-related systematic hardware errors such as transparent cover plate assembly deviation, transmitter and receiver relative position difference, and individual device inconsistency. Finally, it obtains personalized hardware correction parameters specific to the terminal device to be calibrated, reducing fixed errors caused by hardware assembly and individual differences, and effectively improving the ranging consistency and accuracy of a single terminal device.

[0038] The process by which the parameter calibration device determines the first hardware calibration parameter based on the distances to the second and third targets, and the ranging data of the terminal device to be calibrated for the distances to the second and third targets, can be implemented based on a first hardware calibration model, which is as follows: Slope_factory = (D2 D1) / (d2_raw d1_raw); (Formula 2) In Formula 2, Slope_factory is the first hardware calibration parameter, D2 is the third target distance, D1 is the second target distance, d2_raw is the ranging data of the terminal device to be calibrated for the third target distance, and d1_raw is the ranging data of the terminal device to be calibrated for the second target distance.

[0039] The process of determining the second hardware calibration parameters based on the second target distance, the ranging data of the terminal device to be calibrated at the second target distance, and the first hardware calibration parameters can be implemented based on the second hardware calibration model, which is as follows: Offset_factory = D1 Slope_factory·d1_raw; (Formula 3) In Equation 3, Offset_factory is the second hardware calibration parameter.

[0040] In step S403, the parameter calibration device writes the dToF sensor temperature correction parameters associated with different temperatures and the dToF sensor hardware correction parameters associated with the terminal device to be calibrated into the terminal device to be calibrated.

[0041] In this embodiment of the disclosure, a temperature sensor is provided on the terminal device to be calibrated, which is used to measure the temperature of the dToF sensor; the memory in the terminal device to be calibrated is used to store dToF sensor temperature calibration parameters associated with different temperatures, and dToF sensor hardware calibration parameters associated with the terminal device to be calibrated.

[0042] It is understood that, in the embodiments of this disclosure, after the dToF sensor temperature correction parameters associated with different temperatures and the dToF sensor hardware correction parameters associated with the terminal device to be calibrated are written into the memory of the terminal device to be calibrated, it can be determined that the terminal device to be calibrated has been calibrated.

[0043] It should be noted that after the terminal device to be calibrated is completed, when the terminal device is used at the factory, it can look up the dToF sensor temperature calibration parameters associated with the current temperature in the memory based on the ranging data to be calibrated collected by the dToF sensor and the current temperature collected by the temperature sensor. Based on the ranging data to be calibrated, the dToF sensor temperature calibration parameters associated with the current temperature, and the dToF sensor hardware calibration parameters associated with the terminal device, the calibration ranging data can be determined.

[0044] The process of determining the corrected ranging data based on the ranging data to be corrected, the dToF sensor temperature correction parameters associated with the current temperature, and the dToF sensor hardware correction parameters associated with the terminal device can be implemented based on a ranging correction model. The ranging correction model is as follows: d'=Slope_factory×[Scale(T')×d'_raw Offset(T')]+ Offset_factory; (Formula 4) In Formula 4, d' represents the calibration ranging data, Scale(T') is the temperature scaling compensation parameter associated with the current temperature, d'_raw is the ranging data to be calibrated, and Offset(T') is the temperature offset compensation parameter associated with the current temperature.

[0045] This disclosure provides a terminal device, such as... Figure 5 As shown, Figure 5 The diagram illustrates the architecture of a terminal device according to an embodiment of this disclosure. The terminal device includes a memory 501, a processor 502, a thermal manager 503, a lens module 504, a temperature sensor 505, and a direct time-of-flight (dToF) sensor 506. The thermal manager 503 is connected to the memory 501, the processor 502, the lens module 504, the temperature sensor 505, and the dToF sensor 506. The processor 502 is connected to the memory 501 and the dToF sensor 506. The temperature sensor 505 is used to measure the temperature of the dToF sensor 506. A transparent cover plate on the lens module 504 allows infrared light emitted by the dToF sensor and returned by the target object to pass through.

[0046] The memory 501 is used to store ranging data of the distance to the first target at different temperatures, and ranging data of the distance to the second target and the distance to the third target at the same temperature.

[0047] Understandably, the parameter calibration device reads ranging data of the first target distance at different temperatures from the memory of the terminal device, and then reads ranging data of the second and third target distances at the same temperature. Based on the calibration parameter determination method provided in the above embodiments, it determines the dToF sensor temperature correction parameters associated with different temperatures, as well as the dToF sensor hardware correction parameters associated with the terminal device, and writes the dToF sensor temperature correction parameters associated with different temperatures and the dToF sensor hardware correction parameters associated with the terminal device into the memory of the terminal device.

[0048] The memory 501 is also used to store dToF sensor temperature correction parameters associated with different temperatures, as well as dToF sensor hardware correction parameters associated with the terminal device.

[0049] It should be noted that, in this embodiment of the disclosure, the thermal manager 503 is used to provide functions to the memory 501, processor 502, lens module 504, temperature sensor 505, and dToF sensor 506, and to send the temperature value collected by the temperature sensor 505 to the processor 502.

[0050] The processor 502 is used to receive the ranging data to be calibrated collected by the dToF sensor 506 and the current temperature collected by the temperature sensor 505, and then, based on the ranging data to be calibrated, the dToF sensor temperature calibration parameters associated with the current temperature in the memory 501, and the dToF sensor hardware calibration parameters associated with the terminal device, determine the calibration ranging data.

[0051] It is understood that the process of determining the corrected ranging data based on the ranging data to be corrected, the temperature correction parameters of the dToF sensor associated with the current temperature in the memory, and the hardware correction parameters of the dToF sensor associated with the terminal device can be implemented based on the ranging correction model. For details, please refer to the above embodiments, which will not be elaborated here.

[0052] In summary, the terminal device provided in this disclosure integrates a memory, processor, thermal manager, lens module, temperature sensor, and dToF sensor, and establishes signal and control connections between these modules. This enables real-time acquisition of the current temperature and original ranging data to be calibrated from the dToF sensor. Simultaneously, the memory stores test data at different temperatures and target distances, along with corresponding temperature and hardware calibration parameters. This allows the processor to use the current temperature and original ranging data to call the matching temperature calibration parameters and dedicated hardware calibration parameters for joint compensation of the ranging data. This effectively offsets environmental errors such as timing deviations and ranging offsets caused by temperature drift, and also compensates for individual hardware errors such as differences in the transparent cover and assembly. Consequently, it significantly improves the ranging accuracy, stability, and consistency of the dToF sensor under different temperature environments and with different individual devices, ensuring that the terminal device can output accurate and reliable ranging results even under complex operating conditions.

[0053] This disclosure provides a calibration device for enabling a terminal device to acquire ranging data, such as... Figure 6 As shown, Figure 6 A schematic diagram of a calibration device provided in an embodiment of this disclosure is shown, including: The housing 600 has a through hole h on its first surface 601. A slide rail 602 is disposed inside the housing 600, and the extension direction of the slide rail is perpendicular to the extension direction of the first surface 601. A slider 603 is disposed on the slide rail 602. The calibration panel 604 is fixedly connected to the slider 603, and the projection of the through hole h in the extension direction of the slide rail 602 is located on the calibration panel 604. A controller 605 is connected to the drive unit q of the slider 603 and is used to control the slider 603 to slide on the slide rail 602.

[0054] The number of slide rails 602 can be determined based on actual needs, and this embodiment does not limit this; the driving component q of slider 603 can be any one of motor, electric push rod, lead screw and nut mechanism, gear and rack mechanism, electromagnet and piezoelectric actuator.

[0055] In summary, the calibration device provided in this embodiment of the present disclosure, by providing a through hole on the first surface of the housing and a slide rail and slider extending perpendicularly to the first surface inside the housing, uses the slider to drive the calibration panel to move vertically along the slide rail, so that the projection of the through hole in the extension direction of the slide rail falls on the calibration panel. Then, the controller controls the driving component of the slider to achieve precise displacement control of the calibration panel. This can provide a stable and adjustable target calibration distance for the dToF sensor of the terminal device, ensuring reliable optical path alignment and high position adjustment accuracy during the calibration process. It not only simplifies the mechanical structure of the calibration device but also improves the stability of the testing and calibration process. At the same time, the controller automatically controls the position of the slider, which facilitates the accuracy of test distance control during the calibration process, meeting the needs of rapid and accurate calibration of batch terminal devices.

[0056] The first surface 601 of the housing 600 is provided with a through hole h, which is used for the lens module of the terminal device to be calibrated to transmit infrared light to the calibration panel 604 (i.e., the target object) through the through hole h, and to determine the ranging data based on the infrared light returned by the calibration panel 604. The shape of the through hole h can be determined according to actual needs, and this embodiment does not limit it. For example, the through hole h can be a square through hole or a circular through hole.

[0057] It should be noted that in this embodiment, the parameter calibration device is connected to the controller 605. Please refer to [reference needed]. Figure 6 The connection cable of the controller 605 is exposed outside the housing 600 through a through-hole in the housing 600 to facilitate the connection between the controller 605 and the parameter calibration device. Figure 6 (Not shown in the image) Device connection.

[0058] Specifically, for each terminal device to be calibrated, the parameter calibration device can send a first control command to the controller 605. The controller 605 can respond to the first control command by generating a first control signal to control the driving component of the slider 603 to move the slider 603 to a position at which the distance between the first surface 601 of the housing 600 and the first target distance is obtained. By adjusting the ambient temperature, the distance measurement data of the terminal device to be calibrated at the first target distance at different temperatures can be obtained.

[0059] Similarly, at a fixed temperature, the parameter calibration device can send a second control command to the controller 605. The controller 605 can respond to the second control command by generating a second control signal to control the driving component of the slider 603 to move the slider 603 to a position relative to the distance between the first surface 601 of the housing 600 and the second target distance, thereby obtaining distance measurement data of the terminal device to be calibrated at different temperatures. Then, the parameter calibration device can send a third control command to the controller 605. The controller 605 can respond to the third control command by generating a third control signal to control the driving component of the slider 603 to move the slider 603 to a position relative to the distance between the first surface 601 of the housing 600 and the third target distance, thereby obtaining distance measurement data of the terminal device to be calibrated at different temperatures.

[0060] Optional, such as Figure 7 As shown, Figure 7 A schematic diagram of another calibration device provided in this embodiment is shown, wherein a fixing member 606 is provided on the outer wall surface of the first side 601 of the housing 600. The fixing member 606 is used to fix the terminal device to be calibrated. By providing a fixing member on the outer wall surface of the first side of the housing, the terminal device to be calibrated can be stably and reliably fixed in the designated calibration position, avoiding shaking, displacement or tilting of the terminal device during the calibration process, ensuring the optical path alignment accuracy and relative position consistency between the dToF sensor and the calibration panel, and effectively improving the accuracy and reliability of ranging data acquisition.

[0061] It is understandable that after the fastener 606 fixes the terminal device to be calibrated to the outer wall of the first surface 601 of the housing 600, the lens module of the terminal device to be calibrated coincides with the through hole h on the first surface 601 of the housing 600.

[0062] Optionally, the axis of the lens module of the terminal device to be calibrated coincides with the axis of the through hole h on the first surface 601 of the housing 600. By using a fixing component, the axis of the lens module of the terminal device to be calibrated is kept coincident with the axis of the through hole on the first surface of the housing. This effectively ensures that the optical path between the terminal device to be calibrated and the calibration equipment is coaxially aligned, avoiding ranging errors caused by eccentricity, tilt, or positional offset. This further improves the positioning accuracy and test data accuracy during the dToF sensor calibration process, and ensures that the acquisition of temperature calibration parameters and hardware calibration parameters is more reliable.

[0063] It should be noted that, in this embodiment of the present disclosure, the fastener 606 is detachably disposed on the outer wall surface of the first surface 601 of the housing 600, so as to adapt to terminal devices of different sizes and shapes to be calibrated.

[0064] Optional, such as Figure 8 As shown, Figure 8A schematic diagram of another calibration device provided in this embodiment is shown. The calibration device further includes a sealing plate 607. An opening is provided on the second surface 608 of the housing 600. The sealing plate 607 is movably connected to the second surface 608 of the housing and is used to seal the opening on the second surface 608. By providing an opening on the second surface of the housing and sealing the opening with a sealing plate movably connected to the housing, it is convenient to install and repair internal components during equipment assembly, debugging, and maintenance. Furthermore, during normal operation, the sealing plate can close the opening, ensuring the airtightness and stability of the internal environment of the housing, reducing the impact of external dust, stray light, and environmental interference on the calibration and testing process, and improving the overall reliability and testing accuracy of the dToF sensor calibration equipment.

[0065] An exemplary embodiment of this disclosure provides a calibration parameter determination apparatus, which is a parameter calibration device. Figure 9 A schematic block diagram of the functional modules of a calibration parameter determination apparatus according to an exemplary embodiment of the present disclosure is shown. Figure 9 As shown, the calibration parameter determination device 900 includes: The first determining module 901 is configured to determine the temperature correction parameters of the direct time-of-flight (dToF) sensor associated with different temperatures based on the ranging data of the distance to the first target measured by multiple terminal devices to be calibrated at different temperatures. The second determining module 902 is configured to, for each terminal device to be calibrated, determine the dToF sensor hardware calibration parameters associated with the terminal device to be calibrated based on the ranging data of the distance to the second target and the distance to the third target of the terminal device to be calibrated at the same temperature. The writing module 903 is configured to write dToF sensor temperature correction parameters associated with different temperatures, and dToF sensor hardware correction parameters associated with the terminal device to be calibrated, into the terminal device to be calibrated.

[0066] Optionally, the first determining module 901 is configured as follows: Read ranging data of multiple terminal devices to be calibrated at different temperatures on the first target distance test target; Based on the ranging data of multiple terminal devices to be calibrated at different temperatures for the first target distance, and the temperature calibration model, the dToF sensor temperature calibration parameters associated with different temperatures are obtained by using the calibrated ranging data as the first target distance as the fitting target.

[0067] Optionally, the second determining module 902 is configured to: Read the ranging data of the terminal device to be calibrated for the distances to the second and third targets at the same temperature; Based on the second target distance and the third target distance, and the ranging data of the terminal device to be corrected for the second target distance and the third target distance, the first hardware correction parameter is determined; Based on the second target distance, the ranging data of the terminal device to be corrected for the second target distance, and the first hardware correction parameters, the second hardware correction parameters are determined; The first hardware calibration parameter and the second hardware calibration parameter are determined as the dToF sensor hardware calibration parameters associated with the terminal device to be calibrated.

[0068] Exemplary embodiments of this disclosure also provide an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the electronic device to perform a method according to an embodiment of this disclosure.

[0069] Exemplary embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform a method according to embodiments of this disclosure.

[0070] like Figure 10 As shown, an exemplary embodiment of this disclosure also provides a computer program product 1000, including a computer program 1001, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform a method according to an embodiment of this disclosure.

[0071] refer to Figure 11 The present invention describes a structural block diagram of an electronic device 1100 that can serve as a parameter calibration device or terminal device of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0072] like Figure 11As shown, the electronic device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1102 or a computer program loaded into a random access memory (RAM) 1103 from a storage unit 1108. The RAM 1103 may also store various programs and data required for the operation of the electronic device 1100. The computing unit 1101, ROM 1102, and RAM 1103 are interconnected via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0073] Multiple components in electronic device 1100 are connected to I / O interface 1105, including: input unit 1106, output unit 1107, storage unit 1108, and communication unit 1109. Input unit 1106 can be any type of device capable of inputting information to electronic device 1100. Input unit 1106 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device. Output unit 1107 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 1108 may include, but is not limited to, disk and optical disk. Communication unit 1109 allows electronic device 1100 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0074] The computing unit 1101 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1101 performs the various methods and processes described above. For example, in some embodiments, the methods of the exemplary embodiments of this disclosure can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 1100 via ROM 1102 and / or communication unit 1109. In some embodiments, the computing unit 1101 can be configured to perform the methods of the exemplary embodiments of this disclosure by any other suitable means (e.g., by means of firmware).

[0075] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0076] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0077] As used in this disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or apparatus (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0078] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0079] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0080] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this disclosure are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); or it can be a semiconductor medium, such as a solid-state drive (SSD).

[0081] Although this disclosure has been described in conjunction with specific features and embodiments, it will be apparent that various modifications and combinations can be made therein without departing from the spirit and scope of this disclosure. Accordingly, this specification and drawings are merely exemplary illustrations of the disclosure as defined by the appended claims and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this disclosure. It is obvious that those skilled in the art can make various alterations and modifications to this disclosure without departing from its spirit and scope. Thus, this disclosure is also intended to include any such modifications and modifications that fall within the scope of the claims of this disclosure and their equivalents.

Claims

1. A method for determining calibration parameters, characterized in that, The method is applied in a parameter calibration device and includes: Based on the ranging data of multiple terminal devices to be calibrated at different temperatures for the distance to the first target, the temperature correction parameters of the direct time of flight (dToF) sensor associated with different temperatures are determined. For each terminal device to be calibrated, based on the ranging data of the distance to the second target and the distance to the third target of the terminal device to be calibrated at the same temperature, the hardware calibration parameters of the dToF sensor associated with the terminal device to be calibrated are determined; The dToF sensor temperature correction parameters associated with different temperatures, and the dToF sensor hardware correction parameters associated with the terminal device to be calibrated, are written into the terminal device to be calibrated.

2. The calibration parameter determination method according to claim 1, characterized in that, The step of determining the temperature correction parameters of the direct time-of-flight (dToF) sensor associated with different temperatures based on ranging data of the distance to the first target from multiple terminal devices under different temperatures includes: Read ranging data of multiple terminal devices to be calibrated at different temperatures on the first target distance test target; Based on the ranging data of multiple terminal devices to be calibrated at different temperatures for the first target distance, and the temperature calibration model, the dToF sensor temperature calibration parameters associated with different temperatures are obtained by using the calibrated ranging data as the first target distance as the fitting target.

3. The calibration parameter determination method according to claim 1, characterized in that, The step of determining the dToF sensor hardware calibration parameters associated with the terminal device to be calibrated based on the ranging data of the distances to the second and third targets at the same temperature by the terminal device to be calibrated includes: Read the ranging data of the terminal device to be calibrated for the distances to the second and third targets at the same temperature; Based on the second target distance and the third target distance, and the ranging data of the terminal device to be corrected for the second target distance and the third target distance, the first hardware correction parameter is determined; Based on the second target distance, the ranging data of the terminal device to be corrected for the second target distance, and the first hardware correction parameters, the second hardware correction parameters are determined; The first hardware calibration parameter and the second hardware calibration parameter are determined as the dToF sensor hardware calibration parameters associated with the terminal device to be calibrated.

4. An electronic device, the electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method according to any one of claims 1 to 3.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 3.

6. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 3.

7. A calibration device, characterized in that, The calibration device is used to provide ranging data to the terminal device to be calibrated, including: A housing, wherein a through hole is provided on the first surface of the housing; A slide rail is disposed inside the housing, the extension direction of the slide rail is perpendicular to the extension direction of the first surface, and a slider is disposed on the slide rail; A calibration panel, wherein the slider is fixedly connected to the calibration panel, and the projection of the through hole in the extension direction of the slide rail is located on the calibration panel; A controller, connected to the drive unit of the slider, is used to control the slider to slide on the slide rail.

8. The calibration apparatus according to claim 7, characterized in that, A fastener is provided on the outer wall of the first side of the housing, and the fastener is used to fix the terminal device to be calibrated.

9. The calibration apparatus according to claim 7, characterized in that, The calibration device also includes a sealing plate. An opening is provided on the second side of the housing, and a sealing plate is movably connected to the second side of the housing. The sealing plate is used to seal the opening on the second side.

10. A terminal device, characterized in that, include: The system includes a memory, a processor, a thermal manager, a lens module, a temperature sensor, and a direct time-of-flight (dToF) sensor. The thermal manager is connected to the memory, the processor, the lens module, the temperature sensor, and the dToF sensor. The processor is connected to the memory and the dToF sensor. The temperature sensor measures the temperature of the dToF sensor. A transparent cover on the lens module allows infrared light emitted by the dToF sensor and reflected by the target object to pass through. The memory is used to store ranging data of the distance to the first target at different temperatures, and ranging data of the distance to the second target and the distance to the third target at the same temperature. The memory is also used to store dToF sensor temperature correction parameters associated with different temperatures, as well as dToF sensor hardware correction parameters associated with the terminal device. The processor is used to receive ranging data to be calibrated collected by the dToF sensor and the current temperature collected by the temperature sensor, and then, based on the ranging data to be calibrated, the dToF sensor temperature calibration parameters associated with the current temperature in the memory, and the dToF sensor hardware calibration parameters associated with the terminal device, determine the calibration ranging data.

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