A joint time-of-flight and structured light based ranging system and method

Abstract

The application provides a time-of-flight and structured light combined ranging system and method, and relates to the field of optoelectronic technology, and comprises a line laser emission module, a signal receiving module and an analysis and calculation module; the line laser emission module is configured to emit a periodically modulated detection light signal; the signal receiving module comprises an optical lens, an ITOF area array receiving module or a DTOF area array receiving module, and is configured to receive a reflection signal of the detection light signal after the detection light signal is reflected by a target to be measured; the analysis and calculation module is configured to determine a first distance parameter between the line laser emission module and the target to be measured based on a phase difference between the detection light signal and the reflection signal, and determine a second distance parameter between the line laser emission module and the target to be measured based on a positional relationship between the line laser emission module and the signal receiving module and a pixel parameter of the signal receiving module. A difference between the first distance parameter and the second distance parameter is determined as real distance information or false distance information.

Description

Technical Field

[0001] This invention relates to the field of optoelectronic technology, and in particular to a joint ranging system and method based on time of flight and structured light. Background Technology

[0002] With the rapid development of science and technology, laser technology has made significant progress and achieved widespread adoption. As a crucial application carrier of laser technology, laser sensors leverage the unique advantages of lasers to achieve precise measurement and sensing of various physical quantities. In recent years, the application fields of laser sensors have been continuously explored and expanded. From relatively specialized areas such as industrial measurement and scientific research experiments, they have gradually extended to broader scenarios including daily life, intelligent transportation, and robotics. In the fields of robotics and intelligent devices, laser sensors, with their high precision, rapid response, and non-contact measurement characteristics, have become one of the core components for achieving obstacle avoidance functions, providing key technical support for the autonomous navigation and safe operation of intelligent devices.

[0003] However, in real-world environments, laser beams may encounter multiple reflecting surfaces during propagation. When a laser beam illuminates a target with a complex shape or surface characteristics, multiple reflections may occur inside or around the target. Furthermore, mirrored objects possess unique surface properties; when a laser sensor emits a laser beam towards a mirrored object, the beam will reflect back at the same angle of incidence, resulting in a very weak reflected signal received by the sensor, or even an ineffective reflected signal. Additionally, in practical application environments, there is often ambient light of varying intensities, such as natural light and artificial lighting. This ambient light may interact with the laser beam emitted by the laser sensor, interfering with the sensor's detection results. These technical challenges severely restrict the improvement of laser sensor performance and the expansion of its applications. Summary of the Invention

[0004] In view of this, the present invention proposes a joint ranging system and method based on time of flight and structured light.

[0005] The technical solution of the present invention is implemented as follows: The first aspect of the present invention provides a joint ranging system based on time of flight and structured light, comprising: a line laser emitting module, a signal receiving module, and an analysis and calculation module; The line laser emitting module includes a first line laser emitter and a second line laser emitter disposed on both sides of the signal receiving module, configured to emit periodically modulated probe light signals; The signal receiving module includes an optical lens, an ITOF array receiving module or a DTOF array receiving module, and is configured to receive the reflected signal after the probe light signal is reflected by the target under test; The analysis and calculation module is configured to determine a first distance parameter between the line laser emitting module and the target under test based on the phase difference between the probe light signal and the reflected signal; and to determine a second distance parameter between the line laser emitting module and the target under test based on the positional relationship between the line laser emitting module and the signal receiving module, and the pixel parameters of the signal receiving module. When the difference between the first distance parameter and the second distance parameter is less than or equal to a preset threshold, the second distance parameter is determined as the true distance parameter between the line laser emitting module and the target under test; when the difference between the first distance parameter and the second distance parameter is greater than the preset threshold, the first distance parameter and the second distance parameter are determined as false distance information.

[0006] Based on the above technical solutions, preferably, the first line laser emitter and the second line laser emitter are symmetrically arranged on both sides of the signal receiving module.

[0007] Based on the above technical solutions, preferably, the divergence angle range of the first line laser emitter and the second line laser emitter is 100° to 120°, and the distance between them and the signal receiving module is greater than 50mm; the angle between the emission direction of the probe light signal and the extension direction of the signal receiving module is 60° to 80°; the horizontal field of view of the optical lens is 110° to 120°; and the pixel parameter of the signal receiving module is not less than 320*240.

[0008] More preferably, a second aspect of the present invention provides a joint ranging method based on time-of-flight and structured light, applied to the joint ranging system based on time-of-flight and structured light described in the first aspect, comprising: The receiver receives the reflected signal of the probe light signal emitted by the laser emission module after it is reflected by the target. For each receiving channel, a first distance parameter between the line laser emitting module and the target under test is determined based on the phase difference between the probe light signal and the reflected signal. A second distance parameter between the line laser emitting module and the target under test is determined based on the positional relationship between the line laser emitting module and the signal receiving module, as well as the pixel parameters of the signal receiving module. Each receiving channel acquires the difference between the first distance parameter and the second distance parameter, and determines the true distance parameter between the line laser emitting module and the target under test based on the relationship between the difference and a preset threshold.

[0009] Based on the above technical solution, preferably, the step of determining the first distance parameter between the line laser emitting module and the target under test based on the phase difference between the probe light signal and the reflected signal includes: The time of flight of the probe light signal from the line laser emitting module to the target under test, and from the target under test to the signal receiving module, is determined based on the phase difference between the probe light signal and the reflected signal. The first distance parameter between the line laser emission module and the target to be measured is determined based on the flight time.

[0010] Based on the above technical solutions, preferably, the step of determining the second distance parameter between the line laser emitting module and the target under test based on the positional relationship between the line laser emitting module and the signal receiving module, and the pixel parameters of the signal receiving module, includes: Based on the positional relationship between the line laser emitting module and the signal receiving module, as well as the incident angle of the optical signal, the receiving angle of the optical signal, and the focal length of the receiving module, and in conjunction with the sine theorem, the second distance parameter between the line laser emitting module and the target under test is determined.

[0011] Based on the above technical solutions, preferably, the step of determining the true distance parameter between the line laser emitting module and the target under test based on the relationship between the difference and a preset threshold includes: If the difference is less than or equal to a preset threshold, the second distance parameter is determined as the true distance parameter; if the difference is greater than the preset threshold, the first distance parameter and the second distance parameter are determined as false distance information.

[0012] More preferably, a third aspect of the present invention provides an electronic device including a processor and a memory; the memory has a computer program stored thereon, wherein the computer program, when executed by the processor, implements the joint ranging method based on time of flight and structured light as described in the second aspect.

[0013] Furthermore, in a fourth aspect, the present invention provides a robotic dexterous hand, characterized in that it is equipped with the joint ranging system based on time of flight and structured light described in the first aspect.

[0014] The joint ranging system and method based on time of flight and structured light of the present invention have the following advantages over the prior art: 1. The true distance parameter is determined by combining the time-of-flight method and the structured light method. The time-of-flight method determines the first distance parameter based on the phase difference between the probe light signal and the reflected signal, while the structured light method determines the second distance parameter based on the positional relationship between the line laser emitting module and the signal receiving module, as well as the pixel parameters of the signal receiving module. When multiple reflections result in multiple distance values, the difference between the distance measurement results from the two different principles is compared with a preset threshold to distinguish the authenticity of the detection result, and the true distance parameter is used for calibration.

[0015] 2. By using structured light analysis to analyze the distribution and characteristics of the reflected signal received by the signal receiving module at the pixel level, information about the position and shape of the target under test can be obtained. Combined with the first distance parameter obtained by the time-of-flight method and the second distance parameter obtained by the structured light method, the comprehensive analysis can more effectively identify whether there is a mirror object in the measurement direction of the module, overcoming the problem of traditional laser sensors having difficulty in identifying mirror objects.

[0016] 3. By identifying signals with the same modulation characteristics, the reflected signal of the probe light signal and the noise signal generated by ambient light are distinguished. The signal receiving module acquires data through dual channels for each frame of data in the algorithm, and the data from the two channels are subtracted to eliminate the influence of ambient light, thereby improving the ranging speed of the module. To a certain extent, the interference of ambient light on the single ranging method is reduced, and the stability and anti-interference ability of the entire ranging system under different lighting conditions are improved, enabling it to accurately measure distances under complex ambient light conditions. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a joint ranging system based on time of flight and structured light provided in an embodiment of the present invention; Figure 2 A flowchart illustrating a joint ranging method based on time of flight and structured light provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the reflection scene of the detection light signal provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0019] Figure 5 This is a schematic diagram of a transmission and reception structure provided in an embodiment of the present invention. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] In numerous practical applications, such as indoor cleaning robots, warehouse logistics robots, and autonomous vehicles, accurately and promptly perceiving obstacles in the surrounding environment and making reasonable obstacle avoidance decisions is crucial to ensuring the safe and efficient operation of equipment. Taking indoor cleaning robots as an example, they need to move autonomously in complex home environments to complete floor cleaning tasks. During this process, the robot must be able to detect various obstacles such as furniture, walls, and pets in real time to avoid collisions, thus ensuring its own safety while successfully completing the cleaning work. Laser sensors, by emitting laser beams and measuring the time or phase changes of reflected light, can quickly and accurately obtain the distance and position information of surrounding obstacles, allowing the robot to plan a safe movement path. In the warehousing and logistics field, automated guided vehicles (AGVs) or dexterous hands of robotic arms need to efficiently transport goods in warehouses. Warehouses typically contain a large number of shelves, goods, and other equipment. AGVs or dexterous hands must rely on laser sensors to accurately identify these obstacles and flexibly avoid them to ensure the accuracy and efficiency of goods transportation, while avoiding damage to goods and equipment malfunctions caused by collisions.

[0022] In some embodiments, such as Figure 1 As shown, Figure 1 This is a schematic diagram of a joint ranging system based on time of flight and structured light, provided for an embodiment of the present invention. The joint ranging system based on time of flight and structured light provided by the present invention includes: a line laser emitting module, a signal receiving module, and an analysis and calculation module. A line laser emitting module includes a first line laser emitter and a second line laser emitter disposed on both sides of a signal receiving module, configured to emit periodically modulated probe light signals; The signal receiving module, including an optical lens, an ITOF array receiving module or a DTOF array receiving module, is configured to receive the reflected signal after the probe light signal is reflected by the target under test; The analysis and calculation module is configured to determine a first distance parameter between the line laser emitting module and the target under test based on the phase difference between the probe light signal and the reflected signal; and to determine a second distance parameter between the line laser emitting module and the target under test based on the positional relationship between the line laser emitting module and the signal receiving module, as well as the pixel parameters of the signal receiving module. When the difference between the first distance parameter and the second distance parameter is less than or equal to a preset threshold, the second distance parameter is determined as the true distance parameter between the line laser emitting module and the target under test; when the difference between the first distance parameter and the second distance parameter is greater than the preset threshold, the first distance parameter and the second distance parameter are determined as false distance information.

[0023] In this embodiment, the first and second line laser emitters on both sides of the signal receiving module alternately illuminate at a certain frequency, emitting probe light signals towards the target area where the target is located. When the probe light signal reaches the target, the target surface scatters the light, reflecting some of it to the optical lens of the signal receiving module. The light then passes through the optical lens to the pixel array of the ITOF or DTOF area array receiving module. The offset angle is obtained based on the pixel array. By increasing the number of pixels in the receiving module, the minimum offset angle unit (i.e., the angular resolution between two adjacent pixels) can be reduced. Distance information and ranging accuracy are obtained through algorithm processing. Additionally, the joint ranging system may include a supplementary light. The supplementary light is located on one side of the receiving module and is used to provide supplementary lighting in low-light environments to prevent environmental factors from affecting module performance. It also works with the camera to acquire information about the target. The optical lens is located on one side of the signal receiving module and is used to acquire two-dimensional information and feature information of the target, such as color, outline, size, and shape. The hardware of the analysis and calculation module may include a high-performance microprocessor or digital signal processor (DSP), memory, and related interface circuits. The microprocessor or DSP is the core of the analysis and computing module, responsible for executing various complex calculations and algorithms. Memory stores program code, data, and intermediate calculation results. Interface circuits are used for data transmission and communication with other modules, such as the line laser emitting module and the signal receiving module. The software component includes the operating system, drivers, and various algorithm programs. The operating system manages hardware resources and schedules tasks, drivers control the normal operation of hardware modules, and the algorithm programs implement distance measurement algorithms based on time-of-flight and structured light.

[0024] In some embodiments, the first line laser emitter and the second line laser emitter are symmetrically arranged on both sides of the signal receiving module.

[0025] In this embodiment, the first and second line laser emitters emit probe light signals according to a preset periodic modulation pattern. After the emitted probe light signals illuminate the target, they are reflected. The optical lens in the signal receiving module collects these reflected light signals and focuses them onto the ITOF or DTOF area array receiving module. Each pixel in the receiving area of ​​the ITOF or DTOF area array receiving module corresponds to a specific area on the target surface. By recording the light intensity information received by each pixel, it can be used as a ranging basis.

[0026] In some embodiments, the divergence angle range of the first and second line laser emitters is 100° to 120°, and the distance between them and the signal receiving module is greater than 50 mm. The angle between the emission direction of the probe light signal and the extension direction of the signal receiving module is 60° to 80°. The horizontal field of view of the optical lens is 110° to 120°. The pixel parameter of the signal receiving module is not less than 320*240.

[0027] In some embodiments, please refer to Figure 2 , Figure 2 This is a flowchart illustrating a joint ranging method based on time-of-flight and structured light, provided as an embodiment of the present invention. The present invention provides a joint ranging method based on time-of-flight and structured light, applied to the aforementioned joint ranging system based on time-of-flight and structured light, comprising: S210, receiving the reflected signal of the detection light signal emitted by the line laser emitting module after being reflected by the target under test; S220, for each receiving channel, a first distance parameter between the line laser emitting module and the target under test is determined based on the phase difference between the probe light signal and the reflected signal, and a second distance parameter between the line laser emitting module and the target under test is determined based on the positional relationship between the line laser emitting module and the signal receiving module, as well as the pixel parameters of the signal receiving module. S230, each receiving channel acquires the difference between the first distance parameter and the second distance parameter, and determines the true distance parameter between the line laser emitting module and the target under test based on the relationship between the difference and a preset threshold.

[0028] In some embodiments, determining a first distance parameter between the line laser emitting module and the target under test based on the phase difference between the probe light signal and the reflected signal includes: The time it takes for the probe light signal to travel from the line laser emitting module to the target under test, and from the target under test to the signal receiving module, is determined based on the phase difference between the probe light signal and the reflected signal. The first distance parameter between the linear laser emission module and the target under test is determined based on the time of flight.

[0029] In this embodiment, the probe light signal is reflected after illuminating the target and captured by the pixel array of the ITOF or DTOF area array receiver module. Due to the time delay in light propagation, i.e., the time of flight t, the reflected signal will have a phase difference compared to the probe light signal. Therefore, the phase difference can be calculated within the flight time t. Therefore, flight time The first distance parameter is .

[0030] In some embodiments, determining a second distance parameter between the line laser emitting module and the target under test based on the positional relationship between the line laser emitting module and the signal receiving module, and the pixel parameters of the signal receiving module, includes: Based on the positional relationship between the line laser emitting module and the signal receiving module, as well as the incident angle of the optical signal, the receiving angle of the optical signal, and the focal length of the receiving module, and in conjunction with the sine theorem, the second distance parameter between the line laser emitting module and the target under test is determined.

[0031] In this embodiment, please refer again. Figure 1 Assume the angle between the probe light signal and the horizontal plane of the optical lens of the signal receiving module is... The distance from the center of the detection light signal output port to the center of the optical lens is The first and second line laser emitters are equidistant from the optical lens. The horizontal field of view of the optical lens is α, the divergence angle of the detected light signal is β, the horizontal pixel number of the optical lens is a, the vertical pixel number is b, and the total number of pixels in the optical lens is [missing information]. It can be seen that the horizontal angular resolution of the optical lens is When the vertical distance between the target and the joint ranging system is the distance to be measured, the light reflected from the target is mapped onto the pixels of the ITOF or DTOF array receiving module through the lens, and the offset angle can be determined. Parallelism indicates Therefore, we can know .

[0032] In summary, the second distance parameter can be obtained using the law of sines: .

[0033] The minimum ranging accuracy is such that when the offset is one pixel, the angle offset is η, and the distance after the offset, i.e., the third distance parameter, is:

[0034] Therefore, the ranging accuracy is... Substitute and From the formula, we can obtain .

[0035] Based on the above process, it can be seen that, all other things being equal, the higher the pixel count of the optical lens, the higher the ranging accuracy. Here, we can comprehensively consider factors such as needs and cost to select an optical lens with appropriate pixel count.

[0036] In some embodiments, determining the true distance parameter between the line laser emitting module and the target under test based on the relationship between the difference and a preset threshold includes: If the difference is less than or equal to a preset threshold, the second distance parameter is determined as the true distance parameter; if the difference is greater than the preset threshold, the first distance parameter and the second distance parameter are determined as false distance information.

[0037] In this embodiment, please refer to Figure 3 , Figure 3 This is a schematic diagram of the reflection scene of the detection light signal provided in an embodiment of the present invention; based on the obtained TOF ranging data. and structured light ranging data Take the absolute value of the difference between the two. Set a threshold n for judgment. This indicates that the distance value is directly reflected back from the target, rather than after multiple reflections, using structured light ranging data. This can eliminate misjudgments caused by reflections and ghost images. If the target is directly reflected, both structured light and Time-of-Flight (TOF) ranging outputs are the direct distance from the target to the joint ranging system, which introduces a certain accuracy error. However, if there are multiple reflections, TOF ranging is time-of-flight related, and the measured distance is the cumulative distance along the target's reflection path. Therefore, with multiple reflections, the first distance parameter obtained by TOF ranging will increase, while structured light ranging obtains the second distance parameter from the ghost image of the reflected object to the module. This can be eliminated by setting an appropriate threshold. For specularly reflective targets, TOF ranging obtains the first distance parameter from the mirror to the module, while structured light ranging obtains the second distance parameter from the object in the mirror reflection to the module. The second distance is larger than the actual distance, and the difference exceeds the set threshold, indicating the presence of a specular object. Even with special specular surfaces where the backlight is weak, both TOF and structured light ranging methods cannot receive the backlight signal, resulting in a distance output of 0, indicating the presence of a specular object.

[0038] In each frame, the information of each pixel is acquired through dual channels, and then the intensity value is output after subtraction. The value is then calibrated based on the actual distance. Ambient light information is eliminated during the subtraction process, improving the resistance to ambient light and completing the process within one frame. Compared to the traditional two-frame subtraction, the speed can be doubled.

[0039] It should be noted that the joint ranging method based on time of flight and structured light provided in this application embodiment is based on the same application concept as the joint ranging system based on time of flight and structured light provided in this application embodiment. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned joint ranging system based on time of flight and structured light, and the repeated parts will not be described again.

[0040] In some embodiments, please refer to Figure 4 , Figure 4This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 400 provided in this application includes a processor 410 and a memory 420; the memory 420 stores a computer program, wherein the computer program, when executed by the processor, implements the aforementioned joint ranging method based on time of flight and structured light.

[0041] Specifically, processor 410 may include, for example, a general-purpose microprocessor, an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. Processor 410 may also include onboard memory for caching purposes. Processor 410 may be a single processing unit or multiple processing units for performing different actions of the method flow according to embodiments of this application.

[0042] Memory 420 may be any medium capable of containing, storing, transmitting, propagating, or transmitting instructions. For example, memory 420 may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, instruments, or propagation media. Specific examples of memory 420 include: magnetic storage devices such as magnetic tape or hard disk drives (HDDs); optical storage devices such as optical discs (CD-ROMs); and may also be random access memory (RAM) or flash memory; and / or wired / wireless communication links.

[0043] In some embodiments, please refer to Figure 5 , Figure 5 This is a schematic diagram of a transmitting and receiving module provided in an embodiment of this application. It includes transmitter 1, transmitter 2, and transmitter 3. Transmitters 1 and 2 emit vertical line lasers, and transmitter 3 emits horizontal line lasers. This module achieves ranging and navigation functions through structured light ranging and Time-of-Flight (TOF) ranging.

[0044] This application also provides a robotic dexterous hand, on which the aforementioned joint ranging system based on time of flight and structured light is applied. Specific implementations of this embodiment can be found in the aforementioned implementations of the joint ranging system based on time of flight and structured light; details that are repeated will not be repeated here.

[0045] This application also provides a computer-readable medium storing a computer program that, when executed by a processor, implements the aforementioned joint ranging method based on time-of-flight and structured light. This computer-readable medium may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into that device / apparatus / system. The aforementioned computer-readable medium carries one or more programs, which, when executed, implement the method according to the embodiments of this application.

[0046] According to embodiments of this application, a computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, 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 device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wired, optical fiber, radio frequency signals, etc., or any suitable combination thereof.

[0047] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments and / or claims of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application. Therefore, the scope of this application should not be limited to the above embodiments, but should be defined not only by the appended claims, but also by their equivalents. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A joint ranging system based on time of flight and structured light, characterized in that, include: Line laser emitting module, signal receiving module, and analysis and calculation module; The line laser emitting module includes a first line laser emitter and a second line laser emitter disposed on both sides of the signal receiving module, configured to emit periodically modulated probe light signals; The signal receiving module includes an optical lens, an ITOF array receiving module or a DTOF array receiving module, and is configured to receive the reflected signal after the probe light signal is reflected by the target under test; The analysis and calculation module is configured to determine a first distance parameter between the line laser emitting module and the target under test based on the phase difference between the probe light signal and the reflected signal; and to determine a second distance parameter between the line laser emitting module and the target under test based on the positional relationship between the line laser emitting module and the signal receiving module, and the pixel parameters of the signal receiving module. When the difference between the first distance parameter and the second distance parameter is less than or equal to a preset threshold, the second distance parameter is determined as the true distance parameter between the line laser emitting module and the target under test. When the difference between the first distance parameter and the second distance parameter is greater than a preset threshold, the first distance parameter and the second distance parameter are determined to be false distance information.

2. The joint ranging system based on time of flight and structured light as described in claim 1, characterized in that, The first line laser emitter and the second line laser emitter are symmetrically arranged on both sides of the signal receiving module.

3. The joint ranging system based on time of flight and structured light as described in claim 1, characterized in that, The divergence angles of the first and second line laser emitters range from 100° to 120°, and the distance between them and the signal receiving module is greater than 50 mm. The angle between the emission direction of the probe light signal and the extension direction of the signal receiving module ranges from 60° to 80°. The horizontal field of view of the optical lens ranges from 110° to 120°. The pixel parameters of the signal receiving module are not less than 320*240.

4. A joint ranging method based on time of flight and structured light, characterized in that, The system applied to the joint ranging system based on time of flight and structured light as described in any one of claims 1 to 3 includes: The receiver receives the reflected signal of the probe light signal emitted by the laser emission module after it is reflected by the target. For each receiving channel, a first distance parameter between the line laser emitting module and the target under test is determined based on the phase difference between the probe light signal and the reflected signal. A second distance parameter between the line laser emitting module and the target under test is determined based on the positional relationship between the line laser emitting module and the signal receiving module, as well as the pixel parameters of the signal receiving module. Each receiving channel acquires the difference between the first distance parameter and the second distance parameter, and determines the true distance parameter between the line laser emitting module and the target under test based on the relationship between the difference and a preset threshold.

5. The joint ranging method based on time of flight and structured light as described in claim 4, characterized in that, The determination of the first distance parameter between the line laser emitting module and the target under test based on the phase difference between the probe light signal and the reflected signal includes: The time of flight of the probe light signal from the line laser emitting module to the target under test, and from the target under test to the signal receiving module, is determined based on the phase difference between the probe light signal and the reflected signal. The first distance parameter between the line laser emission module and the target to be measured is determined based on the flight time.

6. The joint ranging method based on time of flight and structured light as described in claim 4, characterized in that, The determination of the second distance parameter between the line laser emitting module and the target under test based on the positional relationship between the line laser emitting module and the signal receiving module, and the pixel parameters of the signal receiving module, includes: Based on the positional relationship between the line laser emitting module and the signal receiving module, as well as the incident angle of the optical signal, the receiving angle of the optical signal, and the focal length of the receiving module, and in conjunction with the sine theorem, the second distance parameter between the line laser emitting module and the target to be measured is determined.

7. The joint ranging method based on time of flight and structured light as described in claim 4, characterized in that, Obtaining the difference between the first distance parameter and the second distance parameter, and determining the true distance parameter between the line laser emitting module and the target under test based on the relationship between the difference and a preset threshold, includes: If the difference is less than or equal to a preset threshold, the second distance parameter is determined as the true distance parameter; if the difference is greater than the preset threshold, the first distance parameter and the second distance parameter are determined as false distance information.

8. An electronic device comprising a processor and a memory; said memory having a storage for a computer program, wherein, When executed by the processor, the computer program implements the joint ranging method based on time of flight and structured light as described in any one of claims 4 to 7.

9. A robotic dexterous hand, characterized in that, The system is equipped with the combined ranging system based on time of flight and structured light as described in any one of claims 1 to 3.

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