CN116184426A - Direct time-of-flight ranging method, device, electronic equipment and readable storage medium - Google Patents
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Abstract
The application discloses a direct flight time ranging method, a device, electronic equipment and a readable storage medium, which are applied to the technical field of ranging, wherein the direct flight time ranging method comprises the following steps: filtering the laser pulse signal to be emitted according to an ambient light pulse signal of the environment where the target to be detected is located, so as to obtain a laser filtering signal; transmitting the laser filtering signal to the target to be detected, and receiving a reflection filtering signal formed by reflecting the laser filtering signal by the target to be detected; and according to the target flight time between the laser filtering signal and the reflection filtering signal, the distance measurement is carried out on the target to be measured. The technical problem of low ranging accuracy of the DTOF ranging method is solved.
Description
Technical Field
The present disclosure relates to the field of ranging technologies, and in particular, to a method and apparatus for direct time-of-flight ranging, an electronic device, and a readable storage medium.
Background
With the continuous development of laser radar technology, a TOF (Time of Flight) ranging method is widely applied to many fields such as autopilot, industrial automation, face recognition, etc., wherein a DTOF (direct Time of Flight) ranging method, which is one of core technical routes of the TOF ranging method, also has been receiving more and more attention by virtue of numerous advantages such as low power consumption, strong interference resistance, and high ranging accuracy.
The principle of the DTOF ranging method is that light pulses are emitted to an object to be measured based on a photoelectric detector, the distance of the object to be measured is directly calculated through measurement of the time intervals of the emitted light pulses and the reflected light pulses, so that depth information is generated, and then the three-dimensional outline of the object to be measured is displayed in a topographic map in different colors corresponding to different distances by combining with the traditional camera shooting.
At present, when an object to be measured is subjected to ranging, a pulse beam is usually emitted and received for a plurality of times in a natural environment, then a time interval between the emitted pulse and the received pulse is recorded based on a TDC (Time Digital Converter, time-to-digital converter), and the flight time with the highest current frequency is taken out as the flight time for calculating the depth of the object to be measured, however, due to the interference of the environment beam in the natural environment, the flight time difference corresponding to different photon pulse signals recorded by a histogram is easily caused to be unobvious, so that the finally determined flight time is inaccurate, and further the distance measurement accuracy of the object to be measured is influenced. Therefore, the current DTOF ranging method has low ranging accuracy.
Disclosure of Invention
The main purpose of the application is to provide a direct flight time ranging method, a device, an electronic device and a readable storage medium, and aims to solve the technical problem of low ranging accuracy of a DTOF ranging method in the prior art.
To achieve the above object, the present application provides a direct time-of-flight ranging method, including:
filtering the laser pulse signal to be emitted according to an ambient light pulse signal of the environment where the target to be detected is located, so as to obtain a laser filtering signal;
transmitting the laser filtering signal to the target to be detected, and receiving a reflection filtering signal formed by reflecting the laser filtering signal by the target to be detected;
and according to the target flight time between the laser filtering signal and the reflection filtering signal, the distance measurement is carried out on the target to be measured.
To achieve the above object, the present application also provides a direct time-of-flight ranging apparatus, comprising:
the filtering module is used for filtering the laser pulse signal to be emitted according to the environment light pulse signal of the environment where the target to be detected is located, so as to obtain a laser filtering signal;
the transmission module is used for transmitting the laser filtering signal to the target to be detected and receiving a reflection filtering signal formed by the target to be detected reflecting the laser filtering signal;
and the ranging module is used for ranging the target to be measured according to the target flight time between the laser filtering signal and the reflection filtering signal.
The application also provides an electronic device comprising: the system comprises a memory, a processor and a program of the direct time-of-flight ranging method stored on the memory and executable on the processor, wherein the program of the direct time-of-flight ranging method, when executed by the processor, can implement the steps of the direct time-of-flight ranging method as described above.
The present application also provides a computer readable storage medium having stored thereon a program for implementing a direct time-of-flight ranging method, which when executed by a processor implements the steps of the direct time-of-flight ranging method as described above.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of a direct time-of-flight ranging method as described above.
The application provides a direct flight time ranging method, a direct flight time ranging device, electronic equipment and a readable storage medium, namely filtering a laser pulse signal to be transmitted according to an ambient light pulse signal of an environment where a target to be measured is positioned to obtain a laser filtering signal; transmitting the laser filtering signal to the target to be detected, and receiving a reflection filtering signal formed by reflecting the laser filtering signal by the target to be detected; and according to the target flight time between the laser filtering signal and the reflection filtering signal, the distance measurement is carried out on the target to be measured.
When the photoelectric detector detects that the target to be detected is in a natural environment, the light pulse signal waiting to be emitted is filtered through the ambient light pulse signal to obtain a filtered laser pulse signal, the filtered laser pulse signal is emitted to the target to be detected, and the filtered laser pulse signal reflected by the target to be detected is received, so that the direct flight time between the emitted filtered laser pulse signal and the reflected filtered laser pulse signal is determined, and then the direct flight time is substituted into a ranging formula, so that the aim of ranging the target to be detected is fulfilled.
The laser pulse signals to be transmitted are obtained by filtering according to the ambient light pulse signals of the environment where the target to be measured is located, namely, the direct flight time is calculated by the laser pulse signals after filtering, so that the flight time corresponding to different photon pulse signals recorded by the histogram can objectively reflect the flight time of the pulse transmitting signals through the target to be measured, and the depth of the target to be measured calculated by the direct flight time between the laser pulse signals after filtering and the reflected laser pulse signals after filtering is taken as the real distance between the target to be measured and the photoelectric detector, thereby realizing the purpose of accurately feeding back the three-dimensional contour of the target to be measured in the topographic map.
Based on the method, the method and the device remove the interference of the ambient light when determining the flight time by filtering the laser pulse signals to be transmitted, can fully ensure the accurate recording of the time interval between the transmitted pulse and the received pulse, namely effectively overcome the technical defect that the flight time difference corresponding to different photon pulse signals which are easy to cause histogram recording is not obvious due to the interference of the ambient light beams in the natural environment, and finally determine the inaccurate flight time, so the ranging accuracy of the DTOF ranging method is improved.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a time-of-flight histogram of a laser pulse signal in an ideal measurement scenario for the direct time-of-flight ranging method of the present application;
FIG. 2 is a time-of-flight histogram of a laser pulse signal in a natural measurement scenario for a direct time-of-flight ranging method of the present application;
FIG. 3 is a flow chart of a first embodiment of a direct time-of-flight ranging method of the present application;
FIG. 4 is a schematic diagram of a direct time-of-flight ranging method of the present application, in which the DTOF technique performs ranging;
FIG. 5 is a schematic diagram of a direct time-of-flight ranging method of the present application, comparing laser pulse signals to be transmitted before and after modulation;
FIG. 6 is a flow chart of a second embodiment of a direct time-of-flight ranging method of the present application;
FIG. 7 is a schematic diagram of an embodiment of a direct time-of-flight ranging apparatus of the present application;
fig. 8 is a schematic device structure diagram of a hardware operating environment related to a direct time-of-flight ranging method in an embodiment of the present application.
The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, the following description of the embodiments accompanied with the accompanying drawings will be given in detail. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
At first, it should be understood that measuring the distance of an object under test by DTOF ranging method generally includes vertical cavity surface emitters, single photon avalanche diodes, and in timeAn inter-digitizer, wherein the vertical cavity surface transmitter transmits pulse waves to the measurement scene, the single photon avalanche diode receives pulse waves reflected from the object to be measured in the measurement scene, the inter-digitizer is capable of recording the time of flight of each received laser pulse signal, i.e. the time interval between transmitting and receiving the laser pulse signal, the DTOF can transmit and receive N laser pulse signals within a single frame measurement time, and then make histogram statistics on the time of flight corresponding to the N laser pulse signals, for example, referring to fig. 1, fig. 1 is a time of flight histogram representing the laser pulse signal in an ideal measurement scene, and the time of flight T with the highest frequency of occurrence will be usually the highest 0 As the time of flight for calculating the depth of the object to be measured, however, even if DTOF has strong capability of resisting ambient light interference, in some natural measurement scenes, due to the ambient light interference, the time of flight difference corresponding to different photon pulse signals recorded in the histogram is not obvious, for example, referring to fig. 2, fig. 2 is a graph showing the time of flight histogram of the laser pulse signals in the natural measurement scene, and if the time of flight T with the highest frequency still occurs 1 As the flight time for calculating the depth of the object to be measured will result in inaccurate distance measurement of the object to be measured, how to avoid the interference of the ambient light in the DTOF process becomes a problem to be solved, that is, a method for improving the ranging accuracy of the DTOF ranging method is needed.
An embodiment of the present application provides a direct time-of-flight ranging method, in a first embodiment of the direct time-of-flight ranging method of the present application, referring to fig. 3, the direct time-of-flight ranging method includes:
step S10, filtering the laser pulse signal to be emitted according to an ambient light pulse signal of the environment where the target to be detected is located, so as to obtain a laser filtering signal;
step S20, emitting the laser filtering signal to the target to be detected, and receiving a reflection filtering signal formed by reflecting the laser filtering signal by the target to be detected;
and step S30, ranging the target to be measured according to the target flight time between the laser filtering signal and the reflection filtering signal.
In this embodiment, it should be noted that, although fig. 3 shows a logic sequence, in some cases, the steps shown or described may be performed in a sequence different from that shown here, the direct time-of-flight ranging method is applied to a direct time-of-flight ranging device, which may be specifically a DTOF ranging module, the object to be measured is an object having reflection characteristics and waiting for ranging, which may be specifically a static object or a dynamic object, etc., the laser pulse signal to be transmitted is a laser pulse signal waiting for transmission, which may be specifically generated by a laser transmitter by modulating a specific light source, the laser transmitter may preset a transmission angle to transmit the laser pulse signal to be transmitted in a DTOF ranging scene, referring to fig. 4, fig. 4 is a schematic diagram showing a scenario of ranging by DTOF technology, where 11 is a laser emitter, 12 is a target to be measured, 13 is a photoelectric sensor, 14 is a time-to-digital converter, the laser emitter 11 emits a laser pulse signal to the target to be measured 12, the target to be measured 12 reflects the laser pulse signal, reflected photons are detected by a photoelectric detection unit on the photoelectric sensor 13, and enter the time-to-digital converter 14 in the form of an electrical signal, the time-to-digital converter 14 starts timing when the laser emitter 11 emits the laser pulse signal, and the recorded arrival time of the photons returning to the photoelectric sensor is flight time, where the flight time of the photons can be saved to a memory unit, and a histogram is generated based on a photon count value of the flight time in the memory unit for peak-finding ranging, so as to obtain the distance of the target to be measured 12.
In addition, it should be noted that, the ambient light pulse signal is used for characterizing a laser pulse signal generated by ambient light, and may be specifically collected by a photoelectric sensor, for example, in an implementation manner, a laser pulse signal received by the photoelectric sensor when the laser emitter is turned off is an ambient light pulse signal, so that a laser signal to be emitted reflected by a target to be detected when the laser emitter is turned on can be recorded by a time-to-digital converter, and an ambient light pulse signal reflected by the target to be detected when the laser emitter is turned off is recorded, so that the ambient light pulse signal to be detected when the laser emitter is turned on is used as an ambient light interference to be received by the target to be detected when the laser emitter is turned on, and then a laser filtering signal capable of accurately reflecting the flight time of the laser pulse signal to be emitted is obtained by filtering the interference signal, so that the laser filtering signal is used for characterizing the laser pulse signal to be emitted after the filtering the ambient light interference.
In addition, it should be noted that when the direct flight time ranging device adds the signal filtering processing logic, the filtering processing may be implemented by using signal parameters of different signals, where the signal parameters may specifically be frequency or photon number, for example, in an implementation manner, if the photon number of the laser pulse signal to be emitted reflected by the target to be detected received by the photoelectric sensor when the laser emitter is turned on is a, and the photon number of the ambient light signal reflected by the target to be detected received by the photoelectric sensor when the photoelectric sensor is turned off is B, the difference between the a and the B is used as the laser pulse signal for eliminating the ambient light interference of the environment where the target to be detected is located, and then histogram statistics is performed based on the laser pulse signal, so that the purpose of accurate ranging can be implemented.
As an example, steps S10 to S30 include: when a laser pulse signal to be emitted, which is modulated by a laser emitter, is detected, a first photon number corresponding to an ambient light pulse signal is obtained, a second photon number of the laser pulse signal to be emitted is obtained, and a laser pulse signal corresponding to a photon number difference value between the first photon number and the second photon number is used as the laser filtering signal; transmitting the laser filtering signal to be transmitted at a preset transmitting angle, and receiving a reflection filtering signal formed by reflecting the laser filtering signal by the target to be detected, wherein the reflection filtering signal is used for representing a reflection laser pulse signal which is not interfered by ambient light; selecting target flight time from the direct flight time between the laser filtering signal and the reflection filtering signal, and ranging the target to be measured according to the target flight time, wherein the target flight time is the flight time with the highest occurrence frequency in the direct flight time between the laser filtering signal and the reflection filtering signal, and the calculation formula for ranging the target to be measured is as follows:
Wherein d is the measurement distance of the target to be measured, c is the speed of light, and Δt is the target flight time. The target flight time is the flight time between the laser pulse signal to be transmitted, which is formed by removing the interference of the ambient light and the laser pulse signal to be transmitted, which is formed by reflecting the laser pulse signal to be transmitted by the target to be measured, so that the target flight time can objectively reflect the flight time of the laser pulse signal to be transmitted, and the aim of accurately measuring the distance of the target to be measured can be achieved according to the target flight time, and the distance measurement accuracy of the DTOF distance measurement method is improved.
The step of filtering the laser pulse signal to be emitted according to the environmental light pulse signal of the environment where the target to be detected is located to obtain a laser filtering signal comprises the following steps:
step A10, detecting whether the light intensity information of the environment where the target to be detected is located meets a preset light intensity condition;
step A20, if yes, filtering the laser pulse signal to be transmitted according to a first environmental signal parameter of the first environmental light pulse signal to obtain a laser filtering signal;
Step A30, if not, determining a second environmental signal parameter of the second environmental light pulse signal by modulating the laser pulse signal to be emitted;
and step A40, filtering the laser pulse signal to be emitted according to the second environmental signal parameter to obtain a laser filtering signal.
In this embodiment, it should be noted that, because the interference degrees of the environmental light in different measurement scenes are different, the measurement accuracy requirement on the target to be measured is also different, for example, in some outdoor measurement scenes, because there is stronger natural light interference, because there is the same environmental light signal as the signal band of the laser pulse signal to be emitted in the natural light, and then high-accuracy measurement is needed, the laser pulse signal emitted by the laser detector can be obtained, at this time, if the environmental light pulse signal when the laser emitter is turned off in the same time period is adopted for filtering, the interference of the environmental light signal emitted by the same-band light source will result in lower reliability of the obtained target flight time, and in some indoor test scenes, because there is no interference of the natural light, and then the environmental light pulse signal when the laser emitter is turned off in the same time period is adopted for filtering, and because the signal is changed in the time domain in the indoor test scene, and then the high-frequency component generated by the environmental light source can be smoothly, the purpose of determining the target flight time can be simply realized, and therefore, the intensity of the environmental light of the test scene to be measured can be obtained by evaluating the intensity of the environmental light of the test scene, and the environmental light pulse signal, and the intensity of the test scene can be used for representing the first light intensity by presetting the light intensity, and the light intensity of the measurement condition.
In addition, it should be noted that, when the environmental light intensity of the environment where the target to be measured is located exceeds the preset light intensity threshold, as the light emitted by the laser emitter generally has a certain rule, for example, referring to fig. 4, fig. 4 is a schematic diagram showing that the laser pulse signal to be emitted is a square wave signal, at this time, the laser pulse signal to be emitted has a characteristic of "on-off", so that the frequency characteristic of the signal can be utilized to modulate the laser pulse signal to be emitted to obtain a laser filtering signal, the laser filtering signal still has the frequency characteristic of the laser filtering signal via the reflection filtering signal after being emitted by the target to be measured, and then the environmental light pulse signal of the environment where the target to be measured is located can be determined according to the modulated laser pulse signal to be emitted, so that the first environmental light pulse signal is used for representing the environmental light pulse signal under the low light intensity measurement scene, and the second environmental light pulse signal is used for representing the environmental light pulse signal under the high light intensity measurement scene.
As an example, steps a10 to a40 include: detecting whether the environmental light intensity of the environment where the target to be detected is located is larger than a preset light intensity threshold value; if the ambient light intensity is greater than the preset light intensity threshold, filtering the laser pulse signal to be emitted according to a first ambient signal parameter of the first ambient light pulse signal to obtain a laser filtering signal; if the ambient light intensity is smaller than or equal to the preset light intensity threshold, modulating the laser pulse signal to be emitted according to the signal frequency characteristic of the laser pulse signal to be emitted, and determining a second ambient signal parameter of the second ambient light signal according to the modulated laser pulse signal to be emitted; and filtering the laser pulse signal to be transmitted according to the second environmental signal parameter to obtain a laser filtering signal.
The step of filtering the laser pulse signal to be emitted according to the first environmental signal parameter of the first environmental light pulse signal to obtain a laser filtering signal includes:
step B10, acquiring the first environmental signal parameter in an initial time interval;
step B20, transmitting the laser pulse signals to be transmitted after the initial time interval, and acquiring corresponding pulse signal parameters;
step B30, determining a first signal filtering parameter according to the pulse signal parameter and the first environment signal parameter;
and step B40, modulating the laser pulse signal to be emitted according to the first signal filtering parameter to obtain the laser filtering signal.
In this embodiment, it should be noted that, because the ambient light pulse signals acquired in different periods when the laser transmitter is turned off are different, and then, in order to improve the statistical accuracy of the target flight time, an initial time interval is set in a certain time period, the laser signal to be transmitted reflected by the target to be transmitted in the initial time interval is recorded by the time-to-digital converter, and the laser pulse signal to be transmitted reflected by the target to be transmitted after the initial time interval is recorded by the time-to-digital converter.
As an example, steps B10 to B40 include: when a laser pulse signal to be emitted, which is modulated by a laser emitter, is detected, an initial time interval is acquired, and a third photon number corresponding to the ambient light pulse signal is acquired in the initial time interval; transmitting the laser pulse signal to be transmitted after the initial time interval, and acquiring a fourth photon number of the reflected pulse signal when detecting that the photoelectric sensor receives a reflected pulse signal formed by the laser pulse signal to be transmitted reflected by the target to be detected, wherein a photon number difference value between the third photon number and the fourth photon number is used as the first signal filtering parameter, and the signal filtering parameter is used for filtering the laser pulse signal to be transmitted and specifically can be a filtering photon number; generating the laser filtered signal with the filtered photon number. Because the ambient light interference in the measurement scene is stable in a certain time period, the ambient light pulse signal of the last time step is used as the ambient light interference signal to which the laser pulse signal to be transmitted is subjected in the next time step, the signal parameters of the laser filtering signal are determined according to the signal parameter difference between the laser pulse signal to be transmitted and the ambient light pulse signal, and the laser filtering signal is generated according to the signal parameters, the purpose of accurately filtering the laser pulse signal to be transmitted can be achieved, and therefore a foundation is laid for improving the ranging accuracy of the DTOF ranging method.
Wherein, before the step of determining a first signal filtering parameter according to the pulse signal parameter and the first ambient signal parameter, the direct time-of-flight ranging method further comprises:
step C10, detecting whether a first parameter difference value between the pulse signal parameter and the first environment signal parameter is larger than a first preset parameter difference value threshold value;
and step C20, if yes, taking the adjusted initial time interval as the initial time interval, and returning to the execution step: acquiring the first environmental signal parameter in an initial time interval;
step C30, if not, taking the first parameter difference value as the first signal filtering parameter, and executing the steps of: and modulating the laser pulse signal to be transmitted according to the first signal filtering parameter to obtain the laser filtering signal.
In this embodiment, it should be noted that, since the initial time interval is preset in the direct flight ranging device, the ambient light interference suffered by the measurement scene is changed instantaneously, that is, the ambient light pulse signal of the previous time step cannot accurately reflect the ambient light interference suffered by the current time step in some special measurement scenes.
As an example, steps C10 to C30 include: detecting whether a photon number difference between the fourth photon number and the third photon number is greater than a first preset photon number difference threshold; if the photon number difference is greater than a first preset photon number difference threshold, the initial time interval is adjusted, the adjusted initial time interval is taken as the initial time interval, and the execution step is returned to: acquiring the first environmental signal parameter in an initial time interval; if the photon number difference is less than or equal to the first preset photon number difference threshold, taking the photon number difference as the filtered photon number, and returning to the execution step: and modulating the laser pulse signal to be transmitted according to the first signal filtering parameter to obtain the laser filtering signal. The difference value between the third photon number and the fourth photon number can objectively reflect whether the environment where the target to be measured is located is suddenly changed in the last time step and the current time step, so that the initial time interval is timely adjusted when the environment where the target to be measured is suddenly changed, and a foundation is laid for accurately determining the flight time of the target.
Before the step of transmitting the laser pulse signal to be transmitted after the initial time interval and acquiring the corresponding pulse signal parameter, the direct time-of-flight ranging method further includes:
Step D10, when a reflected pulse signal formed by reflecting the ambient light pulse signal by the target to be detected is received, a time interval adjustment value of an initial time interval is obtained in a prediction mode according to reflection characteristic information corresponding to the reflected pulse signal;
and step D20, adjusting the initial time interval according to the time interval adjustment value.
In this embodiment, it should be noted that, because the ambient light interference is changed in real time, even in a certain period of time, the ambient light interference of the current time step cannot be completely and accurately reflected by the ambient light interference of the previous time step, and the reflection capability difference of different types of objects to be measured also affects the reflection degree of the ambient light interference of different time steps, so that a neural network prediction model can be set in the direct flight time ranging device, and the time interval adjustment value in the current measurement scene is predicted by using the neural network prediction model, so that the real-time dynamic matching of the measurement scene and the initial time interval is realized, instead of applying the fixed initial time interval to all measurement scenes, the accuracy of the statistical target flight time is affected, or after the laser pulse signal to be transmitted, the initial time interval is adjusted, so that the measurement efficiency is affected.
Additionally, it should be noted that the reflection characteristic information is used for characterizing an influence factor suffered by the laser pulse signal during reflection, and specifically includes target attribute information, environment attribute information and reflection attribute information, where the target attribute information may be specifically roughness information, the environment attribute information may be specifically reflectivity information, and the reflection attribute information may be specifically reflection angle information.
As an example, steps D10 to D20 include: constructing the reflection characteristic vector according to the roughness information, the reflectivity information and the reflection angle information carried by the reflection pulse signal, and mapping the reflection characteristic vector into a time interval adjustment value through a preset time interval adjustment magnitude prediction model; and adjusting the initial time interval according to the time interval adjustment value. The time interval adjustment value fully considers the influence factors of the laser pulse signals when reflected in different measurement scenes, so that the adjustment quantity of the time interval in the current measurement scene can be accurately predicted based on the neural network prediction model, and the purpose of real-time dynamic matching between the measurement scene and the initial time interval can be realized, so that the problem that the accuracy of counting the target flight time is influenced due to the fact that the fixed initial time interval is applied to all measurement scenes is avoided, or the initial time interval is adjusted after the laser pulse signals to be transmitted are transmitted, and the efficiency of measurement is influenced, namely, a foundation is laid for improving the ranging accuracy of a DTOF ranging method.
Wherein the step of determining the second ambient signal parameter of the second ambient light pulse signal by modulating the laser pulse signal to be emitted comprises:
step E10, modulating the laser pulse signal to be emitted according to the signal characteristics of the laser pulse signal to be emitted to obtain an optical pulse modulation signal, wherein the optical pulse modulation signal comprises at least one periodic modulation signal;
and E20, taking the low-frequency modulation signal in each periodic modulation signal as a second environment signal parameter of the second environment light pulse signal.
In this embodiment, it should be noted that, in some measurement scenarios with strong ambient light fluctuation, in order to improve the statistical accuracy of the target flight time, the laser pulse signal to be transmitted may be modulated, so that the transmitted laser pulse signal to be transmitted may directly reflect the ambient light interference in the reflection process, where the signal characteristic may be a characteristic of the signal, for example, refer to fig. 5, and fig. 5 is a schematic diagram showing a comparison between the before-modulation and after-modulation of the laser pulse signal to be transmitted, where when the photodetector receives light after the delay time, the ambient light interference suffered by the signal in each period may be counted according to the high-low frequency characteristic of the signal, so that the ambient light interference suffered in each period is accumulated into the ambient signal parameter of the second ambient light pulse signal, that is, the second ambient signal parameter.
As an example, steps E10 to E20 include: modulating the laser pulse signal to be transmitted according to the signal frequency of the laser pulse signal to be transmitted to obtain an optical pulse modulation signal, wherein the optical pulse modulation signal comprises at least one periodic modulation signal, and the optical pulse is modulated; and taking the fifth photon number of the low-frequency modulation signal in each periodic modulation signal as the sixth photon number of the environment light pulse signal in each signal subcycle.
The step of filtering the laser pulse signal to be emitted according to the second environmental signal parameter to obtain a laser filtered signal includes:
step F10, determining second signal filtering parameters according to the second environment signal parameters and the periodic signal parameters of the periodic modulation signals;
and F20, modulating the laser pulse signal to be emitted according to the second signal filtering parameter to obtain the laser filtering signal.
As an example, steps F10 to F20 include: taking the seventh photon number corresponding to the high-frequency signal in each periodic modulation signal as the periodic signal parameter, calculating a second photon number difference value between the sixth photon number and each seventh photon number in each signal sub-period, and accumulating each second photon number difference value into the second filtering photon number; and taking the second filtered photon number as the laser filtering signal.
The embodiment of the application provides a direct flight time ranging method, namely, filtering a laser pulse signal to be transmitted according to an ambient light pulse signal of an environment where a target to be measured is positioned to obtain a laser filtering signal; transmitting the laser filtering signal to the target to be detected, and receiving a reflection filtering signal formed by reflecting the laser filtering signal by the target to be detected; and according to the target flight time between the laser filtering signal and the reflection filtering signal, the distance measurement is carried out on the target to be measured.
When the photoelectric detector detects that the target to be detected is in a natural environment, the light pulse signal waiting to be emitted is filtered through the ambient light pulse signal to obtain a filtered laser pulse signal, the filtered laser pulse signal is emitted to the target to be detected, and the filtered laser pulse signal reflected by the target to be detected is received, so that the direct flight time between the emitted filtered laser pulse signal and the reflected filtered laser pulse signal is determined, and then the direct flight time is substituted into a ranging formula, so that the aim of ranging the target to be detected is fulfilled.
The laser pulse signals to be transmitted are obtained by filtering according to the ambient light pulse signals of the environment where the target to be measured is located, namely, the direct flight time is calculated by the laser pulse signals after filtering, so that the flight time corresponding to different photon pulse signals recorded by the histogram can objectively reflect the flight time of the pulse transmitting signals through the target to be measured, and the depth of the target to be measured calculated by the direct flight time between the laser pulse signals after filtering and the reflected laser pulse signals after filtering is taken as the real distance between the target to be measured and the photoelectric detector, thereby realizing the purpose of accurately feeding back the three-dimensional contour of the target to be measured in the topographic map.
Based on the method, the method and the device remove the interference of the ambient light when determining the flight time by filtering the laser pulse signals to be transmitted, can fully ensure the accurate recording of the time interval between the transmitted pulse and the received pulse, namely effectively overcome the technical defect that the flight time difference corresponding to different photon pulse signals which are easy to cause histogram recording is not obvious due to the interference of the ambient light beams in the natural environment, and finally determine the inaccurate flight time, so the ranging accuracy of the DTOF ranging method is improved.
Example two
Further, referring to fig. 6, in another embodiment of the present application, the same or similar content as the first embodiment may be referred to in the description above, and will not be repeated herein, where it is to be noted that although a logic sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different sequence from that shown or described herein. On the basis, before the step of modulating the laser pulse signal to be emitted with the second signal filtering parameter to obtain the laser filtering signal, the direct time-of-flight ranging method further comprises:
step G10, acquiring the environmental signal parameters to be detected from the second environmental signal parameters;
Step G20, detecting whether a second parameter difference value between the environmental signal parameter to be detected and the corresponding periodic signal parameter is larger than a second preset parameter difference value threshold value;
and G30, if yes, deleting the second environment signal parameters, and executing the steps: acquiring environmental signal parameters to be detected from the second environmental signal parameters;
step G40, if not, returning to the execution step: and acquiring the environmental signal parameters to be detected from the second environmental signal parameters until the second environmental signal parameters are detected.
In this embodiment, it should be noted that, the to-be-detected environmental signal parameter may be any one of the second environmental signal parameters, specifically, the number of to-be-detected photons may be the number of photons, and since the second photon number differences in different signal sub-periods are different, in order to eliminate interference of signals emitted by external non-laser emitters, the second photon number difference with a larger difference with other second photon number differences may be regarded as an interference value, and further the second photon number difference is removed, so as to ensure accuracy of counting the target flight time, for example, in an implementation manner, assuming that the to-be-emitted laser pulse signal has 4 signal sub-periods, the photon numbers corresponding to each signal sub-period during emission are sequentially 100, 120, 150 and 200, and the photon numbers during emission and reception are sequentially 40, 50, 70 and 50, then the second photon number difference in the fourth signal sub-period is removed, so as to ensure consistency of photon number differences between emitted light and received light.
As an example, steps G10 to G40 include: acquiring the number of photons to be detected from each sixth photon number, wherein the number of photons to be detected is any sixth photon number; detecting whether a second photon number difference value between the sixth photon number and the corresponding seventh photon number is larger than a second preset photon number difference value threshold value; if the second photon number difference value is detected to be larger than the second preset photon number difference value threshold value, deleting the second environment signal parameter, and executing the steps: acquiring the number of photons to be detected from each sixth photon number; if the second photon number difference value is detected to be smaller than or equal to the second preset photon number difference value threshold value, returning to the execution step: and acquiring the photon number to be detected from each sixth photon number until the detection of each sixth photon number is completed.
The embodiment of the application provides an environmental signal parameter detection method, namely, acquiring environmental signal parameters to be detected from second environmental signal parameters; detecting whether a second parameter difference value between the environmental signal parameter to be detected and the corresponding periodic signal parameter is larger than a second preset parameter difference value threshold value; if yes, deleting the second environmental signal parameter, and executing the steps: acquiring environmental signal parameters to be detected from the second environmental signal parameters; if not, returning to the execution step: and acquiring the environmental signal parameters to be detected from the second environmental signal parameters until the second environmental signal parameters are detected. When the signal parameter difference between the high-frequency modulation signal and the low-frequency modulation signal in the signal sub-period of the optical pulse modulation signal is larger, the signal parameter difference in the signal sub-period can be removed, so that the purpose of eliminating the interference of the signal emitted by the external non-laser emitter is realized on the basis of precisely determining the environment optical pulse signal in the emitting process of the optical pulse modulation signal, and a foundation is laid for improving the statistical accuracy of the target flight time.
Example III
The embodiment of the application also provides a direct time-of-flight ranging device, referring to fig. 7, the direct time-of-flight ranging device includes:
the filtering module 101 is configured to filter the laser pulse signal to be emitted according to an ambient light pulse signal of an environment where the target to be detected is located, so as to obtain a laser filtering signal;
the transmission module 102 is configured to transmit the laser filtering signal to the target to be measured, and receive a reflection filtering signal formed by the target to be measured reflecting the laser filtering signal;
and the ranging module 103 is used for ranging the target to be measured according to the target flight time between the laser filtering signal and the reflection filtering signal.
Optionally, the ambient light pulse signal includes a first ambient light pulse signal and a second ambient light pulse signal, and the filtering module 101 is further configured to:
detecting whether the light intensity information of the environment where the target to be detected is located meets a preset light intensity condition;
if yes, filtering the laser pulse signal to be transmitted according to a first environmental signal parameter of the first environmental light pulse signal to obtain a laser filtering signal;
if not, determining a second environmental signal parameter of the second environmental light pulse signal by modulating the laser pulse signal to be emitted;
And filtering the laser pulse signal to be transmitted according to the second environmental signal parameter to obtain a laser filtering signal.
Optionally, the filtering module 101 is further configured to:
acquiring the first environmental signal parameter in an initial time interval;
transmitting the laser pulse signal to be transmitted after the initial time interval, and acquiring corresponding pulse signal parameters;
determining a first signal filtering parameter according to the pulse signal parameter and the first environment signal parameter;
and modulating the laser pulse signal to be transmitted according to the first signal filtering parameter to obtain the laser filtering signal.
Optionally, the direct time-of-flight ranging device is further configured to:
detecting whether a first parameter difference between the pulse signal parameter and the first environmental signal parameter is greater than a first preset parameter difference threshold;
if yes, taking the adjusted initial time interval as the initial time interval, and returning to the execution step: acquiring the first environmental signal parameter in an initial time interval;
if not, taking the first parameter difference value as the first signal filtering parameter, and executing the steps: and modulating the laser pulse signal to be transmitted according to the first signal filtering parameter to obtain the laser filtering signal.
Optionally, the direct time-of-flight ranging device is further configured to:
when a reflected pulse signal formed by reflecting the ambient light pulse signal by the target to be detected is received, a time interval adjustment value of an initial time interval is obtained in a prediction mode according to reflection characteristic information corresponding to the reflected pulse signal;
and adjusting the initial time interval according to the time interval adjustment value.
Optionally, the filtering module 101 is further configured to:
modulating the laser pulse signal to be transmitted according to the signal characteristics of the laser pulse signal to be transmitted to obtain an optical pulse modulation signal, wherein the optical pulse modulation signal comprises at least one periodic modulation signal;
and taking the low-frequency modulation signal in each periodic modulation signal as a second environment signal parameter of the second environment light pulse signal.
Optionally, the filtering module 101 is further configured to:
determining a second signal filtering parameter according to each second environmental signal parameter and each periodic signal parameter of the periodic modulation signal;
and modulating the laser pulse signal to be emitted according to the second signal filtering parameter to obtain the laser filtering signal.
Optionally, the filtering module 101 is further configured to:
Acquiring environmental signal parameters to be detected from the second environmental signal parameters;
detecting whether a second parameter difference value between the environmental signal parameter to be detected and the corresponding periodic signal parameter is larger than a second preset parameter difference value threshold value;
if yes, deleting the second environmental signal parameter, and executing the steps: acquiring environmental signal parameters to be detected from the second environmental signal parameters;
if not, returning to the execution step: and acquiring the environmental signal parameters to be detected from the second environmental signal parameters until the second environmental signal parameters are detected.
The direct flight time ranging device provided by the invention adopts the direct flight time ranging method in the embodiment, and solves the technical problem of low ranging accuracy of the DTOF ranging method. Compared with the prior art, the direct flight time ranging device provided by the embodiment of the invention has the same beneficial effects as the direct flight time ranging method provided by the embodiment, and other technical features in the direct flight time ranging device are the same as the features disclosed by the method of the embodiment, and are not repeated herein.
Example IV
The embodiment of the invention provides electronic equipment, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the direct time-of-flight ranging method of the first embodiment.
Referring now to fig. 8, a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 8 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 8, the electronic device may include a processing apparatus 1001 (e.g., a central processing unit, a graphics processor, etc.), which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1002 or a program loaded from a storage apparatus 1003 into a Random Access Memory (RAM) 1004. In the RAM1004, various programs and data required for the operation of the electronic device are also stored. The processing device 1001, the ROM1002, and the RAM1004 are connected to each other by a bus 1005. An input/output (I/O) interface 1006 is also connected to the bus.
In general, the following systems may be connected to the I/O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, and the like; an output device 1008 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage device 1003 including, for example, a magnetic tape, a hard disk, and the like; and communication means 1009. The communication means may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While electronic devices having various systems are shown in the figures, it should be understood that not all of the illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 1009, or installed from the storage device 1003, or installed from the ROM 1002. The above-described functions defined in the method of the embodiment of the present disclosure are performed when the computer program is executed by the processing device 1001.
The electronic equipment provided by the invention adopts the direct flight time ranging method in the embodiment, and solves the technical problem of low ranging accuracy of the DTOF ranging method. Compared with the prior art, the electronic equipment provided by the embodiment of the invention has the same beneficial effects as the direct flight time ranging method provided by the embodiment, and other technical features in the electronic equipment are the same as the features disclosed by the method of the embodiment, and are not repeated here.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Example five
The present embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon for performing the direct time-of-flight ranging method of the above-described embodiments.
The computer readable storage medium according to the embodiments of the present invention may be, for example, a usb disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The above-described computer-readable storage medium may be contained in an electronic device; or may exist alone without being assembled into an electronic device.
The computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: filtering the laser pulse signal to be emitted according to an ambient light pulse signal of the environment where the target to be detected is located, so as to obtain a laser filtering signal; transmitting the laser filtering signal to the target to be detected, and receiving a reflection filtering signal formed by reflecting the laser filtering signal by the target to be detected; and according to the target flight time between the laser filtering signal and the reflection filtering signal, the distance measurement is carried out on the target to be measured.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented in software or hardware. Wherein the name of the module does not constitute a limitation of the unit itself in some cases.
The computer readable storage medium provided by the invention stores computer readable program instructions for executing the direct time-of-flight ranging method, and solves the technical problem of low ranging accuracy of the DTOF ranging method. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the embodiment of the invention are the same as those of the direct time-of-flight ranging method provided by the above embodiment, and are not described in detail herein.
Example six
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of a direct time-of-flight ranging method as described above.
The computer program product provided by the application solves the technical problem of low ranging accuracy of the DTOF ranging method. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present invention are the same as those of the direct time-of-flight ranging method provided by the above embodiment, and are not described in detail herein.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims.
Claims (10)
1. A direct time-of-flight ranging method, the direct time-of-flight ranging method comprising:
filtering the laser pulse signal to be emitted according to an ambient light pulse signal of the environment where the target to be detected is located, so as to obtain a laser filtering signal;
transmitting the laser filtering signal to the target to be detected, and receiving a reflection filtering signal formed by reflecting the laser filtering signal by the target to be detected;
and according to the target flight time between the laser filtering signal and the reflection filtering signal, the distance measurement is carried out on the target to be measured.
2. The direct time-of-flight ranging method of claim 1, wherein the ambient light pulse signal comprises a first ambient light pulse signal and a second ambient light pulse signal,
the step of filtering the laser pulse signal to be emitted according to the ambient light pulse signal of the environment where the target to be detected is located to obtain a laser filtering signal comprises the following steps:
detecting whether the light intensity information of the environment where the target to be detected is located meets a preset light intensity condition;
if yes, filtering the laser pulse signal to be transmitted according to a first environmental signal parameter of the first environmental light pulse signal to obtain a laser filtering signal;
If not, determining a second environmental signal parameter of the second environmental light pulse signal by modulating the laser pulse signal to be emitted;
and filtering the laser pulse signal to be transmitted according to the second environmental signal parameter to obtain a laser filtering signal.
3. The direct time-of-flight ranging method of claim 2, wherein the step of filtering the laser pulse signal to be transmitted according to a first ambient signal parameter of the first ambient light pulse signal to obtain a laser filtered signal comprises:
acquiring the first environmental signal parameter in an initial time interval;
transmitting the laser pulse signal to be transmitted after the initial time interval, and acquiring corresponding pulse signal parameters;
determining a first signal filtering parameter according to the pulse signal parameter and the first environment signal parameter;
and modulating the laser pulse signal to be transmitted according to the first signal filtering parameter to obtain the laser filtering signal.
4. A direct time-of-flight ranging method as claimed in claim 3, wherein prior to said step of determining a first signal filtering parameter from said pulse signal parameter and said first ambient signal parameter, said direct time-of-flight ranging method further comprises:
Detecting whether a first parameter difference between the pulse signal parameter and the first environmental signal parameter is greater than a first preset parameter difference threshold;
if yes, taking the adjusted initial time interval as the initial time interval, and returning to the execution step: acquiring the first environmental signal parameter in an initial time interval;
if not, taking the first parameter difference value as the first signal filtering parameter, and executing the steps: and modulating the laser pulse signal to be transmitted according to the first signal filtering parameter to obtain the laser filtering signal.
5. The direct time-of-flight ranging method of claim 2, wherein prior to the step of transmitting the laser pulse signal to be transmitted after the initial time interval and obtaining corresponding pulse signal parameters, the direct time-of-flight ranging method further comprises:
when a reflected pulse signal formed by reflecting the ambient light pulse signal by the target to be detected is received, a time interval adjustment value of an initial time interval is obtained in a prediction mode according to reflection characteristic information corresponding to the reflected pulse signal;
and adjusting the initial time interval according to the time interval adjustment value.
6. The direct time-of-flight ranging method of claim 2, wherein the step of determining a second ambient signal parameter of the second ambient light pulse signal by modulating the laser pulse signal to be transmitted comprises:
modulating the laser pulse signal to be transmitted according to the signal characteristics of the laser pulse signal to be transmitted to obtain an optical pulse modulation signal, wherein the optical pulse modulation signal comprises at least one periodic modulation signal;
and taking the low-frequency modulation signal in each periodic modulation signal as a second environment signal parameter of the second environment light pulse signal.
7. The direct time-of-flight ranging method of claim 6, wherein the step of filtering the laser pulse signal to be transmitted according to the second environmental signal parameter to obtain a laser filtered signal comprises:
determining a second signal filtering parameter according to each second environmental signal parameter and each periodic signal parameter of the periodic modulation signal;
and modulating the laser pulse signal to be emitted according to the second signal filtering parameter to obtain the laser filtering signal.
8. The direct time-of-flight ranging method of claim 7, wherein prior to the step of modulating the laser pulse signal to be transmitted with the second signal filtering parameter to obtain the laser filtered signal, the direct time-of-flight ranging method further comprises:
Acquiring environmental signal parameters to be detected from the second environmental signal parameters;
detecting whether a second parameter difference value between the environmental signal parameter to be detected and the corresponding periodic signal parameter is larger than a second preset parameter difference value threshold value;
if yes, deleting the second environmental signal parameter, and executing the steps: acquiring environmental signal parameters to be detected from the second environmental signal parameters;
if not, returning to the execution step: and acquiring the environmental signal parameters to be detected from the second environmental signal parameters until the second environmental signal parameters are detected.
9. An electronic device, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the direct time-of-flight ranging method of any of claims 1-8.
10. A computer readable storage medium, characterized in that it has stored thereon a program implementing a direct time-of-flight ranging method, said program implementing the direct time-of-flight ranging method being executed by a processor to implement the steps of the direct time-of-flight ranging method according to any of claims 1 to 8.
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| CN118191860A (en) * | 2024-05-16 | 2024-06-14 | 天津宜科自动化股份有限公司 | Multi-period measurement method based on pulse, electronic equipment and storage medium |
| CN118191860B (en) * | 2024-05-16 | 2024-08-02 | 天津宜科自动化股份有限公司 | Multi-period measurement method based on pulse, electronic equipment and storage medium |
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