CN102072718A - Distance measuring device using imaging position difference for distance measurement and correction method thereof - Google Patents

Abstract

The invention relates to a distance measuring device for measuring distance by utilizing imaging position difference, which is used for measuring a distance to be measured between an object to be measured and the distance measuring device. The distance measuring device removes a part corresponding to background light and scintillation light by a light sensing signal generated by an image sensor in the distance measuring device, so as to reduce the influence of the background light and the scintillation light. The invention also relates to a method for calibrating the distance measuring device by utilizing the imaging position difference, wherein the distance measuring device can calculate a calibration parameter capable of calibrating an assembly error angle of the distance measuring device according to an imaging position of reflected light obtained by measuring a calibration object with a known distance. Therefore, the distance measuring device can correctly calculate the distance to be measured according to the correction parameter.

Description

Distance measuring device and correction method for distance measurement using imaging position difference

technical field

The present invention relates to a distance measuring device, more specifically, relates to a distance measuring device which utilizes differences in imaging positions for distance measurement.

Background technique

In the known technology, the distance measuring device emits detection light from the object to be detected, and receives reflected light generated by reflecting the detection light from the object to be detected. The distance-measuring device can estimate the distance between the distance-measuring device and the object to be measured by the difference of the imaging position of the reflected light. However, when the distance measuring device senses the reflected light generated by the object to be measured, it will be affected by the background light and the flicker phenomenon (such as the flickering of the fluorescent lamp caused by the frequency of the power system) at the same time, resulting in measurement errors and obtaining different results. The correct distance to be measured. In addition, during the production process, when the distance measuring device is assembled, the position of the components inside the distance measuring device will be offset or rotated due to assembly errors, so the distance measuring device will be subject to assembly when measuring the distance. Due to the influence of the error, the incorrect distance to be measured is obtained, causing inconvenience to the user.

Contents of the invention

The invention provides a distance measuring device which utilizes differences in imaging positions to measure distance. The distance measuring device has a light-emitting component, a first lens and an image sensor. The light-emitting component is used to emit a detection light to an object under test, so that the object under test generates a reflected light. The first lens is used to gather a background light or the reflected light. The image sensor is used for sensing the energy of the light collected by the first lens to generate M light sensing signals. The distance measuring device further includes a lighting/sensing control circuit and a distance calculation circuit. The light emitting/sensing control circuit is used in a distance sensing stage to control the light emitting component to emit light, and at the same time control the image sensor to sense the energy of the light collected by the first lens to generate M first light sensors In a noise sensing stage, the light-emitting component is controlled not to emit light, and at the same time, the image sensor is controlled to sense the energy of the light collected by the first lens, so as to generate M second light-sensing signals. M represents a positive integer. The distance calculation circuit is used to determine an imaging position of the reflected light on the image sensor according to the M first light sensing signals and the M second light sensing signals, and according to the imaging position, the A focal length of the first lens and a first known distance between the light-emitting component and the image sensor are used to calculate a distance to be measured between the distance measuring device and the object to be measured.

The present invention further provides a ranging device for measuring distance by utilizing the difference of imaging positions. The distance measuring device has a light emitting component, a first lens and an image sensor. The light-emitting component is used to emit a detection light to an object under test, so that the object under test generates a reflected light. The first lens is used to gather a background light or the reflected light. The image sensor has M sensing units. The M sensing units are used to sense the energy of the light collected by the first lens to generate M light sensing signals. The feature of the distance measuring device is that it includes a lighting/sensing control circuit and a distance calculation circuit. When the light emitting/sensing control circuit is used in a distance sensing stage, it controls the light emitting component to emit light, and at the same time controls the image sensor to sense the energy of the light collected by the first lens, so as to generate M first light sensing The signal controls the light-emitting component not to emit light in a noise sensing phase, and at the same time controls the image sensor to sense the energy of the light collected by the first lens, so as to generate M second light-sensing signals. M represents a positive integer. The distance calculation circuit is used to determine an imaging position of the reflected light on the image sensor according to the M first light sensing signals and the M second light sensing signals, and according to the imaging position, the first light sensing signal A focal length of a lens and a first known distance between the light-emitting component and the image sensor are used to calculate a distance to be measured between the distance measuring device and the object to be measured. The distance calculation circuit includes a plurality of storage units. The plurality of storage units are respectively used to store the M first photo-sensing signals and the M second photo-sensing signals. The light-emitting/sensing control circuit generates a light-emitting pulse signal to control the light-emitting component to emit the detection light to the object under test, so that the object under test can generate the reflected light accordingly. The light emitting/sensing control circuit generates a shutter pulse signal to control the M sensing units of the image sensor to respectively sense the energy of the light collected by the first lens according to the shutter pulse signal, so as to The M light sensing signals are generated. The light emitting/sensing control circuit generates a reading signal, so that the M sensing units of the image sensor output the M light sensing signals to the distance calculation circuit. The light emitting/sensing control circuit controls the distance calculation circuit to receive the M first light sensing signals and the M second light sensing signals by generating a stage signal to determine whether the reflected light is on the image sensor The imaging position, and according to the imaging position, the focal length of the first lens, and the first known distance between the light-emitting component and the image sensor, to calculate the distance between the distance measuring device and the object under test The distance to be measured. When the phase signal represents a sum, the distance calculation circuit marks the received M first light sensing signals as M positive light sensing signals. When the phase signal represents noise, the distance calculation circuit marks the received M second light-sensing signals as M negative light-sensing signals. When the stage signal indicates the calculated distance, the distance calculation circuit subtracts the positive light sensing signal and the negative light sensing signal stored in the plurality of storage units, and selects the storage unit with the largest stored value after the subtraction, to determine the imaging position of the reflected light on the image sensor, and according to the imaging position, the focal length of the first lens, and the first known distance between the light-emitting component and the image sensor, to calculate The distance to be measured between the distance measuring device and the object to be measured.

The present invention further provides a calibration method for calibrating a distance-measuring device using imaging position differences for distance-measuring. A light-emitting component of the distance measuring device emits a detection light to an object to be measured, and reflects back to an image sensor of the distance measuring device to obtain a first imaging position, and the distance measuring device can use the first imaging position , a focal length of a first lens of the distance-measuring device, and a first known distance between the light-emitting component and the image sensor, so as to calculate a distance to be measured between the distance-measuring device and the object to be measured. The calibration method includes that the light-emitting component of the distance measuring device emits the detection light to a calibration object, and reflects back to the image sensor of the distance measuring device to obtain a second imaging position, according to a known distance, the The second imaging position is used to calculate a correction parameter for correcting an assembly error angle of the distance measuring device, and the distance measuring device calculates the corrected distance to be measured according to the correction parameter. The distance between the ranging device and the calibration object is the known distance.

Description of drawings

FIG. 1 and FIG. 2 are schematic diagrams illustrating the structure and working principle of a distance measuring device utilizing differences in imaging positions to measure distance according to the present invention.

FIG. 3 is a schematic diagram illustrating the working principle of the distance measuring device for reducing the flicker phenomenon.

FIG. 4 is a schematic diagram illustrating a method for correcting a light-emitting error angle of detection light emitted by a light-emitting component.

FIG. 5 and FIG. 6 are schematic diagrams illustrating a method for correcting the rotation sensing error angle of the image sensor due to assembly errors.

FIG. 7 is a schematic diagram illustrating a first embodiment of the structure of the image sensor of the present invention.

FIG. 8 is a schematic diagram illustrating the working principle of using the image sensor in FIG. 7 to detect the imaging position of reflected light.

FIG. 9 is a schematic diagram illustrating another embodiment of the structure of the image sensor of the present invention.

FIG. 10 is a schematic diagram illustrating the working principle of detecting the imaging position of reflected light by using the image sensor of FIG. 9 .

FIG. 11 is a schematic diagram illustrating another embodiment of the structure of the image sensor of the present invention.

Wherein, the reference signs are explained as follows:

100 Distance measuring device

110 Light/sensing control circuit

120 Light-emitting components

130, 700, 900, 1100 image sensor

140 Distance calculation circuit

150 Parameter Calculation Circuit

B ₁ ～B _M Sensing the energy of background light

CS ₁ ～CS _M , CS ₁₁ ～CS _NK , sensing unit

CS _NQ

LEN ₁ , LEN ₂ lenses

CO ₁ , CO ₂ calibrator

Known distance of L, D _C1 , D _C2

D _CS , D _CSI , D _CSJ imaging positions

D _CSX projection distance

D _F focal length

D _M distance to be measured

L _B background light

L _ID detection light

L _F straight line

L _RD reflected light

MO Object to be tested

O _F focus

P ₁ , P ₂ power

R _K senses the energy of reflected light

S _AB parameter signal

S _ALS , S _ALS1 ~ S _ALS2N accumulative light sensing signal

S _LD light pulse signal

S _LS light sensing signal

S _P phase signal

S _RE read signal

S _ST shutter pulse signal

T ₁₊ , T ₂₊ distance sensing stage

T _1- , T _2- noise sensing stage

T _C , T _R pulse width

T _F AC cycle

θ ₁ , θ ₂ , θ _1I , θ _2I , angle

θ _1J , θ _2J

θ _LD luminous error angle

θ _CS1 , θ _CS2 sensing error angle

Detailed ways

The present invention provides a distance-measuring device that utilizes differences in imaging positions to measure distances. The background light is reduced by removing the background light and flickering light from the light sensing signal sensed by the image sensor in the distance-measuring device. Effect with flicker phenomenon. In addition, the present invention further provides a calibration method for correcting the assembly error of the distance measuring device, so as to improve the accuracy of distance measurement.

Please refer to Figure 1 and Figure 2. FIG. 1 and FIG. 2 are schematic diagrams illustrating the structure and working principle of a distance measuring device 100 for distance measurement using differences in imaging positions according to the present invention. The distance measuring device 110 is used to measure the distance D _M between the object MO and the distance measuring device 100 . The ranging device 100 includes a lighting/sensing control circuit 110 , a lighting component 120 , an image sensor 130 , a distance calculation circuit 140 , a parameter calculation circuit 150 , and a lens LEN ₁ . The coupling relationship of the internal components of the distance measuring device 100 is shown in FIG. 1 , so details are not repeated here.

The lighting/sensing control circuit 110 is used to generate a lighting pulse signal S _LD , a shutter pulse signal S _ST , a phase signal S _P , a reading signal S _RE , and a known distance signal S _D . The distance measuring device 100 can be divided into two stages during distance measurement: 1. Distance sensing stage; 2. Noise sensing stage. When the distance measuring device 100 is in the distance sensing stage, the lighting/sensing control circuit 110 simultaneously generates the lighting pulse signal S _LD representing “lighting” and the shutter pulse signal S _ST representing “opening”, and the pulse widths of both are the same. is T _C ; then the light emitting/sensing control circuit 110 simultaneously generates a read signal S _RE representing “read” and a phase signal S _P representing “sum”, and both pulse widths are T _R . When the distance measuring device 100 is in the noise sensing stage, the light emitting/sensing control circuit 110 generates a shutter pulse signal S _ST indicating "on" and at the same time the light emitting pulse signal S _LD represents "no light", and the pulse width of the shutter pulse signal is T _C ; then the light emitting/sensing control circuit 110 simultaneously generates the read signal S _RE representing “reading” and the phase signal S _P representing “noise”, and the pulse widths of both are T _R .

The light-emitting component 120 is used for emitting detection light L _ID to the object under test MO according to the light-emitting pulse signal S _LD , so that the object under test MO generates reflected light L _RD . More specifically, when the light-emitting pulse signal S _LD indicates "light", the light-emitting component 120 emits detection light L _ID to the object MO; when the light-emitting pulse signal S _LD indicates "no light", the light-emitting component 120 A detection light L _ID is emitted. In addition, the light-emitting component 120 can be a light-emitting diode (Light-Emitting Diode, LED) or a laser diode (laser diode). When the light-emitting element 120 is a light-emitting diode, the distance measuring device 100 may optionally include a lens LEN ₂ for converging the detection light L _ID to irradiate the object under test MO.

The lens LEN ₁ is used to gather the background light _LB or the reflected light L _RD to the image sensor 130 . The image sensor 130 includes M side-by-side sensing units CS ₁ -CS _M , and the width of each sensing unit is equal to the pixel width W _PIX , which means the total width of the M side-by-side sensing units CS ₁ -CS _M is M×W _PIX . The sensing units CS ₁ -CS _M are used for sensing the energy of the light gathered by the lens LEN ₁ according to the shutter pulse signal S _ST . More specifically, when the shutter pulse signal S _ST indicates "on", the sensing units CS ₁ -CS _M sense the energy of the light gathered by the lens LEN ₁ (such as the background light _LB or the reflected light L _RD ) according to the energy. to generate light sensing signals; when the shutter pulse signal S _ST indicates “closed”, the sensing units CS ₁ -CS _M do not sense the energy of the light collected by the lens LEN ₁ . For example, when the shutter pulse signal S _ST indicates "on", the sensing unit CS ₁ senses the energy of light collected by the lens LEN ₁ and generates a light sensing signal S _LS1 accordingly; the sensing unit CS ₂ senses The energy of the light collected by the lens LEN ₁ is used to generate a light sensing signal S _LS2 ; and so on, the sensing unit CS _M senses the energy of the light collected by the lens LEN ₁ to generate a light sensing signal S _LSM . In addition, when the reading signal S _RE indicates “reading”, the sensing units CS ₁ ˜CS _M respectively output light sensing signals S _LS1 ˜S _LSM .

The distance calculation circuit 140 includes a plurality of storage units, which are respectively used to store the light sensing signals S _LS1 ˜S _LSM outputted by the sensing units CS ₁ ˜CS _M , and set the received light sensing signals according to the stage signal _SP . properties of the signal. In this embodiment, the distance calculation circuit 140 includes M storage units M ₁ -M _M as an example for illustration. When the phase signal S _P indicates “sum”, the storage units M ₁ ˜M _M set the received light sensing signals S _LS1 ˜S _LSM as positive, which means that the received light sensing signals S _LS1 ˜S _LSM According to the phase signal S _P representing "sum", it is marked as positive light sensing signals S _LS1+ ~ S _LSM+ ; when the phase signal S _P represents "noise", the storage units M ₁ ~ M _M store the received light sensing signals S _LS1 ˜S _LSM is set to be negative, which means that the received light sensing signals S _LS1 ˜S _LSM are marked as negative light sensing signals S _LS1− ˜S _LSM- according to the phase signal _SP representing “noise”. The distance calculation circuit 140 can calculate the distance to be measured D _M according to the positive light sensing signals S _LS1+ ˜S _LSM+ and the negative light sensing signals S _LS1− ˜S _LSM- . The working principle of calculating the distance to be measured _DM by the distance calculation circuit 140 will be described below.

As shown in the left half of FIG. 2 , during the distance sensing phase, the lighting/sensing control circuit 110 will generate a lighting pulse signal S _LD representing “lighting”, so that the lighting component 120 emits a detection light L _ID to be emitted to the waiting area. The analyte MO, so that the analyte MO generates reflected light L _RD . At this time, the light emitting/sensing control circuit 110 generates a shutter pulse signal S _ST representing “on”, so that the sensing units CS ₁ -CS _M sense the energy of the reflected light L _RD and the background light _LB to generate light respectively. Sensing signals S _LS1 ˜S _LSM . Then the light emitting/sensing control circuit 110 will output the read signal S _RE representing "reading", so that the image sensor 130 outputs light sensing signals S _LS1 ˜S _LSM to the distance calculation circuit 140, and the light emitting/sensing control circuit 110 will generate a stage signal S _P representing "sum" to indicate that the light sensing signal received by the distance calculation circuit 140 at this time is the light sensing signal in the distance sensing stage, which means positive light sensing signal S _LS1+ ˜S _LSM+ . Assuming that in the distance sensing stage, the reflected light L _RD is mainly focused and imaged on the sensing unit CS _K , then the values of the positive light sensing signals S _LS1+ -S _LSM+ received by the distance calculation circuit 140 are shown in the upper right half of FIG. 2 As shown, the sensing unit CS _K simultaneously senses the background light _LB and the reflected light L _RD (that is, the object MO is imaged on the sensing unit CS _K ). Therefore, the sensing signal S _LSK+ is equal to the energy B _K accumulated by the sensing unit CS _K sensing the background light L _B plus the energy R _K accumulated by the sensing unit CS _K sensing the reflected light L _RD , while the other sensing units Then only the background light L _B is received. Therefore, the sensing signal S _LS1+ is equal to the energy B ₁ accumulated by the sensing unit CS ₁ sensing the background light _LB ; the sensing signal S _LS21+ is equal to the energy B ₂ accumulated by the sensing unit CS ₂ sensing the background light _LB ; By analogy, the sensing signal S _LSM+ is equal to the energy B _M accumulated by the sensing unit CS _M sensing the ambient light L _B .

As shown in the left half of FIG. 2 , during the noise sensing phase, the light emitting/sensing control circuit 110 will generate a shutter pulse signal S _ST representing “on”, so that the sensing units CS ₁ -CS _M sense the lens LEN ₁ to generate light sensing signals S _LS1 ˜S _LSM . However, at this time, the light emitting/sensing control circuit 110 will generate a light emitting pulse signal S _LD representing "no light", so the light emitting element 120 will not emit the detection light L _ID to the object MO, and the object MO will also emit light. Reflected light L _RD is not generated. Then the light emitting/sensing control circuit 110 will output the read signal S _RE representing "reading", so that the image sensor 130 outputs light sensing signals S _LS1 ˜S _LSM to the distance calculation circuit 140, and the light emitting/sensing control circuit 110 will generate a phase signal _SP representing "noise" to indicate that the light sensing signal received by the distance calculation circuit 140 at this time is the light sensing signal in the noise sensing phase, which means the negative light sensing signal S _LS1- ~S _LSM- . At this time, the values of the light sensing signals S _LS1 -˜S _LSM- received by the distance calculation circuit 140 are shown in the lower right half of FIG. 2 . Since the pulse width of the shutter pulse signal S _ST in the distance sensing phase and the noise sensing phase are the same (both are time lengths T _C ). Therefore, the light sensing signals S _LS1 ˜S _LSM generated by the sensing units CS ₁ ˜CS _M in the distance sensing phase and the noise sensing phase correspond to the accumulated portion of the background light _LB to be equal. In other words, the accumulated energy of the background light in the positive light sensing signals S _LS1+ ˜S _LSM+ is equal to the accumulated energy (B _{1 ˜BM} ) of the background light in the negative light sensing signals S _LS1− ˜S _LSM- .

After the distance sensing phase and the noise sensing phase, the lighting/sensing control circuit 110 will generate a phase signal S _P representing "calculated distance". At this time, the distance calculation circuit 140 will subtract the positive light sensing signal and the negative light sensing signal in the storage unit, and select the storage unit with the largest stored value after the subtraction, and judge the reflected light L _RD on the image sensor accordingly. 130 on the imaging position. That is to say, the values stored in the storage units M ₁ ˜M _M of the distance calculation circuit 140 are respectively equal to the values of the positive light sensing signals S _LS1+ ˜S _LSM+ minus the values of the negative light sensing signals S _LS1− ˜S _LSM- . More specifically, the storage unit M ₁ stores the positive light-sensing signal S _LS1+ and the negative light-sensing signal S _LS1- , since the positive light-sensing signal S _LS1+ is equal to B ₁ and the negative light-sensing signal S _LS1- is equal to B ₁ , therefore The stored value of the storage unit M ₁ is zero after subtraction; the storage unit M ₂ stores the positive light sensing signal S _LS2+ and the negative light sensing signal S _LS2- , since the positive light sensing signal S _LS2+ is equal to B ₂ and the negative light sensing signal The detection signal S _LS2- is equal to B ₂ , so the value stored in the storage unit M ₂ is zero after subtraction; and so on, the storage unit M _K stores the positive light sensing signal S _LSK+ and the negative light sensing signal S _LSK- , Since the positive light-sensing signal S _LS2+ is equal to (B _K +R _K ) and the negative light-sensing signal S _LS2- is equal to B _K , the value stored in the storage unit M _K after fragrance subtraction is R _K ; the storage unit M _M stores The positive light-sensing signal S _LSM+ and the negative light-sensing signal S _LSM- , since the positive light-sensing signal S _LSM+ is equal to _BM and the negative light-sensing signal S _LSM- is equal to _BM , the stored value of the storage unit M _M is subtracted The value is zero. In other words, among the storage units M ₁ ˜M _M , the value of the storage unit M _K is equal to R _K , while the values of other storage units are all equal to zero, so the distance calculation circuit 140 can select the storage unit M _K accordingly, that is The light sensing signal stored in the storage unit M _K has energy corresponding to the reflected light L _RD . Since the storage unit M _K stores the light sensing signal generated by the sensing unit CS _K , the distance calculation circuit 140 can determine that the reflected light L _RD generated by the object MO is mainly focused and imaged on the sensing unit C _SK . In this way, the distance _calculation circuit 140 can further calculate the imaging _position D _CS of the reflected light L _RD in FIG. :

D _CS = K×W _PIX . . . (1);

In addition, since the straight line _LF formed between the focal point _OF1 of the lens LEN ₁ and the sensing unit CS ₁ in FIG. 1 is parallel to the detection light L _ID , the included angle between the detection light L _ID and the reflected light L _RD θ ₁ is equal to the angle θ ₂ between the straight line _LF and the reflected light L _RD . In other words, the relationship between tanθ ₁ and tanθ ₂ can be expressed as follows:

tanθ ₁ = L/D _M = tanθ ₂ = D _CS /D _F ... (2);

Wherein L represents the known distance between the light-emitting element 120 and the image sensor 130 (the detection light L _ID and the straight line _LF ), _DCS represents the imaging position of the reflected light L _RD , and _DF represents the focal length of the lens LEN ₁ . According to formula (2), the distance to be measured D _M can be expressed by the following formula:

D _M = (D _F × L)/D _CS ... (3);

Therefore, the distance calculation circuit 140 can first calculate the imaging position D _CS by the formula (1), and then calculate the distance to be measured D _M according to the known distance L and the focal length _DF by the formula (3).

To sum up, in the distance measuring device 100, during the distance sensing stage, the light emitting/sensing control circuit 110 controls the light emitting component 120 to emit the detection light L _ID to the object under test MO, and the sensing unit CS ₁ ˜CS _M senses the light collected by the lens LEN ₁ (such as the reflected light L _RD and the background light _LB ) to generate positive light sensing signals S _LS1+ ˜S _LSM+ and store them in the storage units M ₁ ˜M _M . During the noise sensing phase, the light emitting/sensing control circuit 110 controls the light emitting component ₁₂₀ not to emit the detection light L _ID , and senses the light collected by the lens _{LEN 1} (such as the background light L _B ) The negative light sensing signals S _LS1+ ˜S _LSM+ generated accordingly are stored in the storage units M ₁ ˜M _M . At this time, the values of the storage units M _{1 -MM} are equal to the positive light sensing signals S _LS1+ -S _LSM+ minus the negative light sensing signals S _LS1- -S _LSM- . Therefore, the value of the storage unit M _K corresponding to the sensing unit CS _K where the reflected light L _RD converges is greater than the values of other storage units. In this way, the distance calculation circuit 140 can determine the sensing unit CS _K where the reflected light L _RD converges, and calculate the imaging position D _CS of the reflected light L _RD accordingly. Therefore, the distance calculation circuit 140 can calculate the distance to be measured DM according to the imaging position D _CS , the focal length _DF of the lens LEN ₁ , and the known distance _L.

In addition, in the distance measuring device 100, the distance sensing stage and the noise sensing stage can be repeated multiple times (for example, Y times), so that the storage units M ₁ -M _M can store the positive light corresponding to the Y distance sensing stages sensing signal, and a negative light sensing signal corresponding to Y noise sensing stages. Since the positive light sensing signal in each distance sensing stage corresponds to the energy of the background light, it will be offset by the negative light sensing signal in the corresponding noise sensing _stage . The value of the storage unit M _K of the sensing unit CS _K is equal to (Y× _RK ), and the values of other storage units are all equal to zero. In this way, even if the energy R _K accumulated by the sensing unit CS _K is small due to the weak energy of the reflected light L _RD , the distance measuring device 100 can still perform multiple distance sensing stages and noise Sensing stage (that is to say, increase Y) to amplify the difference between the value of the storage unit M _K and other storage units, so that the distance calculation circuit 140 can correctly find the storage unit M _K with the maximum value , and calculate the imaging position D _CS of the reflected light L _RD according to it, so as to improve the accuracy.

Please refer to Figure 3. FIG. 3 is a schematic diagram illustrating the working principle of the ranging device 100 for reducing the flicker phenomenon. Since the power received by the general indoor light source is alternating current, in addition to the background light _LB , another part of the background light (flashing light) _LF will flicker under the influence of the frequency of the alternating current. For example, the indoor fluorescent lamp is powered by alternating current, so the light emitted by the fluorescent lamp will flicker due to the frequency of the alternating current. In FIG. 3 , it is assumed that the cycle of the alternating current is T _F (for example, the frequency of the alternating current is 60 Hz, and the cycle of the alternating current is 0.0167 seconds). The power P of the alternating current will constantly change with time, so the power of the flashing light _LF will also change with time. However, the power P of the alternating current is cycled every half alternating current cycle (T _F /2). For example, when the time is T, the power P of the alternating current is equal to _PT ; then when the time is (T+T _F /2), the power P of the alternating current is still equal to _PT . Moreover, the power of the flashing light _LF is proportional to the power P of the alternating current, so the power of the flashing light _LF is similar to the power of the alternating current, and will cycle once every half alternating current cycle (T _F /2). In this way, in the ranging device 100, the lighting/sensing control circuit 110 can control the distance sensing phase (T ₁₊ and T ₂₊ shown in FIG. 3 ) and the noise sensing phase (as shown in FIG. 3 The time interval between T _1- and T _2- ) shown is equal to half the AC cycle (T _F /2) to reduce the impact of the flicker phenomenon. More specifically, the light emitting/sensing control circuit 110 controls the sensing units CS ₁ -CS _M to sense the power P ₁ (or P ₂ ) corresponding to the alternating current in the distance sensing phase T ₁₊ (or T ₂₊ ). The flickering light L _F of the flickering light LF, so that the portion of the positive light sensing signal generated by the sensing units CS ₁ -CS _M corresponding to the flickering light L _F is equal to F ₁₁ -F _M1 (or F ₁₂ -F _M2 ). And the lighting/sensing control circuit 110 controls the time interval between the distance sensing phase T ₁₊ (or T ₂₊ ) and the noise sensing phase T ₁₋ (or T ₂₋ ) to be equal to the half AC cycle T _F /2 (eg, 0.0083 Second). Therefore, the power of the flicker light _LF sensed by the sensing units CS ₁ -CS _M in the noise sensing phase T _1- (or T _2- ) is the same as that of the sensing units CS ₁ -CS _M in the distance sensing phase T ₁ The power of the sensed flicker light _LF in ₊ (or T ₂₊ ) is the same. In this way, in the noise sensing phase T ₁₋ (or T ₂₋ ), the portion of the negative light sensing signal generated by the sensing units CS ₁ ˜CS _M corresponding to the flashing light _LF is also equal to F ₁₁ ˜F _M1 ( or F ₁₂ ~F _M2 ). Therefore, the portion of the positive light sensing signal corresponding to the flicker light _LF in the distance sensing stage T ₁₊ (or T ₂₊ ) will be sensed by the corresponding negative light sensing signal in the noise sensing stage T _1- (or T _2- ). offset by the measured signal. In other words, except the value of the storage unit M _K corresponding to the sensing unit CS _K formed by the reflected light L _RD is equal to R _K , the values of other storage units are all equal to zero. Therefore, even though the sensing units CS ₁ -CS _M will sense the flickering light _LF , the lighting/sensing control circuit 110 can still control the distance sensing phase T ₁₊ or T ₂₊ respectively with the noise sensing phase T ₁ The time interval of _- or T _{2 -} is equal to half the AC cycle (T _F /2), so as to reduce the influence of the flicker phenomenon, so that the distance calculation circuit 140 can correctly judge the imaging position D _CS of the reflected light L _RD and calculate the waiting time Measure the distance D _M .

During the production process, when the distance measuring device 100 is assembled, the positions of components inside the distance measuring device 100 will be offset due to assembly errors, so the distance measuring device 100 will be affected by the assembly errors when measuring the distance. Therefore, the parameter calculation circuit 150 included in the distance measuring device 100 is used to correct the assembly error of the distance measuring device 100 . The working principle of the parameter calculation circuit 150 will be described below.

The parameter calculation circuit 150 receives the distance signal S _D output by the lighting/sensing control circuit 110 to obtain the known distance D _C1 and the known distance D _C2 . The known distance D _C1 is the distance between the calibration object CO ₁ and the distance measuring device 100 , and the known distance D _C2 is the distance between the calibration object CO ₂ and the distance measuring device 100 . By means of the method described in FIG. 2, the light-emitting component 120 emits the detection light L _ID to irradiate the calibration object _CO1 or _CO2 , so that the parameter calculation circuit 150 can obtain the The imaging position of the reflected light L _RD is used to correct the assembly error angle of the distance measuring device 100 .

Firstly, it is assumed that the detection light L _ID emitted by the light emitting component 120 is rotated by the light emitting error angle θ _LD due to an assembly error of the light emitting component 120 .

Please refer to Figure 4. FIG. 4 is a schematic diagram illustrating a method for correcting the light emission error angle θ _LD of the detection light L _ID emitted by the light emitting component 120 . The light emitting/sensing control circuit 110 controls the light emitting component 120 to emit the detection light L _ID toward the calibration object CO ₁ . The distance between the calibration object CO ₁ and the distance measuring device 100 is a known distance D _C1 . Since the detection light L _RD is affected by the assembly error of the light emitting element 120, the detection light L _ID will enter the calibration object CO ₁ at a light emission error angle θ _LD , and the calibration object CO ₁ reflects the detection light L _ID . The reflected light L _RD is converged and imaged on the sensing unit CS _I . The included angle between the detection light L _ID and the reflected light L _RD is θ _1I , and the included angle between the straight line _LF and the reflected light L _RD is θ _2I . As shown in FIG. 4 , since the straight line _LF is parallel to the normal of the plane of the calibration object, (θ _1I −θ _LD ) will be equal to θ _2I . That is, tan(θ _1I -θ _LD ) is equal to tanθ _2I . Therefore the following formula can be obtained:

D _C1 =1/[1/(D _F ×L)×D _CSI +B]...(4);

B＝ _tanθLD /L...(5);

Where B represents a correction parameter used to correct the luminous error angle θ _LD , and D _CSI represents the imaging position of the reflected light L _RD . Therefore, the parameter calculation circuit 150 can calculate the correction parameter B according to formula (4). In this way, the parameter calculation circuit 150 can output the correction parameter B to the distance calculation circuit 140 through the parameter signal _SAB , so that the distance calculation circuit 140 can correct the formula (2) as follows to calculate the corrected distance to be measured D _M :

D _M =1/[1/(D _F ×L)×D _CS +B]...(6);

Therefore, even if the distance-measuring device 100 causes the detection light L _ID emitted by the light-emitting component 120 to rotate by the light-emitting error angle θ _LD due to an assembly error, the distance-measuring device 100 can still calculate the correctable light-emitting error angle θ by the parameter calculation circuit 150 The correction parameter B _{of the LD} , so that the distance calculation circuit ₁₄₀ can correctly calculate the Get the distance to be measured D _M .

Please refer to Figure 5 and Figure 6. FIG. 5 and FIG. 6 are schematic diagrams illustrating a method for correcting the rotation sensing error angles θ _CS1 and θ _CS2 of the image sensor 130 due to assembly errors. FIG. 5 is a top view of the distance measuring device 100 . As shown in FIG. 5 , the sensing error angle θ _CS1 of the image sensor 130 is on the XY plane. FIG. 6 is a side view of the distance measuring device 100 . In addition, it can be seen from FIG. 6 that the sensing error angles θ _CS1 and θ _CS2 rotated by the image sensor 130 are rotated. The light emitting/sensing control circuit 110 controls the light emitting component 120 to emit the detection light L _ID toward the calibration object CO ₂ , wherein the distance between the calibration object CO ₂ and the distance measuring device 100 is a known distance D _C2 . At this time, assuming that there is no assembly error in the light-emitting component 120 (that is, assuming that the light-emitting error angle θ _LD is zero), the detection light L _ID will be incident on the calibration object CO ₁ , and the calibration object CO ₁ will reflect the reflected light generated by the detection light L _ID L _RD will be converged and imaged on the sensing unit CS _J . The included angle between the detection light L _ID and the reflected light L _RD is θ _1J , and the included angle between the straight line _LF and the reflected light L _RD is θ _2J . It can be seen from Fig. 6 that D _CSX is the projection distance from the imaging position D _CSJ of the reflected light L _RD to the X-axis, and the relationship between the imaging position D _CSJ and the projection distance D _CSX can be expressed by the following formula:

D _CSX ＝ D _CSJ ×cosθ _CS2 ×cosθ _CS1 ...(6);

In FIG. 5 , the straight line L is parallel to the detection light L _ID , so the angle θ _2J between the straight line L and the reflected light L _RD is equal to the angle θ _1J between the detection light L _ID and the reflected light L _RD . That is, tanθ _1J is equal to tanθ _2J . In this way, the relationship between the known distance D _C2 and the projected distance D _CSX can be expressed by the following formula:

L/ _DC2 = D _CSX /DF...(7);

Therefore, according to formulas (6) and (7), the following formulas can be obtained;

D _C2 =1/(A×D _CSJ )...(8);

A＝(cosθ _CS2 ×cosθ _CS1 )/(D _F ×L)...(9);

A represents a calibration parameter used to correct the sensing error angles θ _CS2 and θ _CS1 . Therefore, the parameter calculation circuit 150 calculates the correction parameter A according to formula (8). In this way, the parameter calculation circuit 150 can output the correction parameter A to the distance calculation circuit 140 through the parameter signal _SAB , so that the distance calculation circuit 140 can correct the formula (2) as follows to calculate the corrected distance to be measured D _M :

D _M =1/(A×D _CS )...(10);

It can be seen that even if the distance measuring device 100 causes the image sensor 130 to rotate the sensing error angles θ _CS1 and θ _CS2 due to an assembly error, the distance measuring device 100 can still calculate the correctable sensing error angle θ _CS2 through the parameter calculation circuit 150 and the correction parameter A of θ _CS1 , so that the distance calculation circuit 140 can correctly calculate the distance to be measured D _M through the correction parameter A and the imaging position D _CS of the reflected light when measuring the object MO.

Assume that the distance measuring device 100 rotates the detection light L _ID emitted by the light emitting element 120 by the light emitting error angle θ _LD due to an assembly error, and at the same time the image sensor 130 rotates by the sensing error angles θ _CS1 and θ _CS2 . 4, 5, and 6, it can be seen that the distance measuring device 100 can send the detection light L _ID to the calibration objects CO ₁ and CO ₂ through the light emitting component 120, so as to obtain the reflections corresponding to the calibration object CO ₁ respectively. The imaging position D _CS1 of the light L _RD and the imaging position D _CS2 of the reflected light L _RD corresponding to the calibration object CO ₂ . The imaging positions D _CS1 and D _CS2 , the known distance D _C1 between the ranging device 100 and the calibration object CO ₁ , the known distance D _C2 between the ranging device 100 and the calibration object CO ₂ , and the calibration parameters A and The relation of B can be expressed as follows:

D _C1 =1/[A×D _CS1 +B]...(11);

D _C2 =1/[A×D _CS2 +B]...(12);

At this time, the parameter calculation circuit 150 can calculate the correction parameter A capable of correcting the sensing error angles θ _CS1 and θ _CS2 and the correction parameter B capable of correcting the lighting error angle θ _LD according to equations (11) and (12). The parameter calculation circuit 150 can output the correction parameters A and B to the distance calculation circuit 140 through the parameter signal _SAB , so that the distance calculation circuit 140 can correct the formula (2) as follows to calculate the corrected distance to be measured D _M :

D _M =1/[A×D _CS +B]...(13);

In this way, even if the detection light L _ID emitted by the light-emitting component 120 rotates by the light-emitting error angle θ _LD due to an assembly error of the ranging device 100 , at the same time, the image sensor 130 rotates by the sensing error angles θ _CS1 and θ _CS2 . The distance measuring device 100 can still use the parameter calculation circuit 150 to calculate the correction parameter A that can correct the sensing error angles θ _CS2 and θ _CS1 and the correction parameter B that can correct the light emission error angle θ _LD , so that the distance calculation circuit 140 can be correct Calculate the distance to be measured D _M accurately.

In addition, according to formula (13), it can be seen that when the distance calculation circuit 140 calculates the distance to be measured _DM , only the correction parameter A and the correction parameter B output by the parameter calculation circuit 150 and the reflection when measuring the object to be measured MO are needed The imaging position D _CS of the light L _RD does not require the focal length _DF and the known distance L of the lens LEN ₁ . In other words, even if there is an error in the focal length _DF of the lens LEN ₁ during the production process, or the known distance L causes an error due to assembly, the distance calculation circuit 140 can still correctly calculate the distance to be measured according to formula (13). distance D _M .

Please refer to Figure 7. FIG. 7 is a schematic diagram illustrating a first embodiment 700 of the structure of the image sensor of the present invention. As shown in FIG. 7 , M sensing units of the image sensor 700 are arranged in N rows and K columns. In the image sensor 700 , the positions of the sensing units in each row in the horizontal direction (or the direction of the X-axis shown in FIG. 7 ) are the same. Furthermore, assuming that the widths of the sensing units CS ₁₁ -CS _NK are all W _PIX , and assuming that the position of the left side of the sensing unit CS ₁₁ in the horizontal direction can be represented as zero, in this way, each row of sensing units center to represent its position in the horizontal direction, the position of the sensing units CS ₁₁ ~ CS _1K in the first row in the horizontal direction can be expressed as 1/2×W _PIX ; the sensing units CS ₂₁ ~ CS _2K in the second row The position in the direction can be expressed as 3/2×W _PIX ; the position of the sensing units CS _N1 ˜CS _NK in the Nth row in the horizontal direction can be expressed as [(2×N-1)×W _PIX ]/2, and others can be determined according to And so on, so no more details. Therefore, it can be seen from the above description that in the image sensor 700, the position of each row of sensing units in the horizontal direction can be expressed as {1/2×W _PIX , 3/2×W _PIX , . . . , [(2×N -1)×W _PIX ]/2}, so the positions of the sensing units in each row are the same in the horizontal direction.

Please refer to Figure 8. FIG. 8 is a schematic diagram illustrating the working principle of using the image sensor 700 to detect the imaging position _DCS of the reflected light L _RD . The circle shown in the upper half of FIG. 8 is used to represent the image position of the reflected light L _RD on the image sensor 700, that is, the sensing unit covered by the circle can sense the energy of the reflected light L _RD , and A larger light-sensing signal S _LS is generated. In order to obtain the imaging position D _CS of the reflected light L _RD , at this time, the light sensing signals S _LS generated by each row of sensing units can be added (as shown in the lower half of Figure 8 ) to obtain the horizontal direction (X-axis direction) on the cumulative light-sensing signal S _ALS . For example, the cumulative light sensing signal generated by adding the light sensing signals of the sensing units CS ₁₁ ˜CS _1K in the first row is S _ALS1 ; the light sensing signals of the sensing units CS ₂₁ ˜C8 _2K in the second row are The cumulative light sensing signal generated by adding the sensing signals is S _ALS2 ; the cumulative light sensing signal generated by adding the light sensing signals of the sensing units CS _N1 ~ CS _NK in the Nth row is S _ALSN , and others can be determined according to And so on, so no more details. Since the sensing unit receiving the reflected light L _RD will generate a higher light sensing signal, the sensing units close to the imaging position D _CS (that is, the center of the circle) of the reflected light L _RD will all generate higher light sensing. test signal. In other words, if among the accumulated light sensing signals S _ALS1 ˜S _ALSN , the accumulated light sensing signal S _ALSF corresponding to the sensing cells CS _F1 ˜CS _FK of row F has the maximum value, it means that the reflected light L _RD The imaging position (the center of the circle) is located in the Fth row of sensing units. In this way, the position of the sensing unit in the F-th row in the horizontal direction can be used to represent the imaging position D _CS of the reflected light L _RD . For example, as shown in FIG. 8 , the cumulative light sensing signal S _ALS5 corresponding to the sensing units CS ₅₁ ˜CS _5K in the fifth row has a maximum value, so it can be judged that the imaging position (circle center) of the reflected light L _RD is located at In this way, the position 9/2×W _PIX of the sensing unit in the fifth row in the horizontal direction can represent the imaging position D _CS of the reflected light L _RD .

Please refer to Figure 9. FIG. 9 is a schematic diagram illustrating another embodiment 900 of the structure of the image sensor of the present invention. As shown in FIG. 9 , M sensing units of the image sensor 900 are arranged in N rows and K columns. Compared with the image sensor 700, the positions of each row of sensing units of the image sensor 900 in the horizontal direction (or the direction of the X-axis shown in _FIG . In FIG. 9 it is assumed that the displacement distance D _SF is equal to W _PIX /2). For example, the positions of the sensing units CS ₁₁ -CS _N1 in the first column in the horizontal direction can be expressed as {1/2×W _PIX , 3/2×W _PIX , . . . , [(2×N+1)× W _PIX ]/2}; the position of the sensing units CS ₁₂ -CS _N2 in the second column in the horizontal direction can be expressed as {W _PIX , 2×W _PIX ,…,[2×N×W _PIX ]/2}; The positions of the sensing units CS _1K ~CS _NK in the Kth column in the horizontal direction can be expressed as {[1/2+(K-1)/2]×W _PIX , [3/2+(K-1)/2 ]×W _PIX , ..., [(2×N-1)/2+(K-1)/2]×W _PIX }, others can be deduced in the same way, so no more details are given here.

Please refer to Figure 10. FIG. 10 is a schematic diagram illustrating the working principle of using the image sensor 900 to detect the imaging position _DCS of the reflected light L _RD . The circles shown in the upper part of FIG. 10 are used to represent the imaging positions of the reflected light L _RD on the image sensor 900 . The accumulated light-sensing signals generated according to the light-sensing signals of the sensing units CS ₁₁ -CS _NK of the image sensor 900 are S _ALS1 -S _ALS2N . The sensing range corresponding to the accumulative light sensing signal S _ALS1 is the position 0 to W _PIX /2 in the horizontal direction, because among the sensing units CS ₁₁ to CS _NK , only the sensing range of the sensing unit CS ₁₁ is Covers the sensing range corresponding to the cumulative light sensing signal S _ALS1 , so the cumulative light sensing signal S _ALS1 is equal to the value of the light sensing signal of the sensing unit _CS11 ; the sensing range corresponding to the cumulative light sensing signal S _ALS2 are the positions W _PIX /2˜W _PIX in the horizontal direction, because among the sensing units CS ₁₁ ˜CS _NK , the sensing ranges of the sensing units CS ₁₁ and CS ₁₂ both cover the area corresponding to the accumulated light sensing signal S _ALS2 The sensing range, therefore, the accumulated light sensing signal S _ALS2 can be obtained by adding the light sensing signals of the sensing units CS ₁₁ and CS ₂₁ , and other accumulated light sensing signals can be obtained in a similar way, so details are not repeated here. If among the accumulated light-sensing signals S _ALS1 -S _ALS2N , the accumulated light-sensing signal S _ALSF has the maximum value, it means that the imaging position (circle center) of the reflected light L _RD is located at the level corresponding to the accumulated light-sensing signal S _ALSF position in the direction. For example, as shown in FIG. 10 , the accumulated light sensing signal S _ALS10 has a maximum value, so it can be judged that the imaging position (center of the circle) of the reflected light L _RD is located at a position corresponding to the horizontal direction of the accumulated light sensing signal S _ALS10 Location. Since the sensing range corresponding to the accumulated light-sensing signal S _ALS10 is 9/2×W _PIX˜5 ×W _PIX , the position in the horizontal direction corresponding to the accumulated light-sensing signal S _ALS10 can be expressed as 19/4× W _PIX . In this way, the imaging position (the center of the circle) of the reflected light L _RD can be represented by the position 19/4×W _PIX in the horizontal direction of the accumulated light sensing signal S _ALS10 .

In addition, compared with the image sensor 700 , the image sensor 900 has a higher resolution. For example, when using the image sensor 700 to detect the imaging position D _CS of the reflected light L _RD , if the actual position of the imaging position D _CS (circle center) of the reflected light L _RD in the horizontal direction is (17/4) ×W _PIX , then the cumulative light sensing signal S _ALS5 has the maximum value at this time, so the imaging position D _CS of the reflected light L _RD will be 9/2× represented by W _PIX ; if the actual position of the imaging position D _CS (the center of the circle) of the reflected light L _RD in the horizontal direction is slightly moved, it becomes (19/4)×W _PIX , and the accumulated light sensing signal S _ALS5 still has a maximum value, that is, although the actual position of the imaging position D _CS (circle center) of the reflected light L _RD in the horizontal direction has changed from (17/4)×W _PIX to (19/4)×W _PIX , but the imaging position D _CS of the reflected light L _RD is still represented by the horizontal position 9/2×W _PIX of the sensing units in the fifth row of the image sensor 700 .

However, when the image sensor 900 is used to detect the imaging position D _CS of the reflected light L _RD , if the actual position of the imaging position D _CS (circle center) of the reflected light L _RD in the horizontal direction is (17/4)×W _PIX , then the cumulative light sensing signal S _ALS9 has a maximum value at this time, so the imaging position D _CS of the reflected light L _RD is represented by the horizontal position 17/4×W _PIX of the cumulative light sensing signal S _ALS9 ; However, if the actual position of the imaging position D _CS (the center of the circle) of the reflected light L _RD in the horizontal direction is slightly moved to become (19/4)×W _PIX , then the accumulated light sensing signal S _ALS10 has Therefore, the imaging position D _CS of the reflected light L _RD is represented by the position 19/4×W _PIX of the accumulated light sensing signal S _ALS10 in the horizontal direction. It can be seen from this that the imaging position D _CS of the reflected light L _RD can be detected more accurately by using the image sensor 900 . Furthermore, compared with the image sensor 700, in the image sensor 900, the image sensor can be made 900 has a higher resolution.

In addition, in the image sensor 900 , the displacement distances between each column of sensing units and other adjacent column sensing units in the horizontal direction (or the direction of the X-axis shown in FIG. 9 ) are not limited to be the same. For example, the displacement distance between the sensing units in the first column and the sensing units in the second column is W _PIX /2, and the displacement distance between the sensing units in the second column and the sensing units in the third column is W _PIX /4. At this time, the method described in FIG. 10 can still be used to detect the imaging position D _CS of the reflected light L _RD by using the image sensor 900 .

Please refer to Figure 11. FIG. 11 is a schematic diagram illustrating another embodiment 1100 of the structure of the image sensor of the present invention. As shown in FIG. 11 , M sensing units of the image sensor 1100 are arranged in N rows and Q columns. The difference between the image sensors 1100 and 700 is that each sensing unit of the image sensor 700 is a square, while each sensing unit of the image sensor 1100 is a rectangle. For example, the width and height of each sensing unit of the image sensor 700 are equal to W _PIX , while the width of each sensing unit of the image sensor 1100 is W _PIX , and the height is designed to be (W _PIX ×K/Q) , where Q<K, that is, the short side of each sensing unit of the image sensor 1100 is located in the horizontal direction (X-axis direction), and the long side is located in the vertical direction. In other words, each row of sensing units of the image sensor 1100 has the same width as each sensing unit of the image sensor 700 , and the number Q of each row of sensing units of the image sensor 1100 is less than that of each row of the image sensor 700 The number of sensing units is K, but the total area of each row of sensing units of the image sensor 1100 remains the same as that of the image sensor 700 . Similar to the image sensor 700 , the image sensor 1100 provides M sensing signals generated by the M sensing units to the distance calculation circuit, so that the distance calculation circuit can calculate the accumulated light sensing signals S _ALS1 ˜S _ALSN . For example, the cumulative light-sensing signal generated by adding the light-sensing signals of the sensing units CS ₁₁ to CS _1Q in the first row is S _ALS1 ; the light-sensing signals of the sensing units CS ₂₁ to CS _2Q in the second row are The cumulative light sensing signal generated by adding the sensing signals is S _ALS2 ; the cumulative light sensing signal generated by adding the light sensing signals of the sensing units CS _N1 ~ CS _NQ in the Nth row is S _ALSN , and others can be determined according to And so on, so no more details. In this way, the distance calculation circuit can use the method described in FIG. 8 to obtain the imaging position of the reflected light L _RD according to the accumulated light sensing signals S _ALS1 ˜S _ALSN , and then calculate the distance to be measured D _M .

Compared with the image sensor 700, in the image sensor 1100, since the long side of each sensing unit is located in the vertical direction, the number of sensing units in each row is less (that is, Q<K), so the distance calculation can be reduced. The number of accumulations required by the circuit when generating the accumulated light sensing signals S _ALS1 -S _ALSN . Since the total area of each row of sensing units of the image sensor 1100 remains the same as that of the image sensor 700 , the energy of the light collected by the lens LEN received by each row of sensing units remains unchanged. In other words, when the image sensor 1100 is used, the calculation amount required by the distance calculation circuit to generate the accumulated light sensing signals S _ALS1 -S _ALSN can be reduced, and at the same time, the value of the accumulated light sensing signals S _ALS1 -S _ALSN can be maintained. SNR. In addition, in the image sensor 1100 , the short side of each sensing unit is located in the horizontal direction, and its width is still maintained at W _PIX . In other words, when the image sensor 1100 is used to calculate the imaging position of the reflected light L _RD in the horizontal direction, the resolution is the same as that of the image sensor 700 . Therefore, compared with the image sensor 700, the image sensor 1100 can reduce the amount of calculation required by the distance calculation circuit, and at the same time maintain the signal-to-noise ratio of the accumulated light sensing signal and the imaging position in the horizontal direction (that is, where the short side is located) direction) resolution.

To sum up, the distance measuring device provided by the present invention reduces the background light and flickering phenomenon by removing the background light and flickering light from the light sensing signal sensed by the image sensor in the distance measuring device Impact. In the image sensor of the present invention, the resolution of the image sensor can be improved by adjusting the displacement distance between each column of sensing units and the positions of other adjacent columns of sensing units in the horizontal direction. In addition, the present invention further provides a calibration method for a distance measuring device. The detection light is emitted to a first calibration object with a first known distance and a second calibration object with a second known distance by means of the light-emitting component, so as to respectively obtain the first calibration object corresponding to the reflected light of the first calibration object. an imaging position and a second imaging position corresponding to the reflected light of the second calibration object, and according to the first known distance, the first imaging position, the second known distance and the second imaging position, the possible Correction parameters for correcting assembly error angles of internal components of the distance measuring device. In this way, the distance measuring device can correctly calculate the distance to be measured by correcting the parameters, which provides greater convenience to the user.

The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the claims of the present invention shall fall within the scope of the present invention.

Claims (18)

1. one kind is utilized the distance measuring equipment of image space difference to find range, this distance measuring equipment has a luminescence component, one first camera lens and an image sensor, this luminescence component is used for sending a detected light directive one determinand, so that this determinand produces a reflected light, this first camera lens is used for converging a bias light or this reflected light, this image sensor is used for the energy of the light that this first camera lens of sensing converged, and to produce M light sensing signal, this distance measuring equipment is characterised in that and comprises:

One luminous/sensing control circuit, be used for a distance sensing during stage, it is luminous to control this luminescence component, and control the energy of the light that this first camera lens of this image sensor sensing converged simultaneously, to produce M the first light sensing signal, not luminous in this luminescence component of noise sensing stage inner control, and control the energy of the light that this first camera lens of this image sensor sensing converged simultaneously, to produce M the second light sensing signal;

Wherein M represents positive integer; And

One distance calculation circuit, be used for according to this M the first light sensing signal and this M the second light sensing signal, to judge the image space of this reflected light on this image sensor, and according to one first known distance between a focal length, this luminescence component and this image sensor of this image space, this first camera lens, to calculate the testing distance between this distance measuring equipment and this determinand.

2. distance measuring equipment as claimed in claim 1 is characterized in that, wherein this luminous/sensing control circuit sends this this determinand of detected light directive by producing a led pulse signal to control this luminescence component, makes this determinand produce this reflected light according to this; This luminous/sensing control circuit produces this M light sensing signal by producing the energy of a shutter pulse signal with the light controlling this first camera lens of this image sensor sensing and converged; This luminous/sensing control circuit reads signal by producing one, so that this image sensor is exported this M light sensing signal to this distance calculation circuit; This luminous/sensing control circuit receives this M the first light sensing signal and this M the second light sensing signal by producing a stage signal to control this distance calculation circuit, to judge this reflected light this image space on this image sensor, and according to this first known distance between this focal length, this luminescence component and this image sensor of this image space, this first camera lens, to calculate this testing distance between this distance measuring equipment and this determinand.

3. distance measuring equipment as claimed in claim 2, wherein this image sensor is characterised in that and comprises:

M sensing cell, this M sensing cell is arranged in the Q row along a first direction, and it is capable to be arranged in N along a second direction, this M sensing cell is used for being pursuant to this shutter pulse signal respectively, the energy of the light that this first camera lens of sensing is converged, producing this M light sensing signal according to this, and read signal, to export this M light sensing signal according to this;

Wherein this distance calculation circuit adds up the light sensing signal according to this M light sensing signal to produce N, and adds up the light sensing signal to calculate this testing distance of this determinand according to this N;

Wherein this distance calculation circuit adds up Q the light sensing signal that sensing cell produced in the capable sensing cell of a H to produce a H of this N accumulative total light sensing signal totally light sensing signal;

Wherein each sensing cell of this M sensing cell is all a rectangle, the long limit of each row sensing cell is positioned on this first direction, to reduce the number of each row sensing cell, keep the energy of the light that each row this received first camera lens of sensing cell converged simultaneously, reduce this distance calculation circuit required number of times that adds up when producing this N accumulative total light sensing signal, and keep the signal to noise ratio (S/N ratio) of this N accumulative total light sensing signal simultaneously, the minor face of each sensing cell is positioned on this second direction, to keep the resolution of this image sensor on this second direction;

Wherein N, Q and H all represent positive integer, and 1≤H≤N.

4. distance measuring equipment as claimed in claim 2, wherein this image sensor is characterised in that and comprises:

M sensing cell is used for being pursuant to this shutter pulse signal respectively, and the energy of the light that this first camera lens of sensing is converged producing this M light sensing signal according to this, and reads signal according to this, to export this M light sensing signal.

5. distance measuring equipment as claimed in claim 4 is characterized in that, wherein this M sensing cell of this image sensor is arranged in the capable K row of N; The one adjacent position of (X+1) row sensing cell on this first direction of one X row sensing cell of this M sensing cell and this M the sensing cell shift length of being separated by; X, N, K all represent positive integer, and 1≤X≤(K-1).

6. distance measuring equipment as claimed in claim 1 is characterized in that comprising in addition:

One second camera lens is used for converging this detected light with this determinand of directive.

7. distance measuring equipment as claimed in claim 1 is characterized in that, wherein the time interval in this distance sensing stage and this noise sensing stage equals half ac period.

8. distance measuring equipment as claimed in claim 1, wherein this distance measuring equipment is characterised in that in addition and comprises:

One parameter calculation circuit, be used for receiving the distance signal that this luminous/sensing control circuit is exported, and obtain one second known distance of proofreading and correct between thing and this distance measuring equipment, and according to this second known distance with measure this this catoptrical one first image space when proofreading and correct thing, to calculate a correction parameter of an assembly error angle that is used for proofreading and correct this distance measuring equipment; This parameter calculation circuit and according to this correction parameter, to export a parameter signal to this distance calculation circuit;

The light sensing signal exported of this parameter calculation circuit this image sensor when measuring this correction thing wherein, this catoptrical this first image space when obtaining measuring this correction thing.

9. distance measuring equipment as claimed in claim 8 is characterized in that, wherein this assembly error angle is represented the luminous error angle that this detected light is rotated;

Wherein this parameter calculation circuit can be according to following formula to calculate this correction parameter:

D _C1＝1/[1/(D _F×L)×D _CSI+B]；

D wherein _C1Represent this second known distance, D _CSIRepresent this first image space, B to represent this correction parameter, D _FRepresent this focal length, the L of this first camera lens to represent this first known distance between this luminescence component and this image sensor;

Wherein this correction parameter can be represented by following formula with the relation of this luminous error angle:

B＝tan?θ _LD/L；

θ wherein _LDRepresent this luminous error angle;

Wherein when this distance calculation circuit receives this correction parameter, this distance calculation circuit can be according to following formula, to calculate this testing distance after calibrated:

D _M＝1/[1/(D _F×L)×D _CS+B]；

D wherein _MRepresent this testing distance, D _CSThis catoptrical this image space when representative measures this determinand.

10. distance measuring equipment as claimed in claim 8 is characterized in that, wherein this assembly error angle is represented the one first sensing error angle and the one second sensing error angle of this image sensor;

Wherein this parameter calculation circuit can be according to following formula to calculate this correction parameter:

D _C2＝1/(A×D _CSJ)；

D wherein _C2Represent this second known distance, D _CSJRepresent this first image space, A to represent this correction parameter;

Wherein the relation of this first sensing error angle of this correction parameter and this image sensor and this second sensing error angle can be represented by following formula:

A＝(cosθ _CS2×cosθ _CS1)/(D _F×L)；

θ wherein _CS1Represent this first sensing error angle, θ _CS2Represent this second sensing error angle;

Wherein when this distance calculation circuit receives this correction parameter, this distance calculation circuit can be according to following formula, to calculate this testing distance after calibrated:

D _M＝1/(A×D _CS)；

D wherein _MRepresent this testing distance, D _CSThis catoptrical this image space when representative measures this determinand.

11. distance measuring equipment that utilizes image space difference with range finding, this distance measuring equipment has a luminescence component, one first camera lens and an image sensor, this luminescence component is used for sending a detected light directive one determinand, so that this determinand produces a reflected light, this first camera lens is used for converging a bias light or this reflected light, this image sensor has M sensing cell, this M sensing cell is used for the energy of the light that this first camera lens of sensing converged, to produce M light sensing signal, this distance measuring equipment is characterised in that and comprises:

One luminous/sensing control circuit, be used for a distance sensing during stage, it is luminous to control this luminescence component, and control the energy of the light that this first camera lens of this image sensor sensing converged simultaneously, to produce M the first light sensing signal, not luminous in this luminescence component of noise sensing stage inner control, and control the energy of the light that this first camera lens of this image sensor sensing converged simultaneously, to produce M the second light sensing signal;

Wherein M represents positive integer; And

One distance calculation circuit, be used for according to this M the first light sensing signal and this M the second light sensing signal, to judge the image space of this reflected light on this image sensor, and according to one first known distance between a focal length, this luminescence component and this image sensor of this image space, this first camera lens, to calculate the testing distance between this distance measuring equipment and this determinand, this distance calculation circuit comprises:

A plurality of storage elements are used for storing this M the first light sensing signal and this M second a light sensing signal respectively;

Wherein this luminous/sensing control circuit sends this this determinand of detected light directive by producing a led pulse signal to control this luminescence component, makes this determinand produce this reflected light according to this; This luminous/sensing control circuit is pursuant to this shutter pulse signal by producing a shutter pulse signal with this M sensing cell of controlling this image sensor, and the energy of the light that converged of this first camera lens of sensing respectively is to produce this M light sensing signal according to this; This luminous/sensing control circuit reads signal by producing one, so that this M sensing cell of this image sensor is exported this M light sensing signal to this distance calculation circuit; This luminous/sensing control circuit receives this M the first light sensing signal and this M the second light sensing signal by producing a stage signal to control this distance calculation circuit, to judge this reflected light this image space on this image sensor, and according to this first known distance between this focal length, this luminescence component and this image sensor of this image space, this first camera lens, to calculate this testing distance between this distance measuring equipment and this determinand; Wherein when this stage signal was represented summation, this distance calculation circuit was designated as M positive light sensing signal with this M the first light sensing signal post that is received;

Wherein when this stage signal was represented noise, this distance calculation circuit was designated as M solarising with this M the second light sensing signal post that is received and surveys signal;

Wherein when this stage signal is represented computed range, this distance calculation circuit is surveyed signal subtraction with stored positive light sensing signal and the solarising of these a plurality of storage elements, and select the storage element of value maximum stored after subtracting each other, to judge this reflected light this image space on this image sensor according to this, and according to this first known distance between this focal length, this luminescence component and this image sensor of this image space, this first camera lens, to calculate this testing distance between this distance measuring equipment and this determinand.

12. distance measuring equipment as claimed in claim 11, it is characterized in that, wherein in this distance sensing during the stage, this luminous/sensing control circuit produces this led pulse signal and this shutter pulse signal simultaneously, produces this stage signal that this reads signal and expression summation then; During the stage, this luminous/sensing control circuit produces this shutter pulse signal in this noise sensing, produces this then and reads signal and this stage signal of representing noise;

Wherein when this led pulse signal indication was luminous, this luminescence component sent this detected light; When this shutter pulse signal indication is opened, the energy of the light that this M this first camera lens of sensing cell sensing converged; When this read signal indication and reads, M the first light sensing signal or M the second light sensing signal were exported in this M sensing cell output respectively;

Wherein in this distance sensing in the stage, this luminous/sensing control circuit produces this shutter pulse signal that this luminous led pulse signal of expression and expression are opened, and this that produces then that expression reads reads this stage signal of signal and expression summation; Wherein in distance sensing in the stage, the pulse width that this luminous/sensing control circuit produces this luminous led pulse signal of expression all equals one first known pulse width with the pulse width of this shutter pulse signal that expression is opened; In this noise sensing stage, this shutter pulse signal of unlatching is represented in this luminous/sensing control circuit generation, produces this this stage signal that reads signal and represent noise that expression is read then; The pulse width that this luminous/sensing control circuit produces this shutter pulse signal that expression opens in this noise sensing stage equals this first known pulse width; Produce this pulse width that reads signal that expression reads in this luminous/sensing control circuit in this distance sensing stage and in this noise sensing stage and all equal one second known pulse width.

13. distance measuring equipment as claimed in claim 11, it is characterized in that, wherein in this distance sensing during the stage, this luminous/sensing control circuit produces this led pulse signal and this shutter pulse signal simultaneously, produces this stage signal that this reads signal and expression summation then; During the stage, this luminous/sensing control circuit produces this shutter pulse signal in this noise sensing, produces this then and reads signal and this stage signal of representing noise;

Wherein the number of these a plurality of storage elements equals M; This distance calculation circuit mainly converges a K sensing cell that images in this M sensing cell according to the stored value maximum of a K storage element of this M storage element to judge this reflected light;

Wherein K represents positive integer, and K≤M;

Wherein this distance calculation circuit mainly converges this K the sensing cell that images in this M sensing cell according to reflected light, to calculate this image space according to following formula:

D _CS＝K×W _PIX；

D wherein _CSRepresent this image space, W _PIXRepresent a picture element width;

Wherein the width of each sensing cell of this M sensing cell all equals this picture element width;

Wherein when this stage signal is represented computed range, this distance calculation circuit according to following formula to calculate this testing distance:

D _M＝(D _F×L)/D _CS；

D wherein _MRepresent this testing distance, D _FRepresent this focal length, the L of this first camera lens to represent this first known distance between this luminescence component and this image sensor.

14. one kind is used for proofreading and correct and utilizes the bearing calibration of a distance measuring equipment of image space difference with range finding, one luminescence component of this distance measuring equipment is launched detected light to a determinand, an and image sensor of this distance measuring equipment of reflected back, to obtain one first image space, this distance measuring equipment can be according to one first known distance between a focal length, this luminescence component and this image sensor of one first camera lens of this first image space, this distance measuring equipment, to calculate the testing distance between this distance measuring equipment and this determinand, this bearing calibration is characterised in that and comprises:

This luminescence component of this distance measuring equipment sends this detected light to one and proofreaies and correct thing, and this image sensor of this distance measuring equipment of reflected back, to draw one second image space;

Wherein the distance between this distance measuring equipment and this correction thing is one second known distance;

According to this second known distance, this second image space, to calculate a correction parameter of an assembly error angle that is used for proofreading and correct this distance measuring equipment; And

This distance measuring equipment according to this correction parameter to calculate this testing distance after calibrated.

15. bearing calibration as claimed in claim 14 wherein according to this second known distance, this second image space, is characterised in that with this correction parameter that calculates this assembly error angle that is used for proofreading and correct this distance measuring equipment to comprise:

According to this second known distance, this second image space, a correction parameter of a luminous error angle of being rotated with this detected light that calculates this luminescence component that is used for proofreading and correct this distance measuring equipment;

16. bearing calibration as claimed in claim 15, it is characterized in that, wherein according to this second known distance, this first image space, this correction parameter of this luminous error angle of being rotated with this detected light that calculates this luminescence component that is used for proofreading and correct this distance measuring equipment can calculate according to following formula:

D _C1＝1/[1/(D _F×L)×D _CSI+B]；

D wherein _C1Represent this second known distance, D _CSIRepresent this second image space, B to represent this correction parameter, D _FRepresent this focal length, the L of this first camera lens to represent this first known distance between this luminescence component and this image sensor;

Wherein this correction parameter can be represented by following formula with the relation of this luminous error angle:

B＝tanθ _LD/L；

θ wherein _LDRepresent this luminous error angle;

Wherein this testing distance can draw according to following formula:

D _M＝1/[1/(D _F×L)×D _CS+B]；

D wherein _MRepresent this testing distance, D _CSThis first image space when representative measures this determinand.

17. bearing calibration as claimed in claim 14 wherein according to this second known distance, this second image space, is characterised in that with this correction parameter that calculates this assembly error angle that is used for proofreading and correct this distance measuring equipment to comprise:

According to this second known distance, this second image space, with the one first sensing error angle that calculates this image sensor that is used for proofreading and correct this distance measuring equipment and a correction parameter of one second sensing error angle.

18. bearing calibration as claimed in claim 17, it is characterized in that, wherein according to this second known distance, this second image space, can calculate according to following formula with this first sensing error angle of calculating this image sensor that is used for proofreading and correct this distance measuring equipment and this correction parameter of this second sensing error angle:

D _C2＝1/(A×D _CSJ)；

D wherein _C2Represent this second known distance, D _CSJRepresent this second image space, A to represent this correction parameter;

Wherein the relation of this first sensing error angle of this correction parameter and this image sensor and this second sensing error angle can be represented by following formula:

A＝(cosθ _CS2×cosθ _CS1)/(D _F×L)；

θ wherein _CS1Represent this first sensing error angle, θ _CS2Represent this second sensing error angle, D _FRepresent this focal length, the L of this first camera lens to represent this first known distance between this luminescence component and this image sensor;

Wherein this testing distance can draw according to following formula:

D _M＝1/(A×D _CS)；

D wherein _CSRepresent this image space, D _MRepresent this testing distance.

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