CN112114324A - Distance measuring method and device, terminal equipment and storage medium - Google Patents
Distance measuring method and device, terminal equipment and storage medium Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The application is applicable to the field of distance measurement, and provides a distance measuring method, a distance measuring device, terminal equipment and a storage medium, wherein the method comprises the following steps: acquiring at least two photon signals, wherein the photon signals comprise the flight time from the time when the distance measuring device sends the photons to the time when the distance measuring device receives the photons; comparing the at least two photon signals to screen out candidate time signals; determining a target time of flight based on the candidate time signal; obtaining a distance between the ranging device and a target object based on the target time of flight. The distance is calculated by using the photon signals, and at least two photon signals are screened, so that the influence caused by environmental photons can be reduced, and the calculated distance is more accurate.
Description
Technical Field
The present application belongs to the field of ranging, and in particular, to a distance measuring method, apparatus, terminal device, and storage medium.
Background
When the distance is measured by using the flight time principle, the light beam can be emitted through the emitter, the photon in the pulse light beam reflected from the target view field is collected by the collector, the flight time from emission to collection of the photon is calculated, and then the distance of the target is calculated according to the flight time.
Currently, ranging from time-of-flight is calculated by measuring the time-of-flight of the resulting photons. However, since photons also exist in the natural environment, the photons collected by the collector may be photons in the environment, which results in inaccurate time of flight used in the distance measurement, and inaccurate distance obtained by using the inaccurate time of flight.
Disclosure of Invention
The embodiment of the application provides a distance measuring method, a distance measuring device, terminal equipment and a storage medium, and can solve the problem of poor accuracy in distance measurement through a time flight method at present.
In a first aspect, an embodiment of the present application provides a distance measurement method, including:
acquiring at least two photon signals, wherein the photon signals comprise flight time from the time when a ranging device emits photons to the time when the ranging device receives the photons reflected by a target object;
comparing the at least two photon signals to screen out candidate time signals;
determining a target time of flight based on the candidate time signal;
obtaining a distance between the ranging device and a target object based on the target time of flight.
In a second aspect, an embodiment of the present application provides a distance measuring apparatus, including:
the signal acquisition module is used for acquiring at least two photon signals, wherein the photon signals comprise the flight time from the time when the distance measuring device sends out photons to the time when the distance measuring device receives the photons reflected by the target object;
a screening module for comparing the at least two photon signals to screen out candidate time signals;
a time determination module for determining a target time of flight based on the candidate time signal;
and the distance calculation module is used for obtaining the distance between the distance measuring device and the target object based on the target flight time.
In a third aspect, an embodiment of the present application provides a terminal device, including: memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the distance measurement method according to any of the above first aspects when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, where the computer program is executed by a processor to implement the distance measurement method in any one of the above first aspects.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the distance measurement method according to any one of the above first aspects.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that: the method comprises the steps of firstly obtaining at least two photon signals, then comparing the at least two photon signals to obtain candidate time signals, determining target flight time according to the candidate time signals, and finally obtaining the distance between a distance measuring device and a target object according to the target flight time; this application uses a plurality of photon signals to at least two photon signals have been screened, utilize the photon signal after the screening to calculate the distance between range unit and the target object, can reduce the influence that the environment photon brought, make the distance of calculation more accurate.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic view of an application scenario of a distance measurement method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a distance measuring method according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a control instruction generation method according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a distance measuring device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Fig. 1 is a schematic view of an application scenario of a distance measuring method according to an embodiment of the present disclosure, where the distance measuring method may be used for measuring a distance between a distance measuring device and a target object. The distance measuring device 10 is configured to emit a light beam, collect photons in the light beam reflected by the target object, and generate a photon signal, where the photon signal includes a flight time from emission to reception of the photons, and the processing device 20 is configured to receive the photon signal emitted by the distance measuring device 10, process the photon signal to obtain a flight time from emission to reception of the photons, and process the photon signal based on the flight time to obtain a distance between the distance measuring device and the target object.
The distance measuring method according to the embodiment of the present application will be described in detail below with reference to fig. 1. Fig. 2 shows a schematic flowchart of the distance measurement method provided in the present application, and the method is applied to a processing device, and the processing device may include a sampling circuit, a first memory, a programmable processor, a histogram memory, and a first processor, where the sampling circuit is connected to the first memory and the programmable processor, respectively, the first memory and the programmable processor are connected, the programmable processor is connected to the histogram memory, and the histogram memory is connected to the first processor.
Referring now to fig. 2, the method is described in detail as follows:
s101, obtaining at least two photon signals, wherein the photon signals comprise flight time from the time when a distance measuring device sends out photons to the time when the distance measuring device receives the photons reflected by a target.
In this embodiment, the distance measuring device may include a transmitter for transmitting a pulsed light beam to the target object and a collector. The emitter may be a light source of one or more lasers. The light source may be a vertical cavity surface emitting laser array chip generated on a single semiconductor substrate, the light source emitting a pulse beam outward at a certain frequency. During distance measurement, the emitter emits pulse beams under the control of the processor at certain frequency, and the frequency can be set according to the distance measurement range.
In this embodiment, the collector is used to collect photons reflected by the target object. The collector comprises a pixel array, wherein the pixel array can be composed of one Single-Photon device of an Avalanche Photodiode (APD), a Single-Photon Avalanche Diode (SPAD), a Silicon photomultiplier (Silicon photomultiplier-SiPM), and the like, and specifically can be a two-dimensional pixel array composed of a plurality of SPADs. The SPAD may respond to incident photons and output a photon signal containing the time of flight of the photon.
In a possible implementation manner, the implementation process of step S101 may include:
a time code is generated based on the photon signal, wherein the time code is used to characterize a time of flight of the photon.
Specifically, a sampling circuit in the processing device receives the photon signal and processes the photon signal to obtain the flight time. In this embodiment, the sampling circuit may include a time-to-digital converter, and the time-to-digital converter is configured to process the photon signal and output a time code representing the time of flight, so that the time code is processed in the subsequent processing to obtain the distance between the ranging apparatus and the target object.
The pixel array receives one photon in the reflected beam, then avalanche occurs, the dead time is reached, and no other photon is received. Generally, since the energy of the reflected light beam is very weak, only one photon in the reflected light beam may be collected by the collector, and the situation that two or more photons are collected is negligible, that is, the emitter emits a pulse light beam once, and only one photon may be received by the collector.
In this embodiment, at least two time codes need to be obtained, and the transmitter is required to emit pulsed light beams at least twice.
Since the ambient environment includes the interference light signal, that is, the ambient environment includes ambient photons, the photons collected by the collector may include ambient photons, and therefore, the at least two time codes may also include the time codes corresponding to the ambient photons. Due to the influence of ambient photons, the signal-to-noise ratio of photon signals is reduced, and the accuracy of ranging is also influenced, so that the time code of ambient photons should be filtered as much as possible, and the time code of photons emitted by the emitter is used for ranging. A specific method of filtering out the time code of ambient photons is described below.
Optionally, the processing device may further include an analog filter, and when the photon signal is received, the analog filter may be used to filter the interference signal, so as to filter a part of the photon signal of the ambient photon, and thus reduce the time code corresponding to the ambient photon. The analog filter may be an analog narrow band pass filter, a high-speed sampled digital filter, or a low-pass analog filter, etc.
S102, comparing the at least two photon signals to screen out candidate time signals.
In this embodiment, the sampling circuit converts the time of flight into time codes, and therefore, at least two time codes need to be compared to obtain a candidate time signal, which is composed of the screened time codes.
Specifically, the programmable processor is configured to compare and filter two time codes.
S103, determining the target flight time based on the candidate time signal.
In this embodiment, the target time of flight is determined from at least two candidate time signals, i.e. at least two time codes that have been screened out. The target flight time may also be determined by processing the at least two time codes.
Specifically, the collector outputs a photon signal to the sampling circuit after collecting a photon, the sampling circuit processes the photon signal to obtain a time code, then stores a first time code into the first memory, and stores a subsequent time code into the programmable processor, and when comparing the time codes, the programmable processor is used for comparing and screening the two time codes and taking the screened time codes as candidate time signals. Based on the screened time codes, the corresponding position of each time code in the histogram memory is searched, 1 is added to the corresponding position of the histogram memory, each storage unit in the histogram memory contains a counting value used for representing the number of candidate time signals, preferably, the number of the candidate time signals corresponds to the number of collected effective photon signals, and finally, each storage unit is used as a time histogram (bin) to form a series of continuous time bins to form a histogram. When 1 is added to the storage unit of the memory based on each time code, that is, a photon (environment or signal photon) is received by the collector at this time, the count value stored in the storage unit is generally referred to as a photon count value. And determining the peak position in the histogram, wherein the time corresponding to the peak position is the target flight time.
And S104, obtaining the distance between the distance measuring device and the target object based on the target flight time.
In this embodiment, after obtaining the target flight time, the histogram memory sends the target flight time to the first processor, and the first processor may process the target flight time to obtain the distance between the ranging apparatus and the target object.
In this embodiment, the first processor calculates the distance between the ranging device and the target object using the target time-of-flight obtained from the histogram memory and based on the target time-of-flight and the speed of light.
In particular, it can be based on the formula
And calculating the distance between the distance measuring device and the target object, wherein D is the distance between the distance measuring device and the target object, c is the speed of light, and t is the target flight time.
In the embodiment of the application, at least two photon signals, namely at least two time codes, are obtained firstly, then the at least two time codes are screened to obtain the screened time codes, the target flight time is determined according to the screened time codes, and finally the distance between the distance measuring device and the target object is obtained according to the target flight time. This application uses a plurality of photon signals to at least two photon signals have been screened, utilize the photon signal after the screening to calculate the distance between range unit and the target object, can reduce the influence that the environment photon brought, make the distance of calculation more accurate.
In one possible implementation manner, the implementation process of step S102 may include:
s1021, two adjacent time codes in the at least two time codes are compared, and when the two adjacent time codes are the same and the two adjacent time codes are not used as candidate time signals, the two adjacent time codes are used as the candidate time signals; and when the two adjacent time codes are the same and one of the two adjacent time codes is already used as the candidate time signal, the other time code of the two adjacent time codes is used as the candidate time signal.
In this embodiment, during continuous sampling, the sampling circuit receives each photon signal and outputs a corresponding time code, and can compare two adjacent time codes to screen out the time codes meeting the condition.
Specifically, the sampling circuit transmits a first time code to be compared to a first memory for storage, and transmits a second continuous time code to a programmable processor, wherein the programmable processor is configured to judge whether the second time code is the same as the first time code stored in the first memory, and replace the first time code with the second time code for next comparison, that is, compare the second time code with a time code output by the sampling circuit next time until one frame of data is acquired; if the two adjacent time codes are the same and neither of the two adjacent time codes is taken as a candidate time signal, taking the two adjacent time codes as the candidate time signal; if not, the time signal is not used as a candidate time signal.
In a possible implementation manner, the implementation process of step S102 may further include:
s1022, comparing two time codes at preset intervals in the at least two time codes, and when the two time codes at the preset intervals are the same and neither of the two time codes at the preset intervals is used as a candidate time signal, using both of the two time codes at the preset intervals as the candidate time signal; and when the time codes of the two preset intervals are the same and one time code of the two preset intervals is already used as the candidate time signal, taking the other time code of the two preset intervals as the candidate time signal.
In this embodiment, the programmable processor may be configured to determine whether the time codes of two non-consecutive photons are the same, and the first time code and the second time code are corresponding time codes generated by the non-consecutive photons, where the non-consecutive photons are photons with a certain interval amount, and the interval amount between each two photons may be the same or different. For example, the time code output by the sampling circuit may be determined at intervals of 4 times, then the first time code output by the collected 1 st photon is stored in the first memory, and the programmable processor is configured to compare every two time codes corresponding to the 5 th photon, the 9 th photon, and the 13 th photon … … until the sampling of one frame of data is completed. It is understood that reference herein to the 1 st, 2 nd, 3 rd … … is the order in which the collector collects the photons.
In the embodiment of the application, whether the two time codes are the same or not is compared, the time codes corresponding to partial environment photons can be filtered, the accumulation of the time codes of the environment photons is reduced, the time codes corresponding to the photons emitted by the emitter are only reserved in the screened time codes as far as possible, and the accuracy of distance measurement can be improved.
In one possible implementation manner, the implementation process of step S102 may include:
and S1023, if the same time code exists in the at least two time codes, all the existing same time codes are taken as candidate time signals.
In this embodiment, the programmable processor compares all the time codes, and if the same time code exists in the time codes, it indicates that the same time code may be the time code corresponding to the photon emitted by the ranging apparatus, so the same time code should be used as the candidate time signal. If a time code is different from any of the at least two time codes, the time code is probably the time code corresponding to the ambient photon, and therefore the time code can be discarded.
In a possible implementation manner, the implementation process of step S103 may include:
and drawing a histogram based on the candidate time signals, and taking the time corresponding to the highest peak position of the histogram as target flight time, wherein each time histogram of the histogram contains a count value representing the number of the candidate time signals.
In this embodiment, after the candidate time signal is selected by the programmable processor, that is, after the selected time code is obtained, the histogram memory may draw a histogram according to the selected time code, and the selected time code is used as an address for accessing a location of the corresponding histogram memory. The specific process is as described in step S103, and is not described herein. When the target flight time is determined, smoothing processing can be performed on the histogram, the highest peak position in the histogram can be obtained by utilizing peak matching and filtering detection, the time corresponding to the highest peak position is found, and the time corresponding to the highest peak position is used as the target flight time.
In the implementation of the application, a histogram is drawn according to the screened time codes, the highest peak position in the histogram is determined, the time corresponding to the highest peak position is taken as the target flight time, and the distance of the target can be further calculated according to the target flight time.
As shown in fig. 3, in a possible implementation, after the drawing the histogram based on the candidate time signal, the method may further include:
s201, calculating a signal-to-noise ratio based on the histogram.
In this embodiment, the first processor may also calculate the signal-to-noise ratio.
In one possible implementation manner, the implementation process of step S201 may include:
s2011, determining a highest peak position of the histogram and obtaining a first count value including the candidate time signal in a first region, where the first region is determined by taking the highest peak position as a center.
Specifically, the first region is a region formed by selecting n time bins on the left side and the right side of the highest peak position by taking the highest peak position as a center.
In the present embodiment, since the histogram is a horizontal axis with time, a count value for representing the number of candidate time signals is included in each time histogram of the vertical axis. If a region is set, a count of the number of all candidate time signals in the region can be obtained.
S2012, determining a second count value of the candidate time signal included in a second region, where the second region is a region other than the first region in the histogram.
In this embodiment, a first count value of the candidate time signals in the first region, that is, a first count value of the time code, is determined, and the first count value is subtracted from the total number of the candidate time signals, that is, a second count value of the candidate time signals in the second region.
S2013, calculating a first ratio of the first count value to the second count value and taking the first ratio as the signal-to-noise ratio; or calculating a first difference value between the first counting value and the second counting value and taking the first difference value as the signal-to-noise ratio.
In this embodiment, the first count value and the second count value may be determined in the histogram memory, or the histogram may be transmitted to the first processor after the histogram memory generates the histogram, and the first count value and the second count value may be determined in the first processor.
In this embodiment, the first count value is used as the number of valid signals, the second count value is used as the number of interference signals, and the ratio or difference between the valid signals and the invalid signals is calculated to obtain the signal-to-noise ratio.
In one possible implementation manner, the implementation process of step S201 may include:
and S2014, determining the highest peak position of the histogram and obtaining a third counting value of the candidate time signal corresponding to the highest peak position.
S2015, determining a count value of the candidate time signal corresponding to each time bin in the histogram.
In the present embodiment, each time bin refers to each memory cell in the histogram, that is, each time bin. The count value of the candidate time signal corresponding to each time bin, i.e., the valid photon count value corresponding to each time bin.
S2016, calculating an average count value of the candidate time signals in each time bin based on the count value of the candidate time signals in each time bin.
In the present embodiment, an average count value of the candidate time signals in each time bin is calculated, that is, an average count value of the collected effective photons in each time bin is calculated.
In a possible implementation manner, when there are at least two peak positions in the histogram, the implementation process of step S201 may include:
s2018, determining the highest peak position of the histogram and obtaining a fourth count value of the candidate time signal corresponding to the highest peak position.
In this embodiment, the highest peak position may be obtained according to the histogram, and a fourth count value of the candidate time signal corresponding to the highest peak position, that is, a fourth count value of the valid photons within the time bin corresponding to the highest peak position, may be obtained.
S2019, determine a secondary peak position of the histogram and obtain a fifth count value of the candidate time signal corresponding to the secondary peak position, that is, a fifth count value of valid photons in a time bin corresponding to the secondary peak position.
In the present embodiment, there may be a plurality of peaks in one histogram, and the secondary peak position is a peak next to the highest peak position among the plurality of peak positions, that is, the second peak position.
S2010, calculating a third ratio of the fourth count value to the fifth count value, and taking the third ratio as the signal-to-noise ratio; or calculating a second difference value of the fourth counting value and the fifth counting value and taking the second difference value as the signal-to-noise ratio.
In this embodiment, the count value of the candidate time signal corresponding to the highest peak position is used as the number of valid signals, the count value of the candidate time signal corresponding to the next highest peak position is used as the number of invalid signals, and the ratio or difference between the valid signals and the invalid signals is calculated to obtain the signal-to-noise ratio.
In this embodiment, the fourth count value and the fifth count value may be determined in the histogram memory, or the histogram may be transferred to a second process in which the fourth count value and the fifth count value are determined after the histogram is generated in the histogram memory.
S202, generating a pulse light beam emission time interval to be adjusted by the distance measuring device based on the signal-to-noise ratio.
In this embodiment, after the first processor calculates the snr, the number of the pulsed light beams emitted by the emitter during a single frame measurement after the snr is adjusted, that is, the time interval between two adjacent pulsed light beams is adjusted. The signal-to-noise ratio can reflect the intensity of light in the current environment, and the number of pulse beams emitted by the emitter during the next distance measurement can be adjusted according to the intensity of light in the current environment.
In this embodiment, a signal-to-noise ratio threshold may be preset in the first processor, and the calculated signal-to-noise ratio is compared with the preset signal-to-noise ratio threshold, where when the signal-to-noise ratio is high, it indicates that there are fewer interference signals and fewer environmental photons in the photons collected by the collector; otherwise, it indicates that there are more interference signals and more environmental photons in the photons collected by the collector. Therefore, when the signal-to-noise ratio is greater than or equal to the signal-to-noise ratio threshold value, the adjustment makes the time interval become larger, the number of the pulse beams is reduced, and meanwhile, the power consumption of the distance measuring device can also be reduced; when the signal-to-noise ratio is smaller than the signal-to-noise ratio threshold value, the time interval is adjusted to be smaller, the number of pulse light beams is increased, the signal-to-noise ratio of the histogram is improved, and the accuracy of distance measurement can be improved.
Optionally, the first processor may further preset a histogram, and compare a signal-to-noise ratio of the histogram constructed by the candidate time signals with a signal-to-noise ratio of the preset histogram, to adjust a pulse light beam emission time interval of the transmitter in the subsequent ranging.
By way of example, if the calculated snr is 0.8 and the preset snr threshold is 0.7, the time interval may be increased.
S203, sending a control instruction to the distance measuring device, wherein the control instruction is used for instructing the distance measuring device to send out a pulse light beam according to the emission time interval.
In this embodiment, the control instruction is generated based on the generated pulse light beam emission time interval to be adjusted, so the first processor needs to send the control instruction to the transmitter to instruct the transmitter to emit the pulse light beam of the corresponding time interval.
In the embodiment of the application, the histogram is drawn through the candidate time signal, and the candidate time signal is free of the time code corresponding to the environmental photon, so that the influence of the environmental photon is reduced, the reliability of the histogram is improved, and the accuracy of the distance between the calculated distance measuring device and the target object is ensured. Meanwhile, the number of the time codes needing to be processed is reduced, so that the data processing speed can be improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 4 shows a block diagram of a distance measuring device provided in the embodiment of the present application, corresponding to the distance measuring method described in the above embodiment, and only the relevant parts of the embodiment of the present application are shown for convenience of description.
Referring to fig. 4, the apparatus 300 may include: a signal acquisition module 310, a screening module 320, a time determination module 330, and a distance calculation module 330.
The signal acquiring module 310 is configured to acquire at least two photon signals, where the photon signals include a flight time from when a distance measuring device emits a photon to when the distance measuring device receives the photon reflected by a target object;
a screening module 320 for comparing the at least two photon signals to screen out candidate time signals;
a time determination module 330 for determining a target time of flight based on the candidate time signal;
a distance calculating module 340, configured to obtain a distance between the ranging device and a target object based on the target flight time.
In one possible implementation, the signal obtaining module 310 may specifically be configured to:
based on the photon signal, obtaining the flight time of the photon and converting the flight time into a time code;
accordingly, the screening module 320 may be specifically configured to:
and comparing the at least two time codes to screen out candidate time signals.
In a possible implementation manner, the screening module 320 may specifically be configured to:
comparing two adjacent time codes in the at least two time codes, and taking the two adjacent time codes as candidate time signals when the two adjacent time codes are the same and the two adjacent time codes are not taken as the candidate time signals; and when two adjacent time codes are the same and one of the two adjacent time codes is already used as a candidate time signal, the other time code of the two adjacent time codes is used as the candidate time signal.
In a possible implementation manner, the screening module 320 may specifically be configured to:
comparing two time codes at preset intervals in the at least two time codes, and taking the time codes at the two preset intervals as candidate time signals when the time codes at the two preset intervals are the same and the time codes at the two preset intervals are not taken as the candidate time signals; and when the time codes of the two preset intervals are the same and one time code of the two preset intervals is already used as the candidate time signal, taking the other time code of the two preset intervals as the candidate time signal.
In a possible implementation manner, the time determining module 330 may specifically be configured to:
and drawing a histogram based on the candidate time signals and taking the time corresponding to the highest peak position of the histogram as target flight time, wherein each time histogram of the histogram contains a count value representing the number of the candidate time signals.
In one possible implementation, the connection with the time determination module 330 may include:
a signal-to-noise ratio calculation module for calculating a signal-to-noise ratio based on the histogram;
a time interval determining module, configured to generate a pulse light beam emission time interval to be adjusted by the ranging device based on the signal-to-noise ratio;
and the instruction sending module is used for sending a control instruction to the distance measuring device, wherein the control instruction is used for instructing the distance measuring device to send out a pulse beam according to the emission time interval.
In a possible implementation manner, the signal-to-noise ratio calculation module may be specifically configured to:
determining a highest peak position of the histogram, and obtaining a first count value of the candidate time signal included in a first region, wherein the first region is a region determined with the highest peak position as a center;
determining a second count value of the candidate time signal included in a second region, wherein the second region is a region other than the first region in the histogram;
calculating a first ratio of the first count value to the second count value, and taking the first ratio as the signal-to-noise ratio, or calculating a first difference value of the first count value and the second count value, and taking the first difference value as the signal-to-noise ratio;
or the like, or, alternatively,
determining the highest peak position of the histogram and obtaining a third counting value of the candidate time signal corresponding to the highest peak position;
determining a count value of the candidate time signal corresponding to each time bin in the histogram;
calculating an average count value of the candidate time signals of each time bin based on the count value of the candidate time signals corresponding to each time bin;
calculating a second ratio of the third count value to the average count value, and taking the second ratio as the signal-to-noise ratio;
or the like, or, alternatively,
the signal-to-noise ratio calculation module may be specifically configured to, when there are at least two peak locations in the histogram:
determining the highest peak position of the histogram, and obtaining a fourth count value of the candidate time signal corresponding to the highest peak position;
determining a secondary high peak position of the histogram, and obtaining a fifth count value of the candidate time signal corresponding to the secondary high peak position;
and calculating a third ratio of the fourth counting value to the fifth counting value, and taking the third ratio as the signal-to-noise ratio, or calculating a second difference value of the fourth counting value and the fifth counting value, and taking the second difference value as the signal-to-noise ratio.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides a terminal device, and referring to fig. 5, the terminal device 400 may include: at least one processor 410, a memory 420, and a computer program stored in the memory 420 and executable on the at least one processor 410, wherein the processor 410 when executing the computer program implements the steps of any of the method embodiments described above, such as the steps S101 to S104 in the embodiment shown in fig. 2. Alternatively, the processor 410, when executing the computer program, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 310 to 340 shown in fig. 4.
Illustratively, a computer program may be partitioned into one or more modules/units, which are stored in the memory 420 and executed by the processor 410 to accomplish the present application. The one or more modules/units may be a series of computer program segments capable of performing specific functions, which are used to describe the execution of the computer program in the terminal device 400.
Those skilled in the art will appreciate that fig. 5 is merely an example of a terminal device and is not limiting and may include more or fewer components than shown, or some components may be combined, or different components such as input output devices, network access devices, buses, etc.
The Processor 410 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 420 may be an internal storage unit of the terminal device, or may be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. The memory 420 is used for storing the computer programs and other programs and data required by the terminal device. The memory 420 may also be used to temporarily store data that has been output or is to be output.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The distance measurement method provided by the embodiment of the application can be applied to terminal equipment such as a computer, a tablet computer, a notebook computer, a netbook, a Personal Digital Assistant (PDA) and the like, and the embodiment of the application does not limit the specific type of the terminal equipment at all.
Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program may implement the steps in the embodiments of the distance measurement method described above.
The embodiment of the present application provides a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the embodiments of the distance measurement method when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A distance measuring method, characterized by comprising:
acquiring at least two photon signals, wherein the photon signals comprise flight time from the time when a ranging device emits photons to the time when the ranging device receives the photons reflected by a target object;
comparing the at least two photon signals to screen out candidate time signals;
determining a target time of flight based on the candidate time signal;
obtaining a distance between the ranging device and a target object based on the target time of flight.
2. The distance measurement method of claim 1 wherein said comparing said at least two photon signals to screen out candidate time signals comprises:
generating a time code based on the photon signal;
comparing at least two of the time codes to screen out the candidate time signals.
3. The distance measurement method of claim 2 wherein said comparing at least two time codes to screen out candidate time signals comprises:
comparing two adjacent time codes in the at least two time codes, and taking the two adjacent time codes as candidate time signals when the two adjacent time codes are the same and the two adjacent time codes are not taken as the candidate time signals; and when the two adjacent time codes are the same and one of the two adjacent time codes is already used as the candidate time signal, the other time code of the two adjacent time codes is used as the candidate time signal.
4. The distance measurement method of claim 2 wherein said comparing at least two time codes to screen out candidate time signals comprises:
comparing two time codes at preset intervals in the at least two time codes, and taking the two time codes at the preset intervals as candidate time signals when the time codes at the two preset intervals are the same and the time codes at the two preset intervals are not taken as the candidate time signals; and when the time codes of the two preset intervals are the same and one time code of the two preset intervals is already used as the candidate time signal, taking the other time code of the two preset intervals as the candidate time signal.
5. The distance measurement method of any of claims 1 to 4, wherein said determining a target time of flight based on said candidate time signal comprises:
and drawing a histogram based on the candidate time signals, and taking the time corresponding to the highest peak position of the histogram as target flight time, wherein each time histogram of the histogram contains a count value representing the number of the candidate time signals.
6. The distance measurement method of claim 5, after said plotting a histogram based on said candidate time signal, further comprising:
calculating a signal-to-noise ratio based on the histogram;
generating a pulsed light beam emission time interval to be adjusted by the distance measuring device based on the signal-to-noise ratio;
and sending a control instruction to the distance measuring device, wherein the control instruction is used for instructing the distance measuring device to send out a pulse light beam according to the emission time interval.
7. The distance measurement method of claim 6 wherein said calculating a signal-to-noise ratio based on said histogram comprises:
determining a highest peak position of the histogram and obtaining a first count value of the candidate time signal included in a first region, wherein the first region is a region determined with the highest peak position as a center;
determining a second count value of the candidate time signal included in a second region, wherein the second region is a region other than the first region in the histogram;
calculating a first ratio of the first count value to the second count value and taking the first ratio as the signal-to-noise ratio; or calculating a first difference value between the first counting value and the second counting value and taking the first difference value as the signal-to-noise ratio;
or the like, or, alternatively,
determining the highest peak position of the histogram, and obtaining a third counting value of the candidate time signal corresponding to the highest peak position;
determining a count value of the candidate time signal corresponding to each time bin in the histogram;
calculating an average count value of the candidate time signals of each time bin based on the count value of the candidate time signals corresponding to each time bin;
calculating a second ratio of the third count value to the average count value, and taking the second ratio as the signal-to-noise ratio;
or the like, or, alternatively,
said calculating a signal-to-noise ratio based on said histogram when there are at least two peak locations in said histogram, comprising:
determining the highest peak position of the histogram, and obtaining a fourth count value of the candidate time signal corresponding to the highest peak position;
determining a secondary high peak position of the histogram, and obtaining a fifth count value of the candidate time signal corresponding to the secondary high peak position;
calculating a third ratio of the fourth count value to the fifth count value and taking the third ratio as the signal-to-noise ratio; or calculating a second difference value between the fourth counting value and the fifth counting value, and taking the second difference value as the signal-to-noise ratio.
8. A distance measuring device, comprising:
the signal acquisition module is used for acquiring at least two photon signals, wherein the photon signals comprise the flight time from the time when the distance measuring device sends out photons to the time when the distance measuring device receives the photons reflected by the target object;
a screening module for comparing the at least two photon signals to screen out candidate time signals;
a time determination module for determining a target time of flight based on the candidate time signal;
and the distance calculation module is used for obtaining the distance between the distance measuring device and the target object based on the target flight time.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the distance measuring method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the distance measurement method according to any one of claims 1 to 7.
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