CN114397663B - A DTof statistical histogram implementation device and laser radar ranging system - Google Patents
A DTof statistical histogram implementation device and laser radar ranging system Download PDFInfo
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Abstract
本申请公开了一种dtof的统计直方图实现装置及激光雷达测距系统，包括多个时间数字转换器、随机偏移生成器、加法器和直方图模块，每个时间数字转换器用于接收与时间数字转换器连接的相互之间具有共享关系的不同像素单元的输出光信号，将输出光信号转换为数字信号；随机偏移生成器与时间数字转换器连接，用于生成对数字信号加密的随机参数；加法器分别与时间数字转换器和随机偏移生成器连接，用于利用随机参数对每个数字信号进行加密处理，得到加密数据；直方图模块，用于通过直方图累积的方式生成与加密数据对应的综合直方图，以便根据综合直方图确定出不同像素单元对应的单个直方图。能降低存储空间消耗，避免探测到的隐私信息泄露。
The present application discloses a DTof statistical histogram implementation device and a laser radar ranging system, including multiple time digital converters, random offset generators, adders and histogram modules, each of which is used to receive output light signals of different pixel units connected to the time digital converter and having a shared relationship with each other, and convert the output light signals into digital signals; the random offset generator is connected to the time digital converter and is used to generate random parameters for encrypting the digital signals; the adder is respectively connected to the time digital converter and the random offset generator and is used to encrypt each digital signal using the random parameters to obtain encrypted data; the histogram module is used to generate a comprehensive histogram corresponding to the encrypted data by histogram accumulation, so as to determine the single histogram corresponding to different pixel units according to the comprehensive histogram. It can reduce storage space consumption and avoid the leakage of detected privacy information.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a dtof statistical histogram implementation device and a laser radar ranging system.
Background
In the process of dtof area array ranging+imaging based on spad+tcspc, a histogram needs to be formed, and then the time of flight (TOF) is restored through signal processing. There are four main pain points in the front array dtof: firstly, each pixel needs to store a respective statistical histogram, and when the area array resolution is improved, the required storage space is increased in equal proportion; secondly, with the improvement of the detection distance, the length of the statistical histogram can be improved under the condition of ensuring the precision, so that the consumption of the storage space is further increased; thirdly, because of the limitation of the storage space, the digital gain of the statistical histogram is limited by the accumulated bit number, and although the high dynamic of the whole link can be achieved through the control of the agc gain of the link, the high dynamic is based on the total return light, and under the condition of larger ambient light, the digital gain of the histogram determines the dynamic of the whole link, and the traditional method only increases the dynamic by increasing the accumulated bit number of each bin, so that the requirement of the system on the storage space is further deteriorated; fourth, since the current histogram information contains effective user information such as target brightness and distance, this poses a challenge to privacy security.
In the prior art, a simple random delay implementation method is adopted for the first problem, but a series of problems exist, such as the requirement that multiple pixel targets cannot be overlapped after delay, and the like, which greatly limit the application scene. A common method for the second problem is to use dtof space-time sparsity and use coarse and fine measurement to save storage space, but a certain frame rate is generally required to be lost. There is basically no suitable solution to the third problem, similar to only modifying the photosensitive performance of the detection sensor, all at the expense of detecting performance. There is basically no suitable solution to the fourth problem.
Therefore, how to reduce the consumption of the storage space in the laser ranging process, and at the same time avoid privacy disclosure is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
Accordingly, the present invention is directed to a statistical histogram implementation device and a laser radar ranging system for dtof, which can reduce the storage space consumption and avoid the leakage of the detected privacy information. The specific scheme is as follows:
a first aspect of the present application provides a statistical histogram implementation apparatus dtof, including a plurality of time-to-digital converters, a random offset generator, an adder, and a histogram module, wherein:
Each time-to-digital converter is used for receiving output optical signals of different pixel units which are connected with the time-to-digital converter and have a sharing relation with each other, and converting the output optical signals into digital signals; the output optical signal is a signal representing the transmission distance between the signal transmitting end and the signal receiving end;
The random offset generator is connected with the time-to-digital converter and is used for generating random parameters for encrypting the digital signals;
The adder is respectively connected with the time-to-digital converter and the random offset generator and is used for encrypting each digital signal by utilizing the random parameters to obtain corresponding encrypted data;
the histogram module is used for generating a comprehensive histogram corresponding to the obtained encrypted data in a histogram accumulation mode so as to determine single histograms corresponding to different pixel units according to the comprehensive histogram; the histogram is a graph comprising the distance information of the measured object and composed of a time box and corresponding signal intensity.
Optionally, the statistical histogram implementation device of dtof further includes:
and the combined decoder is used for decoding the comprehensive histogram so as to restore the comprehensive histogram into the single histogram corresponding to different pixel units.
Optionally, the adder is a modulo-domain adder of modulo-2 n -1; wherein 2 n -1 is the time bin value corresponding to the furthest distance that can be detected, 2 n is the storage space length of the memory, and n is a natural number.
Optionally, each of said time-to-digital converters is connected to one of said modulo-domain adders.
Optionally, the random offset generator generates 2n-1 of the random parameters at a time;
correspondingly, the modulo-domain adder is used for adding the digital signal converted by each time-to-digital converter with 2n-1 random parameters respectively.
Optionally, the statistical histogram implementation device of dtof further includes:
the time sequence controller is connected with the random offset generator and is used for controlling the time when the random offset generator generates the random parameters; the time schedule controller is controlled in a software setting mode.
Optionally, the statistical histogram implementation device of dtof further includes:
and the random offset shielding device is connected with the random offset generator and the adder and is used for screening one random parameter from the generated plurality of random parameters to obtain a target random parameter, so that the digital signal output by the time-digital converter is encrypted through the adder based on the target random parameter.
Optionally, the statistical histogram implementation device of dtof further includes:
and the automatic gain controller is connected with the random offset masker and is used for carrying out automatic gain control on the random offset masker in a mode of carrying out software setting on the automatic gain controller so as to control the process of screening the target random parameters by the random offset masker.
Optionally, the statistical histogram implementation device of dtof further includes:
And the address reading circuit is connected with the adder and the histogram module and is used for storing the encrypted data output by the adder to the histogram module in a first-in first-out mode.
Optionally, the statistical histogram implementation device of dtof further includes:
The automatic nonlinear gain controller is respectively connected with the random offset mask, the reading circuit and the histogram module, and is used for controlling the random offset mask to screen out the target random parameter by taking the triggering times of the time-to-digital converter and/or the storage process of the memory as the feedback signal of the automatic nonlinear gain controller and performing automatic gain control on the random offset mask in a feedback control mode on the automatic nonlinear gain controller.
The second aspect of the present application provides a laser radar ranging system, comprising a laser emitting device, a control module and the statistical histogram implementation device dtof, wherein:
the laser emission device is used for emitting laser beams to the object to be measured;
The control module is configured to control a pixel unit in the dtof statistical histogram implementation device to receive the laser beam reflected by the measured object, and control a time-to-digital converter in the dtof statistical histogram implementation device to receive output light signals corresponding to the reflected laser beam, which are connected to the time-to-digital converter, of different pixel units having a shared relationship with each other;
The statistical histogram implementation device dtof is used for measuring the distance of the measured object in a manner of generating a histogram.
The statistical histogram implementation device dtof in the present application comprises a plurality of time-to-digital converters, a random offset generator, an adder and a histogram module, wherein each time-to-digital converter is used for receiving output optical signals of different pixel units which are connected with the time-to-digital converter and have a sharing relation with each other, and converting the output optical signals into digital signals; the output optical signal is a signal representing the transmission distance between the signal transmitting end and the signal receiving end; the random offset generator is connected with the time-to-digital converter and is used for generating random parameters for encrypting the digital signals; the adder is respectively connected with the time-to-digital converter and the random offset generator and is used for encrypting each digital signal by utilizing the random parameters to obtain corresponding encrypted data; the histogram module is used for generating a comprehensive histogram corresponding to the obtained encrypted data in a histogram accumulation mode so as to determine single histograms corresponding to different pixel units according to the comprehensive histogram; the histogram is a graph comprising the distance information of the measured object and composed of a time box and corresponding signal intensity. The application uses the shared storage space to accumulate the histogram, reduces the consumption of the storage space, meets the requirement of the system on the storage space, and can effectively avoid the leakage of the detected privacy information under the action of the random offset generator and the adder. Based on the above, the application also provides a laser radar ranging system, which can achieve the same technical effects and is not described in detail herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a first statistical histogram implementation apparatus dtof according to the present application;
FIG. 2 is a raw statistical histogram provided by the present application;
FIG. 3 is a statistical histogram of a single memory after histogram accumulation using the architecture of FIG. 1, provided by the present application;
FIG. 4 is a statistical histogram of the histogram of FIG. 3 after single memory decoding after histogram accumulation in accordance with the present application;
FIG. 5 is a waveform difference of the histograms of FIGS. 2 and 3 according to the present application;
Fig. 6 is a schematic structural diagram of a specific statistical histogram implementation device dtof according to the present application;
FIG. 7 is a statistical histogram of a single memory after histogram accumulation using the architecture of FIG. 6, in accordance with the present application;
FIG. 8 is another raw statistical histogram provided by the present application;
FIG. 9 is a statistical histogram of the histogram of FIG. 7 after single memory decoding after histogram accumulation in accordance with the present application;
FIG. 10 is a waveform difference of the histograms of FIG. 8 and FIG. 9 according to the present application;
FIG. 11 is a statistical histogram after removing DC components according to the present application;
fig. 12 is a schematic structural diagram of a statistical histogram implementation apparatus of a second dtof according to the present application;
fig. 13 is a schematic structural diagram of a third statistical histogram implementation apparatus dtof according to the present application;
Fig. 14 is a schematic diagram of a laser radar ranging system according to the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the dtof area array ranging and imaging process based on SPAD+TCSPC, a plurality of pain points such as serious storage space loss and increased privacy leakage risk exist. There is no suitable solution in the prior art. Aiming at the technical defects, the application provides a dtof statistical histogram implementation device and a laser radar ranging system, which are used for accumulating histograms by sharing a storage space, reducing the consumption of the storage space, meeting the requirement of the system on the storage space, and simultaneously effectively avoiding the leakage of detected privacy information under the action of a random offset generator and an adder.
Fig. 1 is a schematic structural diagram of a statistical histogram implementation device dtof according to an embodiment of the present application. Referring to fig. 1, the statistical histogram implementing apparatus of dtof includes a plurality of time-to-digital converters, a random offset generator, an adder, and a histogram module, where:
Each time-to-digital converter is used for receiving output optical signals of different pixel units which are connected with the time-to-digital converter and have a sharing relation with each other, and converting the output optical signals into digital signals; the output optical signal is a signal representing the transmission distance between the signal transmitting end and the signal receiving end.
In this embodiment, the time-to-digital converter, that is, the TDC circuit, is shared by a plurality of the Pixel units Pixel. The output address of the TDC circuit is increased or decreased by random value (generated by the control code of the time schedule controller, theoretically without threshold range, considering the design of the adder to control the bit number), the output light signals of the multiple pixels are sent to the same storage space, so as to realize the accumulation of the histograms (histgram) of the multiple different pixels in one storage space, and thus, the comprehensive histogram is obtained.
On the basis, the embodiment further comprises a combined decoder, which is used for decoding the comprehensive histogram to restore the comprehensive histogram to the single histogram corresponding to different pixel units. That is, the composite histogram in the storage space is output as a restored multi-pixel statistical histogram through the deinterleaving, multi-level cyclic convolution decoding, or multi-level viterbi decoding of the combined decoder. And meanwhile, the recovered multi-pixel statistical histogram is output to a measurement and calculation module to extract the information such as the distance, the brightness and the like of the measured object.
In a first specific embodiment, the random offset generator is coupled to the time-to-digital converter for generating a random parameter that encrypts the digital signal. And controlling the time of the random offset generator to generate the random parameters through a time sequence controller connected with the random offset generator. The time schedule controller is controlled in a software setting mode.
In this embodiment, the adder is connected to the time-to-digital converter and the random offset generator, respectively, and is configured to encrypt each digital signal by using the random parameter to obtain corresponding encrypted data. In addition, each of the time-to-digital converters is coupled to one of the modulo-domain adders. The random offset generator and the adder are used for encrypting input data. In particular, the adder may be a modulo-domain adder of modulo-2 n -1. Wherein 2 n -1 is the time bin value corresponding to the furthest distance that can be detected, 2 n is the storage space length of the memory, and n is a natural number.
On the basis, the random offset generator generates 2n-1 random parameters each time, and the module domain adder is correspondingly used for adding the digital signals converted by each time digital converter with 2n-1 random parameters respectively. For example, when the adder is a modulo 31 adder, i.e., the full distance range is 2 5 -1=31, the random offset generator generates 16 random parameters. Setting the number of random parameters according to the relation can make the decoded fidelity higher.
In this embodiment, the adder stores the encrypted data output from the adder in the histogram module in a first-in first-out manner by an address readout circuit. The address readout circuit may be a FIFO circuit. The histogram module is used for generating a comprehensive histogram corresponding to the obtained encrypted data in a histogram accumulation mode so as to determine single histograms corresponding to different pixel units according to the comprehensive histogram; the histogram is a graph comprising the distance information of the measured object and composed of a time box and corresponding signal intensity. Fig. 2 shows a statistical histogram obtained by the prior art method, and the single memory result after the histogram is accumulated after the architecture of fig. 1 is shown in fig. 3, so that the features of the original histogram can be completely randomized. The result of the encrypted single memory is output to the combined decoder, and the decoded output is shown in fig. 4 under the condition that feedback iteration is not applicable, so that the main histogram characteristics can be basically seen to be solved. Comparing the original waveform diagram 2 with the decoded waveform diagram 4, it can be seen that the histogram of the effective information is restored with low distortion, and the variability thereof is shown in fig. 5.
For example, the digital signal represents an address: bin3, then the random parameters include: 2. 3, 6 …, etc., then bin3+2+6+ … +8=bin 38, then the address of bin38 is found correspondingly, if a photon trigger is received, then the original data in bin38 performs the operation of adding 1. If the modulo adder is adopted, when the bin38 exceeds the bin31, the bin38 is converted into the bin7 according to the addition rule of modulo 31, so as to reduce the storage depth of the memory in the histogram module, that is, the storage depth is fixed at 0-bin31, and the storage capacity cannot be expanded due to adding the bin address.
In this embodiment, when the random offset generator is a quasi-orthogonal pseudo-random generator, a TDC triggers to add multiple random parameters at a time, resulting in 16 times of throughput of the readout circuit, and 16 times of count number value is outputted, which is equivalent to swapping the memory bit width for the memory depth.
In a second specific embodiment, the statistical histogram implementation apparatus of dtof may further include a random offset mask connected to the random offset generator and the adder, and configured to screen one random parameter from the generated plurality of random parameters to obtain a target random parameter, so as to encrypt the digital signal output by the time-to-digital converter through the adder based on the target random parameter.
The random offset mask selects one output from a plurality of random parameters generated at one time, and ensures that only one random parameter is generated each time and the global randomness exists through a certain random selection rule (orthogonal coding). This does not increase the read circuit throughput and greatly reduces the memory width. Compared with the original data, the peak-to-average ratio of the data is greatly reduced, the circuit cost, the implementation cost and the confidentiality are further improved, and the specific implementation architecture is shown in fig. 6. In view of the architecture of fig. 1 to be compatible, an integrated offset generation circuit (including a random offset generator and a random offset mask) may be used. With the two-fold random single memory results shown in fig. 7, it can be seen that the features of the original histogram are completely randomized and the amplitude is smaller (compared to the peak of the original statistical histogram 8), and the bit width and depth of the memory are greatly reduced. The result of the encrypted single memory is output to the combined decoder, and the decoded output is shown in fig. 9 under the condition that feedback iteration is not applicable, so that the main histogram characteristics can be basically seen to be solved. Comparing the original waveform diagram 8 with the decoded waveform diagram 9, it can be seen that the histogram of the effective information is restored with low distortion, and the variability thereof is shown in fig. 10.
In a third specific embodiment, in order to reduce the data output rate on the interface, the histogram output is required to remove the direct current component, that is, remove the direct current component in the encrypted data output by the adder, so that the memory generates the comprehensive histogram corresponding to the encrypted data after removing the direct current component by means of histogram accumulation. Fig. 11 shows the output after removal of the dc component, with a gain compression ratio of up to 15db for the above embodiment. Meanwhile, the storage space of the comprehensive array can be further mixed and connected, and block interleaving codes are randomly generated, so that the encryption compression characteristic is further improved.
In a fourth specific embodiment, the deletion performance of the random offset mask (or the gating performance of the random offset gate) may be further set by software, so as to implement dynamic gain control. Namely, an automatic gain controller connected with the random offset masker is added, and the automatic gain controller is used for carrying out automatic gain control on the random offset masker in a mode of carrying out software setting on the automatic gain controller so as to control the process of screening the target random parameters by the random offset masker. The gain of the previous frame is controlled by software, as shown in fig. 12. Comparing fig. 3 and fig. 7, the output histograms thereof differ by 16 times in dynamics.
In a fifth specific embodiment, the automatic gain controller is modified into an automatic nonlinear gain controller, that is, the automatic nonlinear gain controller is respectively connected with the random offset mask, the readout circuit and the histogram module, and is used for using the triggering times of the time-to-digital converter and/or the storage process of the memory as an input feedback signal of the automatic nonlinear gain controller to perform automatic gain control on the random offset mask so as to control the process of screening the target random parameters by the random offset mask.
By detecting the maximum value of the histogram accumulation, 1 trig, i.e. a plurality of random offset generators are used for accumulation when the accumulation starts, when the accumulation peak reaches a certain height, the performance of the masker is modified, the number of random parameters triggered simultaneously is properly reduced, when the accumulation peak is too high, a single trig is used for generating only one random parameter, and the histogram accumulation is not required to be stopped until the peak completely occupies the bit width dynamic of the storage space. The specific frame is shown in fig. 13, in which the dotted line is a feedback circuit. Considering that some systems are software for histogram accumulation (most products are currently realized by hardware), accumulated information cannot be timely fed back to an automatic gain controller, so that a feedback loop is reserved in the architecture diagram of fig. 13, and feedback control is directly performed through the triggering times. Furthermore, the gain controller may be controlled by the readout circuit in view of the throughput of the readout circuit.
It can be seen that the statistical histogram implementation apparatus dtof in the embodiment of the present application includes a plurality of time-to-digital converters, a random offset generator, an adder, and a histogram module, where each of the time-to-digital converters is configured to receive output optical signals of different pixel units connected to the time-to-digital converter and having a sharing relationship with each other, and convert the output optical signals into digital signals; the output optical signal is a signal representing the transmission distance between the signal transmitting end and the signal receiving end; the random offset generator is connected with the time-to-digital converter and is used for generating random parameters for encrypting the digital signals; the adder is respectively connected with the time-to-digital converter and the random offset generator and is used for encrypting each digital signal by utilizing the random parameters to obtain corresponding encrypted data; the histogram module is used for generating a comprehensive histogram corresponding to the obtained encrypted data in a histogram accumulation mode so as to determine single histograms corresponding to different pixel units according to the comprehensive histogram; the histogram is a graph comprising the distance information of the measured object and composed of a time box and corresponding signal intensity. According to the embodiment of the application, histogram accumulation is carried out by using the shared storage space, the consumption of the storage space is reduced, the requirement of a system on the storage space is met, and the leakage of the detected privacy information can be effectively avoided under the action of the random offset generator and the adder.
Fig. 14 is a schematic diagram of a laser radar ranging system according to an embodiment of the present application. Referring to fig. 14, the laser radar ranging system includes a laser emitting device 110, a control module 120, and the aforementioned dtof statistical histogram implementation device 130, where:
the laser emitting device 110 is configured to emit a laser beam to the measured object 140; the control module 120 is configured to control the pixel units 131 in the statistical histogram implementation device 130 of dtof to receive the laser beam reflected by the measured object, and control the time-to-digital converter 132 in the statistical histogram implementation device of dtof to receive output light signals corresponding to the reflected laser beam, which are connected to the time-to-digital converter 132, of different pixel units 131 that have a shared relationship with each other; the statistical histogram implementation device 130 of dtof is configured to measure the distance between the measured object 140 by generating a histogram.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The statistical histogram implementation device and the laser radar ranging system of dtof provided by the invention are described in detail, and specific examples are applied to illustrate the principle and the implementation of the invention, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (9)
1. A statistical histogram implementation apparatus of dtof comprising a plurality of time-to-digital converters, a random offset generator, an adder, and a histogram module, wherein:
Each time-to-digital converter is used for receiving output optical signals of different pixel units which are connected with the time-to-digital converter and have a sharing relation with each other, and converting the output optical signals into digital signals; the output optical signal is a signal representing the transmission distance between the signal transmitting end and the signal receiving end;
The random offset generator is connected with the time-to-digital converter and is used for generating random parameters for encrypting the digital signals;
The adder is respectively connected with the time-to-digital converter and the random offset generator and is used for encrypting each digital signal by utilizing the random parameters to obtain corresponding encrypted data;
The histogram module is used for generating a comprehensive histogram corresponding to the obtained encrypted data in a histogram accumulation mode so as to determine single histograms corresponding to different pixel units according to the comprehensive histogram; the histogram is a graph which consists of a time box and corresponding signal intensity and contains the distance information of the measured object;
wherein, the statistical histogram implementation device of dtof further comprises:
A random offset mask connected to the random offset generator and the adder, and configured to screen one random parameter from the generated plurality of random parameters to obtain a target random parameter, so as to encrypt the digital signal output by the time-to-digital converter through the adder based on the target random parameter;
The statistical histogram implementation device of dtof further includes:
and the automatic gain controller is connected with the random offset masker and is used for carrying out automatic gain control on the random offset masker in a mode of carrying out software setting on the automatic gain controller so as to control the process of screening the target random parameters by the random offset masker.
2. The apparatus for implementing a statistical histogram of dtof according to claim 1, further comprising:
and the combined decoder is used for decoding the comprehensive histogram so as to restore the comprehensive histogram into the single histogram corresponding to different pixel units.
3. The apparatus for implementing statistical histograms of dtof according to claim 1, wherein said adder is a modulo-domain adder modulo 2 n -1; wherein 2 n -1 is the time bin value corresponding to the furthest distance that can be detected, 2 n is the storage space length of the memory, and n is a natural number.
4. A statistical histogram implementing device according to claim 3, characterized in that each of the time-to-digital converters is connected to one of the modulo-domain adders.
5. The statistical histogram implementing device of dtof of claim 4, wherein the random offset generator generates 2n-1 of the random parameters at a time;
correspondingly, the modulo-domain adder is used for adding the digital signal converted by each time-to-digital converter with 2n-1 random parameters respectively.
6. The apparatus for implementing a statistical histogram of dtof according to claim 1, further comprising:
the time sequence controller is connected with the random offset generator and is used for controlling the time when the random offset generator generates the random parameters; the time schedule controller is controlled in a software setting mode.
7. The apparatus for implementing a statistical histogram of dtof according to claim 1, further comprising:
And the address reading circuit is connected with the adder and the histogram module and is used for storing the encrypted data output by the adder to the histogram module in a first-in first-out mode.
8. The apparatus for implementing statistical histograms of dtof as set forth in claim 7, further comprising:
And the automatic nonlinear gain controller is respectively connected with the random offset mask, the reading circuit and the histogram module and is used for controlling the random offset mask to screen out the target random parameter by taking the triggering times of the time-to-digital converter and/or the storage process of the memory as the feedback signal of the automatic nonlinear gain controller and performing automatic gain control on the random offset mask in a feedback control mode on the automatic nonlinear gain controller.
9. A lidar ranging system comprising a laser emitting device, a control module, and a statistical histogram implementation device of dtof of any one of claims 1 to 8, wherein:
the laser emission device is used for emitting laser beams to the object to be measured;
The control module is configured to control a pixel unit in the dtof statistical histogram implementation device to receive the laser beam reflected by the measured object, and control a time-to-digital converter in the dtof statistical histogram implementation device to receive output light signals corresponding to the reflected laser beam, which are connected to the time-to-digital converter, of different pixel units having a shared relationship with each other;
The statistical histogram implementation device dtof is used for measuring the distance of the measured object in a manner of generating a histogram.
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