[go: up one dir, main page]

WO2021189438A1 - Procédé et appareil de télémétrie basée sur une onde continue, et radar laser - Google Patents

Procédé et appareil de télémétrie basée sur une onde continue, et radar laser Download PDF

Info

Publication number
WO2021189438A1
WO2021189438A1 PCT/CN2020/081736 CN2020081736W WO2021189438A1 WO 2021189438 A1 WO2021189438 A1 WO 2021189438A1 CN 2020081736 W CN2020081736 W CN 2020081736W WO 2021189438 A1 WO2021189438 A1 WO 2021189438A1
Authority
WO
WIPO (PCT)
Prior art keywords
ranging
ranging result
time adjustment
adjustment amount
time
Prior art date
Application number
PCT/CN2020/081736
Other languages
English (en)
Chinese (zh)
Inventor
何一雄
Original Assignee
深圳市速腾聚创科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to CN202080004388.6A priority Critical patent/CN113811792B/zh
Priority to PCT/CN2020/081736 priority patent/WO2021189438A1/fr
Publication of WO2021189438A1 publication Critical patent/WO2021189438A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions

Definitions

  • This application relates to the field of measurement, and in particular to a continuous wave-based ranging method, device and lidar.
  • flash lidar and TOF depth camera are basically the same: by controlling the laser or LED light source to illuminate the scene, and then analyzing the flight time of the reflected light to measure the depth (distance) of the scene point.
  • the incoherent principle of flash lidar can be divided into continuous wave type and pulse type.
  • pulse or continuous wave is used to cover the entire detected scene without any scanning structure.
  • the basic principle of continuous wave flash lidar is that the outgoing light is an optical signal modulated by a carrier of a characteristic frequency, and the distance information is obtained by calculating the phase difference between the echo signal and the outgoing signal; pulsed flash lidar It can be subdivided into two types.
  • the first is the ITOF type, that is, pulse integration ranging.
  • the light source periodically emits pulse-width signals continuously and collects the echo signals in different integration time windows. The photon's ratio can be obtained through the proportional relationship. The flight time thus settles the distance information.
  • the second type is called the DTOF type, which is the same as the traditional mechanical lidar.
  • the light source is a pulsed light source with high peak power. It transmits periodic narrow pulse signals and measures the flight time of photons by detecting echo pulses. , So as to calculate the distance information.
  • flash lidar can also be based on the principle of coherence.
  • the distance calculation principle of flash lidar based on CW-TOF is to calculate the sampling amplitude value obtained by sampling multiple intervals of the echo signal in the modulation period, and calculate according to the sampling amplitude value Distance, and then the ranging accuracy in the coherent calculation will change with the change of the distance. How to improve the ranging accuracy is currently an urgent problem to be solved.
  • the technical problem to be solved by the embodiments of the present application is to provide a continuous wave-based ranging method, device, and lidar to solve the problem of low ranging accuracy when using continuous wave for ranging.
  • this application provides a continuous wave-based ranging method, including:
  • the ranging range is divided into a plurality of linear regions and a plurality of non-linear regions, the linear regions and the non-linear regions are alternately distributed; the ranging range represents The ranging range of the ranging device.
  • the ranging range is a numerical interval.
  • the endpoints of the numerical interval are the minimum ranging value and the maximum ranging value.
  • the length of the ranging range represents the difference between the maximum ranging value and the minimum ranging value.
  • the difference, the length of the ranging range is related to the ranging capability of the ranging device; the ranging range is divided into multiple linear regions and multiple non-linear regions.
  • the linear and non-linear regions are also digital, linear and non-linear regions. Alternate distribution, that is, a nonlinear zone is distributed between two linear zones. The length of the linear zone and the nonlinear zone can be equal or unequal.
  • the movement distance and the movement direction of the multiple linear regions are determined; wherein, the movement distance is the length of the multiple linear regions along the Moving in a moving direction, so that a target linear region covers the target ranging interval, and the target linear region is any one of the multiple linear regions;
  • the time adjustment amount is determined according to the movement distance and the movement direction; the time adjustment amount can be a time advance amount or a time delay amount. If it is a time advance amount, the distance measuring device is based on the preset initial transmission time If it is a time delay amount, the distance measuring device will transmit the transmitted signal according to the delay according to the preset initial transmission time;
  • the distance measurement result is corrected according to the time adjustment amount to obtain the final distance measurement result.
  • this application provides a continuous wave-based ranging device, including:
  • the processing unit is used to determine the position of the target ranging interval in the ranging range; wherein the ranging range is divided into a plurality of linear regions and a plurality of non-linear regions, and the linear regions and the non-linear regions are alternately distributed ;
  • the processing unit is further configured to determine the movement distance and movement direction of the multiple linear regions when the length of the target ranging interval is less than or equal to the length of the linear region; wherein, the movement distance is all The plurality of linear regions move along the moving direction, so that the target linear region covers the distance of the target ranging distance, and the target linear region is any one of the plurality of linear regions;
  • the processing unit is further configured to determine a time adjustment amount according to the moving distance and the moving direction;
  • An adjustment unit configured to adjust the transmission time of the transmission signal according to the time adjustment amount
  • a transmitting unit configured to transmit the transmitting signal based on the adjusted transmitting unit
  • a receiving unit configured to receive an echo signal corresponding to the transmitted signal
  • the processing unit is further configured to obtain a ranging result according to the sampling value of the echo signal, and to correct the ranging result according to the time adjustment amount to obtain a final ranging result.
  • the ranging device includes: a receiver, a transmitter, a memory, and a processor; wherein a set of program codes is stored in the memory, and the The processor is used to call the program code stored in the memory to execute the continuous wave-based ranging method described in the foregoing aspects.
  • the principle and beneficial effects of the device to solve the problem can be referred to the method implementations of the above-mentioned possible distance measuring devices and the beneficial effects brought about, so the implementation of the device can refer to the implementation of the method, and the repetitions No longer.
  • Another aspect of the present application provides a computer-readable storage medium having instructions stored in the computer-readable storage medium, which when run on a computer, cause the computer to execute the methods described in the above aspects.
  • Another aspect of the present application provides a computer program product containing instructions, which when run on a computer, causes the computer to execute the methods described in the above aspects.
  • the corresponding target ranging interval is selected according to different ranging scenarios, and the position of the target ranging interval in the ranging range preconfigured by the ranging device is determined.
  • the ranging range of the ranging device is divided into Alternately distributed multiple linear regions and multiple non-linear regions, when the length of the target ranging interval is less than the length of the linear region, the transmission time of the transmitted signal is adjusted to make a certain linear region of the multiple linear regions Completely cover the target ranging interval, and then modify the ranging result according to the time adjustment to obtain the final ranging result; since the ranging in the linear region has higher ranging accuracy, this application adopts early or delayed launch
  • the transmission time of the signal causes the target ranging interval to fall in the linear region, which solves the problem of inaccuracy in ranging caused by the ranging result falling in the non-linear region in related technologies. Therefore, the present application can improve the accuracy of ranging.
  • FIG. 1 is a schematic diagram of the principle of continuous wave measurement provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of sampling of echo signals provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of sampling of echo signals provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of the distribution of the linear region and the non-linear region provided by an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a continuous wave-based ranging method provided by an embodiment of the present application.
  • Fig. 6 is a schematic diagram of a translational linear region provided by an embodiment of the present application.
  • FIG. 7 is a structural block diagram of a distance measuring device provided by an embodiment of the present application.
  • FIG. 8 is a structural block diagram of a distance measuring device provided by an embodiment of the present application.
  • FIG. 9 is a schematic flowchart of a continuous wave-based ranging method provided by an embodiment of the present application.
  • Fig. 10 is a schematic diagram of a translational linear region provided by an embodiment of the present application.
  • FIG. 11 is a schematic flowchart of a continuous wave-based ranging method provided by an embodiment of the present application.
  • Figure 12 is a schematic diagram of a translational linear region provided by an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of a distance measuring device provided by an embodiment of the present application.
  • FIG. 14 is a schematic diagram of another structure of a distance measuring device provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of the principle of distance measurement based on continuous waves provided by this application.
  • the distance measuring device can measure the distance of the target object based on the principle of CW-TOF (Continues Wavelength-Time of Flight).
  • the ranging device is provided with a transmitter and a receiver, the transmitter is used to transmit a continuous transmission signal to the target object, and the receiver is used to receive the echo signal formed by the transmission signal encountering the target object.
  • the types of transmitted signals and echo signals include, but are not limited to, optical signals, sound signals, or high-frequency signals.
  • the distance measuring device may be a flash laser radar, an ultrasonic rangefinder, or a high-frequency radar.
  • the transmitter may be a laser light source, such as an LED light source or a VCSEL light source
  • the receiver is a CMOS receiver.
  • Equation 1 the expression of the transmitted signal s(t) in the time domain is shown in Equation 1:
  • Equation 2 The expression of the echo signal in the time domain is shown in Equation 2:
  • r(t) Acos(2 ⁇ ft-2 ⁇ f ⁇ )+B.
  • f is the modulation frequency of the transmitted signal
  • ⁇ is the delay time between the transmitted signal and the echo signal
  • a 2 is the modulation amplitude of the transmitted signal
  • A is the amplitude of the echo signal
  • B is the offset of the echo signal due to the interference of background noise.
  • the modulation period of the transmitted signal s(t) is 2 ⁇
  • the offset B, amplitude A and phase difference ⁇ in the echo signal r(t) can be calculated.
  • phase difference ⁇ is shown in formula 5:
  • Equation 6 The amplitude A is shown in Equation 6:
  • the offset B is shown in formula 7:
  • the inventor found through analysis that there is a problem that the measurement accuracy varies with the distance in the above-mentioned process of calculating the distance value d between the distance measuring device and the target object.
  • the specific reasons are as follows:
  • Equation 8 the value of is close to 0.
  • the resolution of the ADC (analog-to-digital converter) as the sampler in the ranging device limits the calculation accuracy of the distance value d, and C 3 and C 1 are affected by The slight interference of the noise signal will also cause the calculation result of the distance value d to change drastically.
  • phase difference ⁇ [1 ⁇ /8,3 ⁇ /8] ⁇ [5 ⁇ /8,7 ⁇ /8] ⁇ [9 ⁇ /8,11 ⁇ /8] ⁇ [13 ⁇ /8,15 ⁇ /8] belongs to the linear region; Phase difference ⁇ [0,1 ⁇ /8] ⁇ [3 ⁇ /8,5 ⁇ /8] ⁇ [7 ⁇ /8,9 ⁇ /8] ⁇ [11 ⁇ /8,13 ⁇ /8] ⁇ [15 ⁇ /8,2 ⁇ ] Belongs to the nonlinear region; the linear region and the nonlinear region are completely complementary. As shown in Figure 4, the range [0,c/2f] is divided into 4 linear regions and 5 non-linear regions.
  • the target distance value (ie actual distance value) between the ranging device and the target object falls in the linear region
  • the accuracy of the distance value d calculated according to formula 8 will be higher; when the target distance value between the ranging device and the target object falls in the non-linear region, the accuracy of the distance value d calculated according to formula 8 Will be lower.
  • the length of the linear region and the length of the non-linear region in FIG. 4 are equal.
  • an embodiment of the present application proposes a continuous wave-based ranging method, which can ensure that the ranging result always falls in the linear region, thereby improving the accuracy of the ranging result.
  • FIG. 5 is a continuous wave-based ranging method provided by an embodiment of the present application. The method includes but is not limited to the following steps:
  • S501 Determine the position of the target ranging interval in the ranging range.
  • the ranging device is pre-stored or pre-configured with the configuration information of the ranging range according to the initial design parameters.
  • the configuration information indicates the distribution positions of multiple linear regions and multiple non-linear regions in the ranging range, multiple linear regions and multiple Periodic alternating distribution between non-linear regions.
  • the ranging range represents the ranging range of the ranging device.
  • the target ranging interval is a numerical interval, the target ranging interval is a subset of the ranging range, that is, the target ranging interval belongs to the ranging range; the target ranging interval is related to the ranging application scenario, for example: in the face recognition scene In, the target ranging interval is [10cm, 200cm]; in the near-field detection scenario of automatic driving, the target ranging interval is [0m, 10m], and the user can set different target ranging intervals according to different ranging application scenarios.
  • the minimum value of the target ranging interval may be 0 or not, which is not limited in the embodiment of the present application.
  • the target ranging interval can be located at any position in the ranging range, for example: the minimum value of the target ranging interval is equal to the minimum value of the ranging range, at this time the target ranging interval and the left side of the ranging range coincide; the target ranging The interval can be located in the middle of the ranging range; or the target ranging interval and the right side of the ranging range overlap.
  • the ranging range may include one target ranging interval or multiple target ranging intervals.
  • the ranging range of the ranging device is from 0 to d_max, and the ranging device obtains the distribution of multiple linear regions in the ranging range according to the pre-configured or pre-stored configuration information Position, the ranging range includes 4 linear regions (gray squares) and 5 nonlinear regions.
  • the nonlinear region is the region between the two linear regions; the lengths of the 4 linear regions are all equal, and the distance between each linear region The intervals are equal.
  • the target ranging interval is the ROI (range of interest, field of view) region in Figure 6, and the ROI region overlaps the left side of the ranging range.
  • the ranging device calculates the length of the target ranging interval, the length of the target ranging interval represents the difference between the maximum value and the minimum value of the target ranging interval, for example: the target ranging interval is [10cm, 50cm], then the target The distance from the interval is 40cm.
  • the distance measuring device compares the size between the length of the target ranging interval and the length of the linear region, and when the length of the target ranging interval is less than or equal to the length of the linear region, determines the movement distance and movement of multiple linear regions in the ranging range direction.
  • the moving distance is used to translate multiple linear regions as a whole, and the direction of movement is the direction of the overall translation of multiple linear regions.
  • the direction can be leftward translation (that is, the direction from the maximum value to the minimum value of the ranging range) or rightward translation (That is, the direction from the minimum to the maximum of the ranging range); after multiple linear regions move according to the moving direction and moving distance, the target linear regions in the multiple linear regions will cover the target ranging interval.
  • determining the movement distance and the movement direction of the multiple linear regions includes:
  • the moving direction is to move to the left.
  • the target linear zone is the linear zone located on the right side of the target ranging interval and closest to the target ranging interval.
  • the ranging device calculates the distance between the target ranging interval and the target linear zone, and calculates the obtained distance As the moving distance.
  • the length of the ROI region is less than the length of the linear region, and the first linear region in the ranging range is the closest target linear region to the right from the ROI region.
  • the ROI region and the first linear region The distance between the two linear regions is ⁇ d 0 , then ⁇ d 0 is the moving distance, and the moving direction of multiple linear regions is leftward. It can be seen from Figure 6 (bottom): Shift to the left by ⁇ d 0 , the first linear region among multiple linear regions will cover the ROI area.
  • determining the movement distance and the movement direction of the multiple linear regions includes:
  • the direction of movement is to move to the right.
  • the target linear zone is the linear zone located on the left of the target ranging area and closest to the target ranging interval.
  • the ranging device calculates the distance between the target ranging interval and the target linear zone, and calculates the obtained distance As the moving distance.
  • the distance measuring device calculates the distance between the ROI region and the target linear region, and the distance is the moving distance.
  • S503 Determine a time adjustment amount according to the moving distance and the moving direction.
  • the time adjustment amount is determined according to the movement distance, the movement direction and the speed of light calculated in S502.
  • the time adjustment amount is the time delay; when the movement direction is rightward movement, the time adjustment amount is Time advance.
  • ⁇ d 2 ⁇ d/c; where ⁇ d is the moving distance, c is the speed of light, and ⁇ d is the time adjustment; when the moving direction is leftward, the time adjustment can be negative; when the moving direction is rightward When the time, the time adjustment amount can be a positive value.
  • S504 Adjust the transmission time of the transmission signal according to the time adjustment amount, and transmit the transmission signal based on the adjusted transmission time.
  • the ranging device is pre-configured or pre-stored with the initial transmission time t0.
  • the time adjustment is the time delay amount
  • the ranging device transmits the transmission signal at t0+ ⁇ d , that is, the ranging device transmits the transmission signal with a delay of ⁇ d .
  • the time adjustment amount is the time advance amount
  • the ranging device transmits the transmission signal at the time t0- ⁇ d , that is, the ranging device transmits the transmission signal ahead of ⁇ d .
  • the time adjustment unit may be used to delay or advance the transmission time of the transmitted signal.
  • the time adjustment unit may be arranged on-chip of the processor or outside of the processor.
  • the embodiments of this application are not limited.
  • the time adjustment unit can shift the phase of the driving signal of the transmission signal to fix the phase difference between the transmission signal and the echo signal, thereby achieving the purpose of advancing or delaying the transmission of the transmission signal.
  • the time adjustment unit is a controllable delay line (DLL).
  • the controllable delay line is used to delay the electrical signal for a period of time elements or element groups, transmit signals and return signals.
  • the wave signal is an optical signal.
  • the controllable delay line is set inside the CW-TOF chip.
  • the clock signal generated by the clock module of the CW-TOF chip is delayed by the controllable delay line and then reaches the emission drive.
  • the emission drive generates a drive signal to drive the emission module.
  • the time delay of the controllable delay line can be determined by an external control module, and the external control module can be implemented based on an FPGA or a processor.
  • the receiving module receives the echo optical signal corresponding to the optical signal, the detector converts the echo optical signal into an electrical signal, and the CW-TOF chip generates a depth image from the electrical signal.
  • the drive signal generated by the emission drive is delayed by an external controllable delay line before reaching the emission module (LED or VCSEL light source).
  • the drive signal drives the emission module to emit light signals, and the time delay of the delay line can be controlled. It is also determined by the external control module, which can be implemented based on FPGA or ARM.
  • S505 Receive an echo signal corresponding to the transmitted signal, and obtain a ranging result according to the sampling value of the echo signal.
  • the sampling value of the echo signal to obtain the ranging result please refer to the formula 8 Since the transmitted signal is time-adjusted, the phase and amplitude of the C 0 ⁇ C 3 sampling points on the echo signal will change. The result is that the linear region moves to the left or to the right as a whole to cover the target measurement. Distance area.
  • the transmitted signal is transmitted in advance or delayed
  • the flight time measured by the ranging device will change relative to the actual flight time.
  • the ranging device corrects the ranging result according to the time adjustment to obtain an accurate final ranging result.
  • the moving direction is a direction from the maximum value to the minimum value of the ranging range, that is, moving to the left, and the time adjustment amount is a time delay amount;
  • the correcting the ranging result according to the time adjustment amount to obtain the final ranging result includes:
  • the final ranging result is calculated according to the following formula:
  • d2 dc ⁇ d /2; where d2 is the final ranging result, d is the ranging result, c is the speed of light, and ⁇ d is the time delay amount.
  • the moving direction is a direction from a minimum value to a maximum value of the ranging range, that is, moving to the right, and the time adjustment amount is a time advance;
  • the correcting the ranging result according to the time adjustment amount to obtain the final ranging result includes:
  • the final ranging result is calculated according to the following formula:
  • d2 d+c ⁇ d /2; where d2 is the final ranging result, d is the ranging result, c is the speed of light, and ⁇ d is the time advance.
  • the corresponding target ranging interval is selected according to different ranging scenarios, and the position of the target ranging interval in the ranging range pre-configured by the ranging device is determined.
  • the ranging range of the ranging device is divided into alternate When the length of the target ranging interval is less than the length of the linear area, the transmission time of the transmitted signal is adjusted to make a certain linear area of the multiple linear areas complete.
  • this application advances or delays the transmission time of the transmitted signal Make the target ranging interval fall in the linear region, and solve the problem of inaccurate ranging caused by the ranging result falling in the non-linear region in the related technology. Therefore, the present application can improve the accuracy of the ranging.
  • FIG. 9 another schematic flowchart of a continuous wave-based ranging method provided by an embodiment of this application, the method includes:
  • the ranging device calculates the length of the target ranging interval, the length of the target ranging interval represents the difference between the maximum value and the minimum value of the target ranging interval, for example: the target ranging interval is [0m ⁇ 10m], then the target range The distance from the interval is 10m.
  • the distance measuring device compares the size between the length of the target ranging interval and the length of the linear zone. When the length of the target ranging interval is larger than the length of the linear zone, the first moving distance and the moving direction are determined, so the linear zone cannot completely cover the target.
  • Ranging interval The target ranging interval may be a part of the ranging range, or may be equivalent to the ranging range, which is not limited in the embodiment of the present application.
  • the first movement distance is the distance that the multiple linear regions move along the movement direction, and the movement direction may be leftward movement or rightward movement.
  • the first moving distance may be the distance between the target ranging area and a linear area to be aligned to the left or right.
  • the first time adjustment ⁇ d1 2 ⁇ d1/c, when the moving direction is leftward, the first time adjustment is the time delay, and the first time adjustment can be negative Value; when the moving direction is rightward, the first time adjustment is the time advance, and the first time adjustment can be a positive value.
  • S904 Adjust the transmission time of the first transmission signal according to the first time adjustment amount, and transmit the first transmission signal based on the adjusted transmission time.
  • the ranging device is pre-configured or pre-stored with the initial transmission time t01.
  • the ranging device transmits the first transmission signal at t01+ ⁇ d1 , that is, the ranging device delays ⁇ d1
  • the distance measuring device transmits the first transmission signal at the time t01- ⁇ d1 , that is, the distance measuring device transmits the first transmission signal ahead of the time ⁇ d1 .
  • the first transmitted signal forms a first echo signal after encountering the target object, and the ranging device receives the first echo signal.
  • the ranging device generates a depth map according to the first echo signal.
  • the depth map includes the ranging result of each pixel.
  • the ranging result can be calculated by referring to Formula 8.
  • the ranging device filters out multiple linear regions from the depth map.
  • the ranging result in, the ranging result selected according to the screening is recorded as the first ranging result.
  • the target ranging interval is the ROI region, and the length of the ROI region is greater than the length of the linear region. If the linear region in Figure 10 (top) moves to the left as a whole When ⁇ d1, correspondingly, the transmission time of the first transmission signal needs to be delayed by ⁇ d1 . In other words, the distribution position of the linear region shown in FIG. 10 (above) can be realized after the first transmission signal is delayed by ⁇ d1.
  • the distance measuring device After the distance measuring device generates a depth map according to the first echo signal, according to the distance measurement results of each pixel in the depth map, the distance measurement that falls into the second linear zone and the third linear zone in Figure 10 (above) is filtered out The result is recorded as the first ranging result.
  • the first time adjustment amount is a time delay amount
  • the first distance measurement of each pixel in the first depth map according to the first time adjustment amount The results were revised to include:
  • d2 d1-c ⁇ d1 /2; where d2 is the final ranging result of pixels in the first depth map, and d1 is the ranging result of pixels in the first depth map (first ranging result) , C is the speed of light, ⁇ d1 is the first time adjustment amount, and the distance measurement results of all pixels in the first depth map are corrected by the above formula.
  • the moving direction of the first moving distance and the second moving distance can be the same, that is, when the moving direction of the first moving distance is moving to the left, the moving direction of the second moving distance is also moving to the left; the moving of the first moving distance When the direction is rightward movement, the movement direction of the second movement distance is also rightward movement.
  • the second moving distance is the distance that the multiple linear regions continue to move along the moving direction; the sum of the first moving distance and the second moving distance is equal to the length of the non-linear region, so Through the movement of the first movement distance and the movement of the second movement distance, the linear region can completely cover the target ranging interval after two movement processes.
  • the directions of the first movement distance and the second movement distance may also be different, and it is only necessary to ensure that after the movement, the linear zone can completely cover the target ranging interval.
  • the moving direction of the first moving distance is moving to the left, and the moving direction of the second moving distance is moving to the right; or the moving direction of the first moving distance is moving to the right, and the moving direction of the second moving distance is moving to the left.
  • the absolute value of the difference between the first moving distance and the second moving distance is equal to a positive odd multiple of the length of the nonlinear zone.
  • the first movement distance is ⁇ d1
  • the second movement distance is ⁇ d2
  • the length of the nonlinear zone is L, then
  • A ⁇ L, and A is an odd number greater than or equal to 1.
  • Figure 10 (bottom) the second moving distance is ⁇ d2.
  • Figure 10 (top) On the basis of Figure 10 (top), continue to move the linear region in Figure 10 (top) to the left after ⁇ d2.
  • the distribution positions of multiple linear regions are shown in Figure 10 (bottom). It can be seen that the linear region in Figure 10 (top) covers a part of the ROI region, and the linear region in Figure 10 (bottom) covers another part of the ROI region.
  • the linear regions after stitching in Figure 10 (top) and Figure 10 (bottom) realize the coverage of the entire ROI area.
  • S909 Determine a second time adjustment amount according to the second moving distance and the moving direction.
  • the second time adjustment ⁇ d2 2 ⁇ d2/c, when the moving direction is leftward, the second time adjustment is the time delay, and the second time adjustment can be a negative value;
  • the second time adjustment amount is the time advance amount, and the second time adjustment amount may be a positive value.
  • S910 Adjust the transmission time of the second transmission signal according to the second time adjustment amount, and transmit the second transmission signal based on the adjusted transmission time.
  • the process of S912 is similar to the process of generating the second ranging result in S906. For details, please refer to the description of S906.
  • the correction is calculated according to the following formula:
  • d4 d3-c ⁇ d2 /2; where d4 is the final ranging result of pixels in the second depth map, d3 is the ranging result of pixels in the second depth map (second ranging result), and c is The speed of light, ⁇ d2 is the second time adjustment.
  • d4 d3+c ⁇ d2 /2; where d4 is the final ranging result of pixels in the second depth map, d3 is the ranging result of pixels in the second depth map (second ranging result), c Is the speed of light, and ⁇ d2 is the second time adjustment.
  • the distance measurement results of each pixel in the first depth map and the second depth map fall into the linear region, so the final distance measurement results of each pixel in the first depth map and the second depth map are The accuracy is high, and the fusion depth map can accurately represent the environment in the field of view.
  • FIG. 11 is a schematic flowchart of a continuous wave-based ranging method provided in an embodiment of this application.
  • the method includes:
  • S1101 Determine the position of the target ranging interval in the ranging range.
  • the distance measuring device pre-stores or pre-configures the initial transmission time of the first transmission signal, and transmits the first transmission signal based on the preset initial transmission time.
  • the ranging device generates a depth map according to the first echo signal.
  • the depth map includes the ranging result of each pixel.
  • the ranging result can be calculated by referring to Formula 8.
  • the ranging device filters out multiple linear regions from the depth map.
  • the ranging result in is recorded as the first ranging result.
  • the moving distance represents the distance of the multiple linear regions moving along the moving direction, and the moving distance is equal to a positive odd multiple of the length of the non-linear area. Further optionally, the moving distance is equal to the length of the non-linear area. length.
  • the moving direction may be left or right, and the process of moving left or right can refer to the description of the embodiment in FIG. 9.
  • the ranging device transmits the first transmission signal, no time adjustment is performed, and the distribution position of the linear zone is shown in Fig. 12 (above); the second transmission signal transmitted by the ranging device is delayed by ⁇ d
  • the length of time, after the delay is equivalent to the length of the linear region shifted to the left of the non-linear region in Fig. 12 (top), and the distribution position of the linear region after the shift is shown in Fig. 12 (bottom).
  • the linear region in Figure 12 (top) covers a part of the ROI region
  • the linear region in Figure 12 (bottom) covers another part of the ROI region
  • the linear region after stitching in Figure 12 (top) and Figure 12 (bottom) Achieved coverage of the entire ROI area
  • the calculation process of the time adjustment amount can refer to the description of S909 in FIG. 9, which will not be repeated this time.
  • S1107 Adjust the transmission time of the second transmission signal according to the time adjustment amount, and transmit the second transmission signal based on the adjusted transmission time.
  • the multiple linear regions are obtained after translation according to the moving distance and the moving direction.
  • the moving direction is a direction from the maximum value to the minimum value of the ranging range
  • the time adjustment amount is a time delay amount
  • the correcting the second ranging result according to the time adjustment amount includes:
  • d2 dc ⁇ d /2; where d2 is the final ranging result of the pixel in the second depth map, d is the ranging result of the pixel in the second depth map (second ranging result), c Is the speed of light, and ⁇ d is the time adjustment amount.
  • the moving direction is a direction from a minimum value to a maximum value of the ranging range
  • the time adjustment amount is a time advance
  • the correcting the second ranging result according to the time adjustment amount includes:
  • d2 d+c ⁇ d /2; where d2 is the final ranging result of the pixel in the second depth map, and d is the ranging result of the pixel in the second depth map (second ranging result) , C is the speed of light, and ⁇ d is the time adjustment amount.
  • the distance measurement results of each pixel in the first depth map and the second depth map fall into the linear region, so the final distance measurement results of each pixel in the first depth map and the second depth map are The accuracy is high, and the fusion depth map can accurately represent the environment in the field of view.
  • the foregoing describes in detail a continuous wave-based ranging method according to an embodiment of the present application.
  • the following provides a continuous wave-based ranging device (hereinafter referred to as device 13) according to an embodiment of the present application.
  • the device 13 shown in FIG. 13 can implement the continuous wave-based ranging method in the embodiments shown in FIGS. 1-12.
  • the device 13 includes a processing unit 1301, a time adjustment unit 1302, and a transmission unit 1303. And the receiving unit 1304.
  • the processing unit 1301 is used to determine the position of the target ranging interval in the ranging range; wherein, the ranging range is divided into a plurality of linear regions and a plurality of non-linear regions, the linear regions and the non-linear regions alternate distributed;
  • the processing unit 1301 is further configured to determine the moving distance and the moving direction of the multiple linear areas when the length of the target ranging interval is less than or equal to the length of the linear area; wherein, the moving distance is The plurality of linear regions move along the moving direction, so that the target linear region covers the distance of the target ranging distance, and the target linear region is any one of the plurality of linear regions;
  • the processing unit 1301 is further configured to determine a time adjustment amount according to the moving distance and the moving direction;
  • the time adjustment unit 1302 is configured to adjust the transmission time of the transmission signal according to the time adjustment amount
  • the transmitting unit 1303 is configured to transmit the transmitting signal based on the adjusted transmitting unit
  • the receiving unit 1304 is configured to receive the echo signal corresponding to the transmitted signal
  • the processing unit 1301 is further configured to obtain a ranging result according to the sampling value of the echo signal, and to correct the ranging result according to the time adjustment amount to obtain a final ranging result.
  • the target linear region is a linear region closest to the target ranging interval.
  • the moving direction is a direction along the maximum value to the minimum value of the ranging range, and the time adjustment amount is a time delay amount;
  • the correcting the ranging result according to the time adjustment amount to obtain the final ranging result includes:
  • the final ranging result is calculated according to the following formula:
  • d2 dc ⁇ d /2; where d2 is the final ranging result, d is the ranging result, c is the speed of light, and ⁇ d is the time delay amount.
  • the moving direction is a direction from a minimum value to a maximum value of the ranging range
  • the time adjustment amount is a time advance
  • the correcting the ranging result according to the time adjustment amount to obtain the final ranging result includes:
  • the final ranging result is calculated according to the following formula:
  • d2 d+c ⁇ d /2; where d2 is the final ranging result, d is the ranging result, c is the speed of light, and ⁇ d is the time advance.
  • the processing unit 1301 is further configured to: when the length of the target ranging interval is greater than the length of the linear region, determine a first movement distance and a movement direction; wherein, the first movement distance is the multiple The moving distance of each linear zone along the moving direction;
  • the time adjustment unit 41302 is further configured to: adjust the transmission time of the first transmission signal according to the first time adjustment amount, and instruct the transmission unit 1303 to transmit the first transmission signal based on the adjusted transmission time;
  • the receiving unit 1304 is further configured to: receive a first echo signal corresponding to the first transmit signal;
  • the processing unit 1301 is further configured to: obtain a ranging result according to the sampling value of the first echo signal, filter out the ranging result falling in the multiple linear regions from the ranging result, and record it Is the first ranging result;
  • the second moving distance is the distance that the plurality of linear regions continue to move along the moving direction; the absolute value of the difference between the first moving distance and the second moving distance Equal to a positive odd multiple of the length of the nonlinear zone;
  • the time adjustment unit 1302 is further configured to: adjust the transmission time of the second transmission signal according to the second time adjustment amount, and transmit the second transmission signal based on the adjusted transmission time through the transmission unit 1303;
  • the receiving unit 1304 is further configured to: receive a second echo signal corresponding to the second transmission signal;
  • the processing unit 1301 is further configured to: obtain a ranging result according to the sampling value of the second echo signal, filter out the ranging result falling in the multiple linear regions from the ranging result, and record it Is the second ranging result;
  • the moving direction is a direction along the maximum value to the minimum value of the ranging range, and the first time adjustment amount and the second time adjustment amount are time delay amounts;
  • the correcting the ranging result according to the first time adjustment amount includes:
  • d2 d1-c ⁇ d1 /2; where d2 is the final ranging result of the pixel in the first depth map, d1 is the ranging result of the pixel in the first depth map, c is the speed of light, and ⁇ d1 Is the first time adjustment amount;
  • correcting the second ranging result according to the second time adjustment amount includes:
  • d4 d3-c ⁇ d2 /2; where d4 is the final ranging result of the pixel in the second depth map, d3 is the ranging result of the pixel in the second depth map, c is the speed of light, and ⁇ d2 is the second Time adjustment amount.
  • the moving direction is a direction from a minimum value to a maximum value of the ranging range, and the first time adjustment amount and the second time adjustment amount are time advances;
  • the correcting the ranging result according to the first time adjustment amount includes:
  • d2 d1+c ⁇ d1 /2; where d2 is the final ranging result of the pixel in the first depth map, d1 is the ranging result of the pixel in the first depth map, c is the speed of light, and ⁇ d1 Is the first time adjustment amount;
  • correcting the second ranging result according to the second time adjustment amount includes:
  • d4 d3+c ⁇ d2 /2; where d4 is the final ranging result of the pixel in the second depth map, d3 is the ranging result of the pixel in the second depth map, c is the speed of light, and ⁇ d2 is the first Two time adjustments.
  • it also includes:
  • the processing unit 1301 is further configured to transmit a first transmission signal based on a preset initial transmission time through the transmission unit 1303 when the length of the target ranging interval is greater than the length of the linear region;
  • the receiving unit 1203 is further configured to receive the first echo signal corresponding to the first transmission signal
  • the processing unit 1301 is further configured to: obtain a ranging result according to the sampling value of the first echo signal, filter out the ranging result falling in the multiple linear regions from the ranging result, and record it Is the first ranging result;
  • Determining a moving distance and a moving direction wherein the moving distance represents the distance of the multiple linear regions moving along the moving direction, and the moving distance is equal to a positive odd multiple of the length of the non-linear region;
  • the time adjustment unit 1302 is further configured to adjust the transmission time of the second transmission signal according to the time adjustment amount, and transmit the second transmission signal based on the adjusted transmission time through the transmission unit 11303;
  • the receiving unit 1304 is further configured to: receive a second echo signal corresponding to the second transmission signal;
  • the processing unit 1301 is further configured to: obtain a ranging result according to the sampling value of the second echo signal, filter out the ranging result falling in the multiple linear regions from the ranging result, and record it Is the second ranging result;
  • the moving direction is a direction along the maximum value to the minimum value of the ranging range, and the time adjustment amount is a time delay amount;
  • the correcting the second ranging result according to the time adjustment amount includes:
  • d2 dc ⁇ d /2; where d2 is the final ranging result of the pixel in the second depth map, d is the ranging result of the pixel in the second depth map, c is the speed of light, and ⁇ d is the result The amount of time adjustment.
  • the moving direction is a direction from a minimum value to a maximum value of the ranging range
  • the time adjustment amount is a time advance
  • the correcting the second ranging result according to the time adjustment amount includes:
  • d2 d+c ⁇ d /2; where d2 is the final ranging result of the pixel in the second depth map, d is the ranging result of the pixel in the second depth map, c is the speed of light, and ⁇ d Adjust the amount for the time.
  • the target ranging interval and the ranging range are the same.
  • the device 13 may be a ranging device, and the device 13 may also be a field-programmable gate array (FPGA), a dedicated integrated chip, or a system on chip (SoC) that implements related functions.
  • FPGA field-programmable gate array
  • SoC system on chip
  • CPU Central processor unit
  • NP network processor
  • NP digital signal processing circuit
  • microcontroller microcontroller unit
  • MCU microcontroller unit
  • PLD programmable logic device
  • the foregoing describes in detail a continuous wave-based ranging method according to an embodiment of the present application.
  • the following provides a continuous wave-based ranging device (hereinafter referred to as device 14) according to an embodiment of the present application.
  • FIG. 14 is a schematic diagram of a device structure provided by an embodiment of the application, hereinafter referred to as device 14, which may be integrated in a flash radar. As shown in FIG. 14, the device includes: a memory 1402, a processor 1401, a transmitter 1404, and The receiver 1403.
  • the memory 1402 may be an independent physical unit, and may be connected to the processor 1401, the transmitter 1404, and the receiver 1403 through a bus.
  • the memory 1402, the processor 1401, the transmitter 1404, and the receiver 1401 may also be integrated together, implemented by hardware, and so on.
  • the transmitter 1404 may be a laser light source for emitting laser signals.
  • the transmitter 1404 is an LED laser or a VCSEL light source.
  • the receiver 1403 may be a CMOS receiver for receiving echo signals, and the echo signals are laser signals.
  • the memory 1402 is used to store a program that implements the above method embodiment or each module of the device embodiment, and the processor 1401 calls the program to execute the operation of the above method embodiment.
  • the device may also only include a processor.
  • the memory for storing the program is located outside the device, and the processor is connected to the memory through a circuit/wire for reading and executing the program stored in the memory.
  • the processor may be a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP.
  • CPU central processing unit
  • NP network processor
  • the processor may further include a hardware chip.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.
  • the memory may include volatile memory (volatile memory), such as random-access memory (RAM); the memory may also include non-volatile memory (non-volatile memory), such as flash memory (flash memory) , A hard disk drive (HDD) or a solid-state drive (solid-state drive, SSD); the memory may also include a combination of the foregoing types of memory.
  • volatile memory such as random-access memory (RAM)
  • non-volatile memory such as flash memory (flash memory)
  • flash memory flash memory
  • HDD hard disk drive
  • solid-state drive solid-state drive
  • the sending unit or transmitter executes the steps sent by the foregoing method embodiments
  • the receiving unit or receiver executes the steps received by the foregoing method embodiments
  • other steps are executed by other units or processors.
  • the sending unit and the receiving unit can form a transceiver unit
  • the receiver and transmitter can form a transceiver.
  • the embodiment of the present application also provides a computer storage medium storing a computer program, and the computer program is used to execute the continuous wave-based ranging method provided in the foregoing embodiment.
  • the embodiment of the present application also provides a computer program product containing instructions, which when running on a computer, causes the computer to execute the continuous wave-based ranging method provided in the foregoing embodiment.
  • this application can be provided as methods, systems, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Data Mining & Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un procédé et un appareil de télémétrie basée sur une onde continue (13, 14), et un radar laser. Le procédé comprend les étapes consistant à : établir des intervalles de télémétrie cibles en fonction d'un scénario de télémétrie, déterminer la quantité d'ajustement temporel en fonction des intervalles de télémétrie cibles et des positions de ceux-ci dans la plage de mesure, et retarder ou avancer le temps d'émission d'un signal d'émission en fonction de la quantité d'ajustement temporel, pour que tous les intervalles de télémétrie cibles tombent dans des régions linéaires. De cette manière, le procédé améliore la précision de la télémétrie.
PCT/CN2020/081736 2020-03-27 2020-03-27 Procédé et appareil de télémétrie basée sur une onde continue, et radar laser WO2021189438A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202080004388.6A CN113811792B (zh) 2020-03-27 2020-03-27 基于连续波的测距方法、装置和激光雷达
PCT/CN2020/081736 WO2021189438A1 (fr) 2020-03-27 2020-03-27 Procédé et appareil de télémétrie basée sur une onde continue, et radar laser

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/081736 WO2021189438A1 (fr) 2020-03-27 2020-03-27 Procédé et appareil de télémétrie basée sur une onde continue, et radar laser

Publications (1)

Publication Number Publication Date
WO2021189438A1 true WO2021189438A1 (fr) 2021-09-30

Family

ID=77890775

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/081736 WO2021189438A1 (fr) 2020-03-27 2020-03-27 Procédé et appareil de télémétrie basée sur une onde continue, et radar laser

Country Status (2)

Country Link
CN (1) CN113811792B (fr)
WO (1) WO2021189438A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118191860A (zh) * 2024-05-16 2024-06-14 天津宜科自动化股份有限公司 一种基于脉冲的多周期测量方法、电子设备及存储介质
CN119148112A (zh) * 2024-11-12 2024-12-17 北京海卓同创科技有限公司 多波束声呐工作参数的控制方法及装置

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021011469A1 (fr) 2019-07-12 2021-01-21 Artis Llc Capteur de temps de vol en microsecondes (mtof)
WO2023235404A1 (fr) * 2022-05-31 2023-12-07 Preact Technologies, Inc. Utilisation d'échantillons à temps intégré de formes d'onde de retour pour activer un lidar à onde continue défini par logiciel
CN117607884B (zh) * 2024-01-24 2024-04-02 中国科学院长春光学精密机械与物理研究所 基于互相关算法的激光雷达系统的测距方法及测距系统

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1117315A (zh) * 1993-08-11 1996-02-21 国际电信卫星组织 短脉冲单音测距处理系统和方法
CN102378920A (zh) * 2009-02-27 2012-03-14 松下电工株式会社 测距设备
CN102590808A (zh) * 2012-01-12 2012-07-18 重庆大学 基于载波调制原理的多测尺微波相位测距方法
CN102650689A (zh) * 2012-05-17 2012-08-29 中国路桥工程有限责任公司 一种步进频率脉冲雷达位移测量方法
US20150331109A1 (en) * 2012-12-21 2015-11-19 Magiq Technologies, Inc System and method for high-precision optical measurement of distances
CN105738890A (zh) * 2016-02-25 2016-07-06 沈阳承泰科技有限公司 一种提升雷达的测量范围和测量精度的方法以及雷达
CN106772414A (zh) * 2016-10-14 2017-05-31 北醒（北京）光子科技有限公司 一种提高tof相位法测距雷达测距精度的方法
CN110596726A (zh) * 2019-11-18 2019-12-20 深圳市迈测科技股份有限公司 一种通过激光测量待测目标距离的方法和装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19521771A1 (de) * 1995-06-20 1997-01-02 Jan Michael Mrosik FMCW-Abstandsmeßverfahren
DE102004062023B4 (de) * 2004-12-23 2021-12-23 Robert Bosch Gmbh Radarsystem zur Überwachung von Zielen in verschiedenen Entfernungsbereichen
EP2128561B1 (fr) * 2008-05-28 2014-10-29 Leica Geosystems AG Procédé de mesure de distance interférométrique doté d'un signal de Chirp décalé et dispositif correspondant
CN101655563B (zh) * 2008-08-21 2012-07-04 金华市蓝海光电技术有限公司 一种高精度、低功耗激光测距的方法及其装置
CN110488595B (zh) * 2019-08-29 2020-10-13 北京理工大学 一种用于调频连续波雷达时差测距的时间数字转换器
CN110749898B (zh) * 2019-10-18 2022-05-27 深圳奥锐达科技有限公司 一种激光雷达测距系统及其测距方法
CN110764074B (zh) * 2019-10-30 2022-06-10 湖南迈克森伟电子科技有限公司 Fmcw调频源信号产生模块及延时控制方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1117315A (zh) * 1993-08-11 1996-02-21 国际电信卫星组织 短脉冲单音测距处理系统和方法
CN102378920A (zh) * 2009-02-27 2012-03-14 松下电工株式会社 测距设备
CN102590808A (zh) * 2012-01-12 2012-07-18 重庆大学 基于载波调制原理的多测尺微波相位测距方法
CN102650689A (zh) * 2012-05-17 2012-08-29 中国路桥工程有限责任公司 一种步进频率脉冲雷达位移测量方法
US20150331109A1 (en) * 2012-12-21 2015-11-19 Magiq Technologies, Inc System and method for high-precision optical measurement of distances
CN105738890A (zh) * 2016-02-25 2016-07-06 沈阳承泰科技有限公司 一种提升雷达的测量范围和测量精度的方法以及雷达
CN106772414A (zh) * 2016-10-14 2017-05-31 北醒（北京）光子科技有限公司 一种提高tof相位法测距雷达测距精度的方法
CN110596726A (zh) * 2019-11-18 2019-12-20 深圳市迈测科技股份有限公司 一种通过激光测量待测目标距离的方法和装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118191860A (zh) * 2024-05-16 2024-06-14 天津宜科自动化股份有限公司 一种基于脉冲的多周期测量方法、电子设备及存储介质
CN119148112A (zh) * 2024-11-12 2024-12-17 北京海卓同创科技有限公司 多波束声呐工作参数的控制方法及装置

Also Published As

Publication number Publication date
CN113811792A (zh) 2021-12-17
CN113811792B (zh) 2023-08-04

Similar Documents

Publication Publication Date Title
WO2021189438A1 (fr) Procédé et appareil de télémétrie basée sur une onde continue, et radar laser
CN108957470B (zh) 飞行时间测距传感器及其测距方法
EP2894492B1 (fr) Procédé pour entraîner un système à temps de vol
CN111025315B (zh) 一种深度测量系统及方法
US20180259647A1 (en) Imaging device and solid-state imaging element used in same
CN107018295B (zh) 用于产生深度图像的方法和装置
CN111289955A (zh) 一种基于mems振镜的三维扫描激光雷达
WO2014119241A1 (fr) Procédé et système de mesure de distance
KR20210033545A (ko) 명확한 범위 토글링에 의해 비행 시간 시스템의 범위를 증가시키기 위한 방법 및 시스템
US11393115B2 (en) Filtering continuous-wave time-of-flight measurements, based on coded modulation images
US12123978B2 (en) Distance measurement method and apparatus, and distance measurement sensor and distance measurement sensing array
KR102664396B1 (ko) 라이다 장치 및 그 동작 방법
US20210389459A1 (en) LiDAR DEVICE AND METHOD OF OPERATING THE SAME
CN111366943B (zh) 飞行时间测距系统及其测距方法
CN111830489A (zh) 一种多台tof相机抗干扰方法及系统
EP4148671A1 (fr) Dispositif électronique et son procédé de commande
EP3663799A1 (fr) Appareils et procédés permettant de déterminer la profondeur de mouvement par rapport à une caméra à temps de vol dans une scène détectée par la caméra à temps de vol
KR102787166B1 (ko) 라이다 장치 및 그 동작 방법
US20210405192A1 (en) Time-of-flight based distance measuring method and related distance measuring system
KR102610830B1 (ko) 거리 정보를 획득하는 방법 및 디바이스
US12339401B2 (en) Multipath and noise reduction for time-of-flight cameras
US10746878B2 (en) Method of measuring distance by using 3D depth sensor including optical shutter
US20240036208A1 (en) Time of flight sensing
CN116299341A (zh) 基于tof的双目深度信息获取系统及方法
KR20220029608A (ko) 거리 정보 추출 장치 및 광학 기기

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20926930

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 12/01/2023)

122 Ep: pct application non-entry in european phase

Ref document number: 20926930

Country of ref document: EP

Kind code of ref document: A1