CN116699621A - Ranging method, photoelectric detection module, chip, electronic equipment and medium - Google Patents

Abstract

The present application relates to the field of ranging technologies, and in particular, to a ranging method, a photoelectric detection module, a chip, an electronic device, and a medium. The ranging method can be applied to electronic equipment comprising an optoelectronic time-of-flight TOF detection element capable of supporting a triangular ranging method and a time-of-flight ranging method, the electronic equipment judges whether the current ranging scene is a long-distance ranging scene or a short-distance ranging scene by using the triangular ranging method and/or the time-of-flight ranging method, if the current ranging scene is the short-distance ranging scene, the triangular ranging method which is more suitable for short-distance ranging is adopted as a final ranging result, and if the current ranging scene is the long-distance ranging scene, the time-of-flight ranging method which is more suitable for long-distance ranging is adopted as the final ranging result. By the method, the distance measurement accuracy of the electronic equipment in a short distance measurement scene or a long distance measurement scene can be ensured, and the application scene of the electronic equipment is enlarged.

Description

Distance measuring method, photoelectric detection module, chip, electronic equipment and medium

technical field

The present application relates to the technical field of distance measurement, and in particular to a distance measurement method, a photoelectric detection module, a chip, electronic equipment and a medium.

Background technique

In the field of distance measurement technology, a triangulation distance measurement method or a time of flight (Time of Flight, ToF) distance measurement method is generally used to measure the distance between the measured object and the device. However, in practical applications, the triangulation ranging method is limited by the resolution of the photoelectric detection element in the device, and cannot guarantee the ranging accuracy in the long-distance (for example, more than 100 meters) ranging scene, while the time-of-flight ranging method is close In the case of distance measurement (for example, within 1 meter), waveform signal distortion is prone to occur, resulting in inaccurate measured flight time, which in turn affects the accuracy of short distance measurement.

How to ensure the accuracy of ranging methods in short-range and long-distance ranging, so as to be applicable to both short-range ranging scenarios and long-distance ranging scenarios, has become an urgent problem to be solved.

Contents of the invention

In order to solve the above problems, the present application provides a ranging method, a photoelectric detection module, a chip, an electronic device and a medium.

In the first aspect, an embodiment of the present application provides a ranging method, which can be applied to electronic equipment, the electronic equipment includes a first transmitter and a first receiver, and the first receiver includes a photoelectric time-of-flight ToF detection element , the photoelectric ToF detection element supports the first ranging method and the second ranging method, the method includes: using the first ranging method and/or the second ranging method to determine whether the distance between the measured object and the electronic device exceeds the first preset distance; if the distance from the measured object to the electronic device is less than the first preset distance, the distance from the measured object to the electronic device determined by the first distance measurement method will be used as the distance measurement result; or, if the measured object to the electronic device If the distance is greater than or equal to the second preset distance, the distance from the measured object to the electronic device determined by the second distance measuring method is used as the distance measurement result, wherein the second preset distance is greater than or equal to the first preset distance.

In some implementation manners, the above-mentioned electronic device may be an intelligent sweeping robot, a logistics service robot, etc., which is not limited in this application. In some implementations, the photoelectric ToF detection element can be elongated, and its aspect ratio is greater than or equal to 3. For example, its aspect ratio may be 3:1. In some implementations, the first transmitter can be a lidar.

In some implementations, the first ranging method may be triangulation ranging, and the second ranging method may be time-of-flight ranging. It can be understood that the triangulation distance measurement method is more suitable for short-distance distance measurement, while the time-of-flight distance measurement method is more suitable for long-distance distance measurement. Therefore, the above method can decide whether to use the triangulation distance measurement method or The distance measured by the time-of-flight ranging method is used as the ranging result to ensure the accuracy of the ranging result.

Specifically, when judging the distance from the measured object to the electronic device, the distance measured by the triangulation distance measurement method and/or the time-of-flight distance measurement method may be used as the judgment basis, which is not limited in the present application.

In some implementations, when the distance from the measured object to the electronic device is less than the first preset distance, it indicates that the current ranging scene belongs to the short-distance ranging scene, so the distance measured by the triangular ranging method is used as the ranging result , and when the distance from the measured object to the electronic device is greater than or equal to the second preset distance, it indicates that the current ranging scene does not belong to the short-range ranging scene, and the distance measured by the time-of-flight ranging method is used as the ranging result . Wherein, the value of the first preset distance is an empirical value or an experimental value, for example, 1 meter, and the second preset distance is greater than or equal to the first preset distance.

It can be understood that the above method is to ensure the accuracy of the ranging result of the electronic device in the short-distance ranging scene or the long-distance ranging scene. In practical applications, when the distance between the measured object and the electronic device is between the short-distance ranging scene and the long-distance ranging scene, for example, when it is greater than 1 meter and less than 50 meters, due to the triangulation ranging method and time-of-flight measurement There is little difference in the accuracy of the distance method, so the distance measured by the triangular distance measurement method can be used as the distance measurement result at this time, and the distance measured by the time-of-flight distance measurement method can also be used as the distance measurement result. This application does not limit this .

With reference to the first aspect, in a possible implementation of the first aspect, the first distance measuring method includes: after the first light emitted by the first emitter is reflected by the object to be measured, imaging on the photoelectric ToF detection element Position to determine the distance from the measured object to the electronic device. That is to say, the ranging principle of the triangular ranging method is to use the relationship between the imaging position of the light reflected by the measured object on the photoelectric ToF detection element and the actual moving distance of the measured object to calculate the distance from the measured object to the electronic device of. For details, reference may be made to the relevant description of the principle of the triangulation ranging method in the specific embodiments below, and details are not repeated here.

With reference to the first aspect, in a possible implementation of the first aspect, the first distance measuring method further includes: if the distance between the object to be measured and the electronic device is less than or equal to the third preset distance, sending a signal to the first transmitter The first light of the first light is subjected to spectroscopic processing, so that the first light emitted by the first emitter is divided into the first light path and the second light path, and the imaging position on the photoelectric ToF detection element after the light of the second light path is reflected by the measured object , to determine the distance from the object to be measured to the electronic device, wherein the direction of the light of the first light path is the same as that of the first light and the angle between the light of the first light path and the direction of the second light path is in the range of 5° to 10°, The third preset distance is smaller than the first preset distance.

It can be understood that when using the triangular ranging method to measure distance, when the distance between the measured object and the electronic device is too close, for example, when the distance between the measured object and the electronic device is 0.2 meters, there may be a ranging blind area, that is, the photoelectric ToF detection element cannot detect to the imaging position of the measured object, which leads to the inability to detect the distance from the measured object to the electronic device by using the triangulation ranging method. Therefore, a spectroscopic device such as a spectroscope can be set on the first emitter to process the light emitted by the first emitter into a first light path and a second light path, and the first light path is consistent with the original outgoing direction, and the second light path is consistent with the first light path. The light angle of the first optical path is 5° to 10°, so that when the measured object is less than the third preset distance from the electronic device, the photoelectric ToF detection element can still detect the imaging position of the measured object. Then when the distance from the measured object to the electronic device is less than the third preset distance, such as 0.3 meters, the imaging position of the second optical path light reflected by the measured object on the photoelectric ToF detection element can be used to calculate the distance between the measured object and the electronic device. distance.

With reference to the first aspect, in a possible implementation of the first aspect, the electronic device further includes a second transmitter, and the first distance measuring method further includes: if the distance between the measured object and the electronic device is less than or equal to the third preset Setting the distance, after the light emitted by the second emitter is reflected by the object under test, the imaging position of the object under test on the photoelectric ToF detection element is used to determine the distance from the object under test to the electronic device, wherein the third preset distance is less than the first A preset distance, the included angle between the first emitter and the light emitted by the second emitter ranges from 5° to 10°.

Similarly, in order to avoid the above-mentioned ranging blind zone, when the distance between the measured object and the electronic device is less than the third preset distance, for example, 0.3 meters, the light emitted by another emitter of the electronic device reflected by the measured object can also be reflected in the photoelectric ToF detects the imaging position on the element to calculate the distance from the measured object to the electronic device. Wherein, the specific calculation method is the same as the principle of the triangular ranging method, and will not be repeated here.

With reference to the first aspect, in a possible implementation of the first aspect, the second distance measuring method includes: using the first light emitted by the first transmitter to be reflected by the measured object and then received by the first receiver Determine the distance from the measured object to the electronic device by the time elapsed in the test. That is to say, the ranging principle of the time-of-flight ranging method is to calculate the distance from the measured object to the electronic device by using the elapsed time and the speed of light emitted by the transmitter and reflected by the measured object and received by the receiver. Reference may be made to the description about the time-of-flight ranging method below, and details are not repeated here.

Among them, it should be noted that when the electronic device has two transmitters, the time elapsed during the process of the light emitted by the second laser being reflected by the object under test and received by the receiver and the speed of light can also be used to calculate the distance from the object under test to The distance of the electronic device is not limited in this application.

In the second aspect, the embodiment of the present application provides a photoelectric detection module, the module includes a first laser radar, which is used to emit a first light to the object under test;

a receiver, the receiver includes a photoelectric ToF detection element, and the photoelectric ToF detection element is used to receive the first light reflected by the measured object;

memory for storing instructions to be executed by the one or more processors of the photodetection module, and

The processor is one of the processors of the photoelectric detection module, and is used to implement the ranging method in any possible implementation method in the first aspect.

With reference to the second aspect, in a possible implementation of the second aspect, a spectroscopic device is provided on the first laser radar, for performing spectroscopic processing on the light emitted by the first laser radar, so that the light emitted by the first laser radar The first light is divided into a first light path and a second light path, wherein the light of the first light path is in the same direction as the first light and the angle between the light of the first light path and the direction of the second light path is in the range of 5° to 10° °.

With reference to the second aspect, in a possible implementation of the second aspect, the photoelectric detection module further includes a second laser radar, and the angle between the first laser radar and the light emitted by the second laser radar ranges from 5° to 10° .

In the third aspect, the embodiment of the present application also provides an electronic device, the electronic device includes any one of the optoelectronic modules in the second aspect above,

memory for storing instructions to be executed by one or more processors of the electronic device, and

The processor is one of the processors of the electronic device, and is used for the ranging method in any possible implementation manner of the first aspect above.

In the fourth aspect, the embodiment of the present application also provides a photoelectric ToF detection chip, and the photoelectric ToF detection chip includes:

communication interface for input and/or output of information;

A processor, configured to execute a computer-executable program, so that the device installed with the photoelectric ToF detection chip can implement the ranging method in any of the possible implementation methods in the first aspect above.

With reference to the fourth aspect, in a possible implementation manner of the fourth aspect, the photoelectric ToF detection chip outputs the distance from the measured object to the electronic device through a communication interface.

In the fifth aspect, the present application also provides a distance measuring method applied to electronic equipment, wherein the electronic equipment includes a photoelectric ToF detection chip, a processor, a transmitter, and a receiver, and the receiver includes a photoelectric ToF detection element, a photoelectric ToF detection element, and a photoelectric ToF detection chip. The ToF detection chip supports the first ranging method and the second ranging method;

The method includes: the photoelectric ToF detection chip determines the imaging position of the measured object on the photoelectric ToF detection chip based on the first distance measurement method, and the processor calculates the first distance from the measured object to the measured object to the electronic device according to the determined imaging position. distance, and the photoelectric ToF detection chip determines the time elapsed in the process of light being reflected by the measured object and received by the receiver based on the second ranging method, and the processor calculates the distance from the measured object to the electronic device according to the determined time second distance;

When the first distance or the second distance is less than the first preset distance, the processor takes the first distance as the ranging result, and when the first distance or the second distance is greater than or equal to the second preset distance, The second distance is used as the ranging result, wherein the second preset distance is greater than or equal to the first preset distance.

Wherein, the first ranging method may be a triangular ranging method, the second ranging method may be a time-of-flight ranging method, the first distance is the distance measured by the triangular ranging method, and the second distance is the distance measured by the time-of-flight ranging method. measured distance.

That is to say, the ranging method of the present application can be realized by the cooperation of the photoelectric ToF detection chip and the processor, that is, the photoelectric ToF detection chip uses the triangulation ranging method or the time-of-flight ranging method to measure the distance from the measured object to the electronic device, and then the processing The device judges the ranging scene according to the distance, and decides to use the triangulation ranging method or the time-of-flight ranging method as the final ranging result. Specifically, when the first distance or the second distance is less than the first preset distance, the first distance is used as the ranging result, and when the first distance or the second distance is greater than or equal to the second preset distance , taking the second distance as the ranging result, wherein the second preset distance is greater than or equal to the first preset distance. Wherein, for the first preset distance and the second preset distance, reference may be made to the relevant description above, which will not be repeated here.

In the sixth aspect, the embodiment of the present application also provides an electronic device, the electronic device includes a photoelectric ToF detection chip, a processor, a transmitter and a receiver, the receiver includes a photoelectric ToF detection element, and the photoelectric ToF detection chip supports the first A ranging method and a second ranging method; wherein, the photoelectric ToF detection chip can determine the imaging position of the measured object on the photoelectric ToF detection element based on the first ranging method, and can determine the light passing through The time elapsed after the measured object is reflected and received by the receiver;

The processor can calculate a first distance from the measured object to the electronic device according to the determined imaging position information, and can calculate a second distance from the measured object to the electronic device according to the determined time, and

The processor can also use the first distance as the ranging result when the first distance or the second distance is less than the first preset distance, and use the first distance or the second distance greater than or equal to the second preset distance. Next, the second distance is used as the ranging result, wherein the second preset distance is greater than or equal to the first preset distance.

In the seventh aspect, the embodiment of the present application also provides a readable medium, and the readable storage medium stores a computer program, which is characterized in that, when the computer program is executed by the processor, any possible implementation method in the above first aspect is implemented The ranging method in .

In an eighth aspect, an embodiment of the present application provides a computer program product, which, when the computer program product is run on an electronic device, causes the electronic device to execute the ranging method in any possible implementation method in the first aspect.

It can be understood that, for the beneficial effects of the above-mentioned second aspect to the eighth aspect, reference may be made to the relevant description in the above-mentioned first aspect, and details are not repeated here.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 shows the ranging principle of the triangular ranging method;

Fig. 2 shows the ranging principle of the time-of-flight ranging method;

Fig. 3 shows the difference between signals of waveforms received when the time-of-flight ranging method is used for different measured objects;

FIG. 4A shows a schematic diagram of a hardware structure of an electronic device 100 to which the ranging method of the present application is applicable;

FIG. 4B shows a schematic structural diagram of a specific implementation of the electronic device 100, wherein the lidar 11 and the receiver 12 are arranged on a base 50, and the base 50 is coaxially arranged with the motor 30;

FIG. 4C shows the relative positional relationship between the laser radar 11 and the beam splitter 110 in FIG. 4B;

FIG. 4D shows a structural schematic diagram of another specific implementation of the electronic device 100, wherein the laser radar 11 and the receiver 12 are arranged on the base 50, the base 50 and the motor 30 are not coaxially arranged, and the motor 30 drives the base through the transmission belt 40 50 turns;

Figure 5 shows a schematic structural diagram of timing using a photoelectric ToF detection element in the present application;

Fig. 6 shows the statistical histogram of the time-of-flight obtained by the device shown in Fig. 5, wherein the horizontal axis represents the time-of-flight, and the vertical axis represents the frequency of time-of-flight;

FIG. 7 shows a schematic flow chart of the ranging method in the present application;

Fig. 8 shows a schematic diagram of the principle of implementing the ranging method of the present application;

FIG. 9 shows another schematic diagram of the principle of implementing the ranging method of the present application;

FIG. 10 shows another schematic diagram of the principle of implementing the ranging method of the present application;

FIG. 11 shows another schematic diagram of the principle of implementing the ranging method of the present application;

Fig. 12 shows a schematic structural diagram of a photoelectric ToF detection chip system.

Detailed ways

Various aspects of the illustrative embodiments are described below using terms commonly employed by those skilled in the art. In order to facilitate the understanding of the inventive concept of the present application, the principles and respective shortcomings of the above-mentioned triangulation ranging method and time-of-flight ranging method are firstly introduced.

(1) Triangulation ranging method

The triangulation distance measurement method is to emit a beam of laser light at a certain angle through the laser radar on the device to illuminate the measured object. The laser light is reflected on the surface of the measured object, and then the reflected light is converged by the lens of the receiver, and is reflected on the photoelectric detection element. It is imaged into a spot, and then the distance between the measured object and the device is calculated according to the spot position of the measured object on the photoelectric detection element. Moreover, when the measured object moves along the laser direction, the photoelectric detection element can detect that the light spot of the measured object moves, and its displacement corresponds to the moving distance of the measured object, so the distance of the measured object can be calculated from the distance of the light spot displacement. Moving distance. Wherein, the photodetection element may be a charge-coupled device image sensor (chargecoupled device, CCD) or a complementary metal-oxide-semiconductor image sensor (complementary metal-oxide-semiconductor, COMS).

The specific calculation process is as follows: as shown in Figure 1, the laser radar 11 emits a beam of laser light on the measured object 200 at P, and the light reflected by the measured object 200 is imaged on the photoelectric detection element 13' of the receiver 12' The light spot is E', when the measured object moves to P1, the light reflected by the measured object 200 is imaged on the photoelectric detection element 13' and the light spot is E', the connection line between the laser radar 11 and the photoelectric detection element 13' and The direction of the laser light emitted by the laser radar 11 is vertical, and B is the center of the lens g. It is not difficult to see that ΔAPE (that is, triangle APE) is similar to ΔOBE (that is, triangle OBE), and ΔAP1E' (that is, triangle AP1F') is similar to ΔOBE' (that is, triangle OBE'). Therefore the following equation holds:

Among them, OB=f is the focal length of the lens g, AO=L is known, and is the distance between the laser radar 11 and the photodetection element 13', and OE and OE' are the reflection of the laser light from the object 200 to the photodetection element The distance between the light spot on 13′ and the center B of lens g can be obtained by photodetection element 13′, AP=D1, AP1=D2, therefore:

Therefore, the distance from the measured object 200 to the device at P is

The distance from the measured object 200 to the device at P1 is

According to the principle of the above-mentioned triangular ranging method, it can be known that when the distance between the measured object 200 and the laser radar 11 is getting farther and farther, the light spot formed by the measured object 200 reflected on the photoelectric detection element 13' will become smaller and smaller, and The position change of the light spot as the measured object moves becomes smaller and smaller until the resolution of the photodetection element 13 ′ is not enough to distinguish the position change of the light spot. Therefore, on the one hand, the triangulation distance measurement method has poor accuracy in long-distance distance measurement, and if it is necessary to improve the accuracy of the triangulation distance measurement method for long-distance distance measurement, or increase the distance between the lens g and the photodetection element 13' , but this will cause the size of the receiver module to become larger, and even so, it can only guarantee the ranging accuracy within 5M, or improve the resolution of the photodetection element 13', but in practical applications, a photoelectric sensor with a higher resolution is used The cost of the detection element is much higher than the cost of increasing the receiver module, and the improvement of resolution is also limited. On the other hand, the triangulation distance measurement method mainly utilizes the light intensity information of the measured object 200 for imaging, and then calculates the distance from the measured object 200 to the device according to the moving distance of the light spot on the photodetection element 13 ′. Luminous intensity (I) information refers to the intensity of light, which is the luminous flux of the light source in a solid angle in a certain direction. to the radiated power. The light intensity is easily affected by the external environment. For example, in the scene of strong outdoor light or indoor strong light with serious ambient light interference, the light intensity of the light reflected by the object under test 200 will be affected, causing the object under test 200 to The imaging effect on the photodetection element 13 ′ is not good, which means that the position of the light spot does not match the actual position, which further affects the final ranging result.

Therefore, the triangular ranging method is not suitable for long-distance ranging or scenes with strong light interference, for example, it is not suitable for logistics service equipment that requires outdoor use.

(2) Time-of-flight ranging method

The time-of-flight ranging method is to use the time t and the speed of light c that the laser is emitted from the laser radar 11 to the measured object 200, and then reflected by the measured object 200 to the receiver 12′ to calculate the distance between the laser radar 11 and the measured object 200. The distance, that is, the distance from the laser radar 11 to the measured object 200 is

The specific principle can be as shown in Figure 2, the laser pulse is emitted by the laser radar 11, and the time of emitting the laser pulse is recorded as t_start by the timer time, then when the receiver 12' detects the pulse reflected back by the measured object 200 ( wave) rising edge, the timer records the time as t_stop, then the laser pulse is emitted from the laser radar 11 and reflected from the measured object 200 to the receiver 12 ' through the time t=t_stop-t_start, the laser radar 11 and Measure the distance between objects 200

The time-of-flight ranging method mainly uses light energy information for ranging, that is, as long as the time-of-flight ranging method detects the pulse reflected back by the measured object 200, the time of the measured object can be determined according to the time of the emitted laser pulse and the time of the reflected pulse. The distance from the object 200 to the device does not need to consider the specific imaging position of the measured object on the photodetection element. Among them, the photoelectric detection element suitable for the time-of-flight ranging method is generally a photoelectric ToF detection element. Therefore, when the power of the laser pulse emitted by the laser radar 11 and the sensitivity of the photoelectric ToF detection element in the receiver 12' are sufficient, the maximum ranging range of the time-of-flight ranging method can reach hundreds of meters, and the ranging accuracy does not vary with the The distance between the measured object 200 and the laser radar 11 increases and decreases.

However, as mentioned above, the timer in the time-of-flight ranging method is timed according to the rising edge of the detected reflected pulse. Since the ability of different objects to reflect laser pulses is different, as shown in Figure 3, for the laser radar 11 For the circular wave pulses, the pulses reflected by some objects 200′ are square pulse waves A, while the pulses reflected by some objects 200″ are circular wave pulses B. Since the determination rules for the rising edges of different waveforms are different, the timer is When timing according to the pulse rising edge signals of different waveforms reflected back, there will be some errors, for example, there will be a delay in timing the peak of the circular wave pulse B as the "rising edge" relative to the rising edge timing of the square pulse wave A. And this This error is more obvious in short-distance ranging scenarios, because in long-distance ranging scenarios (such as greater than 100 meters), the reflected pulse energy will attenuate, and the ability of different objects to reflect light has little effect on the shape of the reflected light pulse wave. The shape of the pulse wave reflected by most objects is similar to the circular wave B, and when the distance is measured at a short distance (for example, within 1 meter), the energy of the reflected light pulse is attenuated weakly, and the ability of the measured object to reflect 200% of the light has no effect on the laser pulse. The impact of the waveform is more obvious, that is, the above-mentioned waveform signal distortion is more likely to occur, so the impact on the timing effect of the timer is also more obvious, which in turn leads to the accuracy of the time-of-flight ranging method in the short-distance ranging scene It should be noted that the above-mentioned pulse waveform emitted by the laser radar 11 and the reflected pulse waveform received by the receiver 12' are only exemplary and do not constitute a limitation to the present application. In some embodiments, the laser The radar 11 can also transmit square pulse waves or pulse waves of other waveforms, which is not limited in this application.

Therefore, the time-of-flight ranging method is not suitable for short-distance ranging. For example, it is not suitable for applications such as household sweeping robots and other devices that are often used on wall extensions or small target obstacle avoidance.

In order to expand the applicable scenarios of the ranging method so as to meet the requirements of both short-distance ranging scenarios and long-distance ranging scenarios, the present application provides a ranging method. In the ranging method of the present application, according to the distance between the measured object and the device, it is decided to use the distance between the measured object and the device measured by the triangulation ranging method or the time-of-flight ranging method as the ranging result. Specifically, the electronic device can use triangulation and/or time-of-flight ranging to continuously determine the distance from the measured object to the electronic device. time), the electronic device uses the time-of-flight ranging method that is more suitable for long-distance ranging scenarios to measure the distance as the ranging result. The electronic device adopts the distance measured by the triangulation ranging method, which is more suitable for short-distance ranging scenarios, as the ranging result, so as to ensure that the ranging results of the electronic device are relatively accurate no matter whether it is short-distance ranging or long-distance ranging.

In some implementations, it is possible to distinguish whether the current ranging scene is a short-distance ranging scene or a long-distance ranging scene by setting the first preset distance, for example, when the distance between the measured object and the electronic device is less than the first preset distance , is a short-distance ranging scene, and when the distance from the measured object to the electronic device is greater than or equal to the second preset distance, it is a long-distance ranging scene. Wherein, the setting of the first preset distance may be an empirical or experimental value, such as 1 meter, and the setting of the second preset distance may also be an empirical or experimental value, such as 100 meters. In some implementations, the second preset distance may also be equal to the first preset distance, that is, when the distance from the measured object to the electronic device is greater than or equal to the first preset distance, it is a long-distance ranging scenario.

In some implementation manners, the above-mentioned electronic device 100 may be an intelligent sweeping robot, a logistics service robot, an autonomous vehicle, etc., and this application does not impose any limitation on the type of the electronic device 100 .

The specific implementation process of the distance measuring method of the present application will be introduced below with reference to FIG. 4 to FIG. 9 .

FIG. 4A shows a schematic diagram of a hardware structure of an electronic device 100 capable of implementing the ranging method of the present application.

As shown in FIG. 4A , the hardware structure of the electronic device 100 includes a processor 10 , a memory 20 , a power module 30 , a laser radar 11 , a receiver 12 , and a timer 14 .

Wherein, the receiver 12 includes a photoelectric ToF detection element 13, the receiver 12 is used to receive the laser light reflected back by the measured object 200, and the laser light will be imaged on the photoelectric ToF detection element 13, and the photoelectric ToF detection element 13 can reflect the laser light The imaging position information is output to the processor 10 so that the processor 10 can determine the distance from the measured object 200 to the electronic device 100 according to the reflected laser imaging position information. At the same time, the photoelectric ToF detection element 13 also transmits the received electric signal of the reflected laser light to the timer 14, so that the timer 14 records the flight time from the measured object 200 to the electronic device 100, which will be described below in conjunction with the timer 14. introduce.

In some implementation manners, the photoelectric ToF detection element 13 may be an M×N two-dimensional array composed of single photon avalanche diodes (SPAD), that is, the SPAD array 131 as shown in FIG. 5 . The benefit of using a SPAD is that it is more sensitive than other photodiodes. Specifically, when the operating voltage of the SPAD increases and its internal electric field continues to increase to a certain critical value, the electron-hole pairs generated after absorbing photons can collide to generate new electron-hole pairs, and this chain reaction is like an avalanche. The photon signal can be amplified to make the SPAD work in Geiger mode, that is, as long as a photon is received by the receiver 12 and generates electrons, a large current/voltage pulse signal will be generated to represent the occurrence of the detection event. It can be understood that, in other implementation manners, the photoelectric ToF detection element 13 may also be an array composed of other photonic diodes, which is not limited in the present application.

In other implementation manners, the photoelectric ToF detection element 13 may be strip-shaped, and its aspect ratio may be 4:3, 2:1 or 3:1, which is not limited in the present application.

The storage 20 may be an internal storage unit in the electronic device 100 , such as a hard disk or memory of the robot 100 . The memory 20 can also be an external storage device, such as a plug-in hard disk equipped on the robot, a smart media card (smartmedia card, SMC), a secure digital (secure digital, SD) card, a flash memory card (Flash Card) and the like.

Further, the memory 20 may also include both an internal storage unit and an external storage device. The memory 20 is used to store the computer program 21 and other data and programs required by the system. The memory 20 can also be used to temporarily store data that has been output or will be output. The computer program 21 includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form and the like.

The computer readable storage medium may include any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (read-only memory, ROM), random access Memory (random access memory, RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. The processor 10 can execute the computer program 21 stored in the memory 20 to implement the ranging method provided in this application.

Exemplarily, the computer program 21 can be divided into one or more modules/units, one or more modules/units are stored in the memory 20, and executed by the processor 10, and the method of each embodiment of the present application hereinafter . One or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program 21 in the robot.

In some implementations, the processor 10 can be used to calculate the distance from the measured object 200 to the electronic device according to the imaging position of the measured object on the photoelectric ToF detection element 13, or calculate the distance from the measured object 200 to the electronic device according to the reflection 200 of the measured object received by the receiver 12. The time of the returned pulse and the time of the laser pulse emitted by the laser radar 11 determine the distance from the measured object 200 to the electronic device.

The processor 10 may be a central processing unit (central processing unit, CPU), and may also be other general-purpose processors, digital signal processors (digital signal processors, DSP), application specific integrated circuits (application specific integrated circuits, ASICs), field programmable Edit gate array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gates or vigilant management logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The processor 10 can also control the movement of the electronic device 100 or the steering of the lidar 11 according to the measured distance between the measured object and the device, such as controlling the steering gear of the electronic device 100 to move left, right, forward, and backward Rotate, or control the above-mentioned laser radar 11 to rotate according to a certain frequency. In some implementations, the electronic device 100 may also include a controller (not shown in the figure), and then the controller controls the movement of the electronic device 100 or the steering of the laser radar 11 according to the instructions of the processor 10. No limit.

The laser radar 11 is used to collect real-time information on the current scene to obtain laser scanning information of the current scene. information, etc.) for analysis and processing, for example, the processor 10 compares the laser scanning information with the preset scene information stored in the memory 20, determines whether there is an obstacle in the current scene, and determines the progress of the electronic device 100 according to the judgment result. The route is adjusted to avoid accidents such as collisions. In some embodiments of the present application, the lidar 12 can also be used in conjunction with a 3D visual map for device positioning, for example, for an intelligent sweeping robot. Specifically, the electronic device 100 can compare the obstacle outline information scanned by the lidar 12 with the obstacle information in the 3D visual map, so as to avoid obstacles more accurately.

In some embodiments of the present application, the laser radar 11 is used to emit laser pulses at a certain emission angle. Wherein, the laser pulse emitted by the laser radar 11 may be an infrared laser pulse with a wavelength ranging from 780 nm to 940 nm, for example, an infrared laser pulse with a wavelength of 905 nm.

Moreover, in some implementations, the device may have multiple laser radars, such as the laser radar 11 and the laser radar 11', and the angle between the lasers emitted by the two is between 4° and 15°, such as 5° or 10°. °. The purpose of this is to avoid ranging blind spots when the triangulation ranging method is used in short-distance ranging scenarios, that is, due to the short distance between the measured object and the device, the imaging position of the measured object exceeds the photoelectric ToF detection Detectable range of element 13. This will be introduced below.

Similarly, in order to reduce the cost of equipment, as shown in Figure 4B to Figure 4C, a beam splitter 110 can also be directly added to the existing laser radar 11 to perform spectroscopic processing on the laser light emitted by the laser radar 11 to obtain the laser light of the first optical path and the laser light of the second optical path, wherein the laser emission angle of the first optical path is consistent with the emission angle of the laser radar 11 without spectroscopic processing, and the angle range α between the laser light of the second optical path and the laser light of the first optical path is 4° to 15° , such as 5° or 10°. This method can also avoid the ranging blind area that occurs when the triangulation ranging method is used in the short-distance ranging scene. This will be introduced below.

In some implementations, as shown in FIG. 4B , the laser radar 11 and the receiver 12 are fixed on the base 50, the base 50 is arranged coaxially with the motor 30, the processor 11 controls the rotation of the motor 30 and drives the base 50 to rotate synchronously, and then Drive the laser radar 11 and the receiver 12 to rotate to obtain a scanning field of view (Field of view, FoV) of 360°. In some other implementations, as shown in FIG. 4D , the base 50 of the laser radar 11 and the receiver 12 can also be arranged coaxially with the motor 30 , and then the base 50 is driven by the motor 30 to rotate by means of the transmission belt 40 , thereby driving The laser radar 11 and the receiver 12 rotate, which is not limited in this application.

In some implementation manners, the above-mentioned processor 10, memory 20, laser radar 11 and receiver 12 may constitute a photoelectric detection module for detecting the distance of the measured object.

A timer (time-to-digital converter, TDC) 14 is also called a time-to-digital conversion circuit. In the implementation manner of the present application, it is used to record the flight time required for distance measurement using the time-of-flight ranging method. Specifically, when the laser radar 11 emits laser light, a driving circuit (not shown in the figure) in the device will generate a trigger signal, and the trigger signal will also be used as the starting time point t_start of the time-of-flight measurement. Then as shown in Figure 5, when the light reflected back by the measured object 200 is detected by any one SPAD 131 in the SPAD array 13 in the receiver 12, the SPAD array 13 will generate a voltage pulse signal (such as the above-mentioned square wave pulse A signal or circular wave pulse B signal) to characterize the time point t_stop of the time-of-flight detection completion, and then output the voltage pulse signal to the timer 14, which is recorded by the timer 14 (t_stop-t_start) and converted into a binary digital signal .

In some implementation manners of the present application, in order to make the time of flight more accurate, the SPAD array 13 may be used to count multiple times of flight, and then the time of flight with the highest occurrence frequency is used as the final time of flight. It can be understood that at a certain moment, the more SPADs 131 in the SPAD array 13 that detect the laser light reflected back by the object under test, the stronger the energy of the light reflected back by the object under test at this moment. Correspondingly, this moment corresponds to The frequency of the time-of-flight will also be higher (because multiple SPADs 131 detect the reflected light at the same time), that is, the time-of-flight corresponding to this moment is most likely to be experienced by the laser from being emitted and reflected back to the receiver 12 by the measured object. flight time. For example, Fig. 6 shows the time-of-flight statistical histogram of the SPAD array 13, the horizontal axis represents the time-of-flight, and the vertical axis represents the frequency at which this time-of-flight occurs. Through waveform fitting, it can be known that the frequency of the time-of-flight t12 in Fig. 6 is the highest, so the laser The time of flight from emission to reflection back to receiver 12 is t11. In other implementation manners, other statistical methods may also be used to determine the flight time, which is not limited in this application.

The power module 30 may include a power supply, power management components, and the like. The power source can be a battery. In some implementations, the power management component includes a charge management module and a power management module. The charging management module is used to receive charging input from the charger; the power management module is used to connect the power supply, the charging management module and the processor 10 . The power management module receives the input of the power supply and/or the charging management module, and supplies power for the processor 10, the laser radar 11 and the like.

Those skilled in the art can understand that FIG. 4A is only an example of the hardware structure of the electronic device 100, and does not constitute a limitation on the hardware structure of the electronic device 100. In other hardware structures, more or less Components, for example, may also include input and output devices, network access devices, buses, communication modules, and so on.

The following uses FIG. 7 as an example to introduce the specific implementation process of the ranging method of the present application. The ranging method shown in FIG. 7 is executed by the processor of the above-mentioned electronic device 100 . The method includes:

701. Use the first distance measuring method and/or the second distance measuring method to determine whether the distance from the measured object 200 to the electronic device 100 exceeds a first preset distance. The purpose of doing this is to determine whether the distance between the measured object 200 and the electronic device 100 belongs to a short-distance ranging scene or a long-distance ranging scene, so as to determine which distance measurement method to use as the measured distance according to the specific ranging scene. The final ranging result. In some implementations, the first preset distance is an empirical value or a test value, and the value of the first preset distance can be, for example, 1 meter, that is, the distance between the measured object 200 and the electronic device 100 is less than 1 meter. The scene belongs to the short-distance ranging scene, and the ranging scene in which the distance between the measured object 200 and the electronic device 100 is greater than 1 meter belongs to the long-distance ranging scene. And the first ranging method may be a triangulation ranging method, and the second ranging method may be a time-of-flight ranging method.

After determining that the current ranging scene belongs to the short-distance ranging scene or the long-distance ranging scene, the electronic device 100 may determine the distance measured by the triangular ranging method that is more suitable for the short-distance ranging scene as the ranging result according to the requirements. Or use the time-of-flight ranging method that is more suitable for long-distance ranging scenarios.

It should be noted that in practical applications, the distinction between short-distance ranging scenes and long-distance ranging scenes is not determined by only a distance value. It is often a distance that distinguishes short-distance ranging scenes and long-distance ranging scenes. Range, for example, when it is less than the minimum value of this distance range, it belongs to the short-distance ranging scene; when it is greater than or equal to the maximum value of this distance range, it belongs to the long-distance ranging scene; between the two, two kinds of ranging There is little difference in the accuracy of the methods, so in order to save power consumption of the electronic device 100, in this case, the ranging method may not be switched, or the measured object determined by the first ranging method and the second ranging method may be output to the electronic device. Any one of the distances of the device is used as the ranging result, which is not limited in this application.

When specifically judging the distance from the measured object 200 to the electronic device 100, the triangulation ranging method can be used to judge the distance from the measured object 200 to the electronic device 100, and the time-of-flight ranging method can also be used to judge the measured object 200 to the electronic device 100. The distance between the measured object 200 and the electronic device 100 can also be determined in combination with the triangulation ranging method and the time-of-flight ranging method, which is not limited in the present application.

In some implementations, limited by the principle of triangulation distance measurement, when the distance between the measured object 200 and the electronic device 100 is too short, for example, when it is located at P2 in FIG. 1 , the imaging position of the measured object 200 It exceeds the detectable range of the photodetection element 13', that is, in this case, the electronic device cannot judge the distance from the measured object 200 to the electronic device 100 by using the triangular ranging method, which is the so-called "distance measurement blind zone". . The "blind area of distance measurement" is shown in the scheme of this application, that is, as shown in Figure 8, when the measured object 200 is at P4, under the light emitted by the laser radar 11 along the optical path 1, the position of its imaging spot 2 will exceed the photoelectric ToF The detectable range of the detection element 13 makes it impossible for the electronic device 100 to measure the distance from the measured object 200 to the electronic device 100 by triangulation.

In order to avoid blind spots in ranging, the electronic device 200 can activate the second laser radar 11' provided on it when it detects that the distance between the measured object 200 and the electronic device 100 is less than or equal to the third preset distance and use the second The laser radar 11 ′ detects the measured object 200 , wherein the light emitted by the second laser radar 11 ′ can ensure that the imaging position of the measured object 200 will not exceed the detectable range of the photodetection element 13 when the distance is less than or equal to the third preset distance. Wherein, the third preset distance is smaller than the above-mentioned first preset distance, and its value may also be an empirical value or an experimental value, for example, the value of the third preset distance may be 0.3 meters.

In some implementations, the angle of the light emitted by the second laser radar can be designed so that the imaging position of the measured object 200 will not exceed the detectable range of the photoelectric ToF detection element 13 when it is less than or equal to the third preset distance, for example As mentioned above in FIG. 4A , the angle of the light emitted by the second laser radar can be designed to have an included angle of 5° to 10° with the angle of the light emitted by the first laser radar. For example, as shown in FIG. 9 , the angle α between the light path 3 of the light emitted by the second laser radar and the light path 1 of the light emitted by the first laser radar is 10°.

In order to reduce the cost of electronic equipment or the above-mentioned photoelectric ranging module as much as possible, in other implementations, as mentioned in Figure 4A above, the beam splitter 110 can also be directly installed on the first laser radar 11, for The light emitted by the laser radar 11 is subjected to spectroscopic processing to obtain two different paths of light, wherein the first path of light maintains the original outgoing direction, and the angle between the second path of light and the original outgoing direction ranges from 5° to 10°, as shown in Fig. As shown in 10, after the spectroscopic processing by the spectroscopic mirror 110, the optical path 4 emitted by the first laser radar is subjected to the spectroscopic processing to obtain the optical path 41 and the optical path 42, and the angle β between the optical path 41 and the optical path 42 is 10°. When the distance between the measured object 200 and the electronic device 100 is less than the third preset distance, the measured object 200 can be imaged on the photoelectric ToF detection element 13 under the light of the second optical path, and then the photoelectric ToF detection element 13 detects the distance of the measured object 200 The position of the imaging spot is used to determine whether the distance between the measured object 200 and the electronic device 100 exceeds the first preset distance by using triangulation distance measurement according to the position of the imaging spot of the measured object 200 .

702. If the distance from the measured object 200 to the electronic device 100 is less than the first preset distance, use the distance from the measured object 200 to the electronic device 100 determined by the first distance measuring method as a distance measurement result. That is, within the first preset distance, the distance from the measured object 200 to the electronic device 100 measured by the first distance measuring method is more accurate than the distance from the measured object 200 to the electronic device 100 measured by the second distance measuring method. Therefore, the distance from the measured object 200 to the electronic device 100 measured by the first distance measurement method is used as the final distance measurement result.

For example, the distance between the measured object 200 and the electronic device 100 detected by the triangulation ranging method is 0.789 meters, and the distance between the measured object 200 and the electronic device 100 detected by the time-of-flight ranging method is 0.8 meters, which is less than the above-mentioned first A preset distance of 1 meter, but the distance between the measured object 200 and the electronic device 100 measured by the triangulation distance measurement method is obviously higher than the accuracy of the distance measured by the time-of-flight distance measurement method from the measured object 200 to the electronic device 100 , so in this case, the distance from the measured object 200 to the electronic device 100 detected by the triangulation ranging method is used as the ranging result.

Wherein, in the case of less than the first preset distance (for example, 1 meter), the principle of distance measurement by triangulation can be as shown in FIG. and imaged on the above-mentioned photoelectric ToF detection element 13, and then the electronic device 100 can determine the distance between the measured object 200 and the electronic device 100 by using the triangulation distance measurement method shown in FIG. The distance of the device 100.

703. If the distance from the measured object 200 to the electronic device 100 is greater than or equal to the second preset distance, use the distance from the measured object 200 to the electronic device 100 determined by the first distance measuring method as a distance measurement result. Wherein, the second preset distance is greater than or equal to the first preset distance. That is, in the case of exceeding the first preset distance, the accuracy of the distance from the measured object 200 to the electronic device 100 measured by the second distance measuring method is better than that of the measured object 200 to the electronic device measured by the first distance measuring method. The distance of 100 has high accuracy, so the distance from the measured object 200 to the electronic device 100 measured by the second distance measuring method is used as the final distance measurement result.

For example, the distance between the measured object 200 and the electronic device 100 detected by the triangulation ranging method is 59 meters, and the distance between the measured object 200 and the electronic device 100 detected by the time-of-flight ranging method is 58.799 meters, which is greater than the above-mentioned first A preset distance of 1 meter, but the distance between the measured object 200 and the electronic device 100 measured by the time-of-flight distance measurement method is obviously higher than the accuracy of the distance measured by the triangulation distance measurement method from the measured object 200 to the electronic device 100 , so in this case, the distance from the measured object 200 to the electronic device 100 detected by the time-of-flight ranging method is used as the ranging result.

Fig. 12 shows a schematic diagram of a photoelectric ToF detection chip system 1200 according to some embodiments of the present application. The photoelectric ToF detection chip 1200 can be applied to the electronic device 100 shown in FIG. 4A above, so as to implement the distance measuring method in the above-mentioned implementations of the present application.

As shown in Figure 12, the photoelectric ToF detection chip system 1200 may include one or more processors 1210, system memory 1202, non-volatile memory (Non-Volatile Memory, NVM) 1203, input/output (I/O) devices 1204 , communication interface 1205 and system control logic 1206 for coupling processor 1210 , system memory 1202 , nonvolatile memory 1203 , communication interface 1204 and input/output (I/O) device 1205 . Wherein: the processor 1210 may include one or more single-core or multi-core processors. In some embodiments, processor 1210 may include any combination of general-purpose processors and special-purpose processors (eg, graphics processors, application processors, baseband processors, etc.). In some embodiments, the processor 1210 may be used to implement the ranging method provided in the embodiment shown in FIG. 7 .

The system memory 1202 is a volatile memory, such as random access memory (Random-Access Memory, RAM), double data rate synchronous dynamic random access memory (Double Data Rate Synchronous Dynamic Random Access Memory, DDR SDRAM), etc. The system memory is used to temporarily store data and/or instructions. For example, in some embodiments, the system memory 1202 may be used to store the above-mentioned executable program for implementing the ranging method.

Non-volatile memory 12012 may include one or more tangible, non-transitory computer-readable media for storing data and/or instructions. In some embodiments, the nonvolatile memory 1203 may include any suitable nonvolatile memory such as flash memory and/or any suitable nonvolatile storage device, such as a hard disk drive (Hard DiskDrive, HDD), an optical disc (Compact Disc, CD), Digital Versatile Disc (Digital Versatile Disc, DVD), Solid-State Drive (Solid-State Drive, SSD), etc. In some embodiments, the non-volatile memory 12012 may also be a removable storage medium, such as a secure digital (Secure Digital, SD) memory card and the like.

In particular, system memory 1202 and non-volatile storage 12012 may include, respectively, temporary and permanent copies of instructions 1207 . The instruction 1207 may include: when executed by at least one of the processors 1210 , the electronic device 1001200 implements the ranging method provided by various embodiments of the present application.

Input/output (I/O) devices 1204 may include a user interface enabling a user to interact with electronic device 1001200 . For example, in some embodiments, the input/output (I/O) device 1204 may include output devices such as a monitor for displaying the interface of the insurance management system in the electronic device 1001200, and may also include input devices such as a keyboard, mouse, and touch screen. Product developers can interact with the electronic device 1001200 through a user interface and input devices such as a keyboard, a mouse, and a touch screen.

The communication interface 1205 is configured to provide a wired or wireless communication interface for the electronic device 1001200, and then communicate with any other suitable device through one or more networks. In some embodiments, the communication interface 1205 can be integrated with other components of the photoelectric ToF detection chip system 120 , for example, the communication interface 1205 can be integrated in the processor 1210 . In some embodiments, the electronic device 1001200 can communicate with other devices through the communication interface 1205 . In some embodiments, the photoelectric ToF detection chip system 1200 outputs the distance from the measured object 200 to the device measured by the above-mentioned distance measuring method through the communication interface 1205 .

The system control logic 1206 may include any suitable interface controller to provide any suitable interface with other modules of the electronic device 1001200. For example, in some embodiments, system control logic 1206 may include one or more memory controllers to provide an interface to system memory 1202 and non-volatile memory 12012 .

In some embodiments, at least one of the processors 1210 may be packaged together with logic for one or more controllers of the system control logic 1206 to form a System in Package (SiP). In some other embodiments, at least one of the processors 1210 can also be integrated on the same chip with the logic of one or more controllers for the system control logic 1206 to form a System-on-Chip (SoC) ).

It can be understood that the structure of the system-on-a-chip shown in the embodiment of the present application does not constitute a specific limitation on the system-on-a-chip. In other embodiments of the present application, the system-on-a-chip may include more or fewer components than shown, or combine certain components, or separate certain components, or arrange different components. The illustrated components can be realized in hardware, software or a combination of software and hardware.

In addition, the present application also provides a ranging method, which can be applied to electronic equipment, and the electronic equipment includes a photoelectric ToF detection chip, a processor, a laser radar, and a receiver, wherein the receiver also includes the The photoelectric ToF detection element can also support the above two ranging methods. The method includes:

The photoelectric ToF detection chip determines the imaging position of the measured object on the photoelectric ToF detection chip based on the first ranging method, and the processor calculates the first distance from the measured object to the measured object to the electronic device according to the determined imaging position, and

The photoelectric ToF detection chip determines the time elapsed in the process of light reflected by the object under test and received by the receiver based on the second distance measurement method, and the processor calculates the second distance from the object under test to the electronic device based on the determined time .

When the first distance or the second distance is less than the first preset distance, the processor takes the first distance as the ranging result, and when the first distance or the second distance is greater than or equal to the second preset distance, The second distance is used as the ranging result, wherein the second preset distance is greater than or equal to the first preset distance.

Wherein, as mentioned above, the first ranging method may be the triangular ranging method, and the second ranging method may be the time-of-flight ranging method. Correspondingly, the first distance is the measured distance using the triangular ranging method. The distance from the object to the electronic device, the second distance is the distance from the measured object to the electronic device measured by the time-of-flight ranging method. Wherein, for the specific implementation process of the first ranging method and the second ranging method, reference may be made to the relevant description above, which will not be repeated here.

When the photoelectric ToF detection chip detects the distance from the measured object to the electronic device using the triangulation ranging method or the time-of-flight ranging method, the photoelectric ToF detection chip sends the distance to the processor of the electronic device, and the processing of the electronic device The device determines whether the current ranging scene belongs to a short-distance ranging scene or a long-distance ranging scene according to the received distance. If the first distance or the second distance is less than the first preset distance, it indicates that you are currently in a short-distance ranging scene, and the first distance measured by the triangulation method is used as the ranging result. When the first distance or the second distance is greater than or equal to the second preset distance, indicating that the long-distance ranging scene is currently being processed, and the second distance measured by the time-of-flight ranging method is used as the ranging result to ensure that the electronic device is in a short-distance ranging scene or a long-distance ranging The accuracy of ranging results in the scene.

Corresponding to the above distance measuring method, the present application also provides another electronic device, wherein, for the same description as the above distance measuring method, reference may be made to the relevant description above, and details will not be repeated below. Specifically, the electronic device includes a photoelectric ToF detection chip, a processor, a laser radar, and a receiver, wherein the receiver includes a photoelectric ToF detection chip, and the photoelectric ToF detection chip can support the first ranging method and the second ranging method. Among them, the photoelectric ToF detection chip can determine the imaging position of the measured object on the photoelectric ToF detection element based on the first ranging method, and can determine that the light is reflected by the measured object and received by the receiver based on the second ranging method. the time elapsed in the process of arrival;

The processor can calculate a first distance from the measured object to the electronic device according to the determined imaging position information, and can calculate a second distance from the measured object to the electronic device according to the determined time, and

The processor can also use the first distance as the ranging result when the first distance or the second distance is less than the first preset distance, and use the first distance or the second distance greater than or equal to the second preset distance. Next, the second distance is used as the ranging result, wherein the second preset distance is greater than or equal to the first preset distance.

In addition, an embodiment of the present application also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be implemented.

An embodiment of the present application provides a computer program product, which, when the computer program product runs on the electronic device 100 , enables the electronic device 100 to realize the steps in the foregoing method embodiments when executed.

The embodiment of the present application also provides an electronic device 100, the electronic device 100 includes: a photoelectric detection module, at least one processor, a memory, and a computer program stored in the memory and operable on the at least one processor, processing The steps in any of the above method embodiments are implemented when the computer executes the computer program. In some embodiments, the photoelectric detection module itself may include processors, memory and other devices, that is, the distance measuring method may be implemented by the processor and memory of the photoelectric detection module, or sent to the electronic device by the photoelectric detection module. implemented by the processor of the device, which is not limited in this application.

Various embodiments of the mechanisms disclosed in this application may be implemented in hardware, software, firmware, or a combination of these implementation methods. Embodiments of the present application may be implemented as a computer program or program code executed on a programmable system comprising at least one processor, a storage system (including volatile and non-volatile memory and/or storage elements) , at least one input device, and at least one output device.

Program code can be applied to input instructions to perform the functions described herein and to generate output information. The output information may be applied to one or more output devices in known manner. For the purposes of this application, a processing system includes any computer having a processor such as, for example, a Digital Signal Processor (DSP), a microcontroller, an Application Specific Integrated Circuit (ASIC), or a microprocessor. system.

The program code can be implemented in a high-level procedural language or an object-oriented programming language to communicate with the processing system. Program code can also be implemented in assembly or machine language, if desired. In fact, the mechanisms described in this application are not limited in scope to any particular programming language. In either case, the language may be a compiled or interpreted language.

In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments can also be implemented as instructions carried by or stored on one or more transitory or non-transitory machine-readable (e.g., computer-readable) storage media, which can be executed by one or more processors read and execute. For example, instructions may be distributed over a network or via other computer-readable media. Thus, a machine-readable medium may include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including, but not limited to, floppy disks, optical disks, optical disks, read-only memories (CD-ROMs), magnetic CD-ROM, Read Only Memory (ROM), Random Access Memory (Random Access Memory, RAM), Erasable Programmable Read Only Memory (EPROM), Electrically Erasable Programmable Read Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic card or optical card, flash memory, or used to transmit information (such as carrier wave, infrared signal digital signal, etc.) Tangible machine readable storage. Thus, a machine-readable medium includes any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (eg, a computer).

In the drawings, some structural or methodological features may be shown in a particular arrangement and/or order. However, it should be understood that such specific arrangements and/or orderings may not be required. Rather, in some embodiments, these features may be arranged in a different manner and/or order than shown in the illustrative figures. Additionally, the inclusion of structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments these features may not be included or may be combined with other features.

It should be noted that each unit/module mentioned in each device embodiment of this application is a logical unit/module. Physically, a logical unit/module can be a physical unit/module, or a physical unit/module. A part of the module can also be realized with a combination of multiple physical units/modules, the physical implementation of these logical units/modules is not the most important, the combination of functions realized by these logical units/modules is the solution The key to the technical issues raised. In addition, in order to highlight the innovative part of this application, the above-mentioned device embodiments of this application do not introduce units/modules that are not closely related to solving the technical problems proposed by this application, which does not mean that the above-mentioned device embodiments do not exist other units/modules.

It should be noted that in the examples and descriptions of this patent, relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply There is no such actual relationship or order between these entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without more limitations, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element. Although this application has been shown and described with reference to certain preferred embodiments thereof, those skilled in the art will understand that various changes in form and details may be made therein without departing from this disclosure. The spirit and scope of the application.

Claims (15)

1. A ranging method, characterized by being applied to an electronic device, the electronic device comprising a first transmitter and a first receiver, the first receiver comprising an optoelectronic time-of-flight ToF detection element supporting a first ranging method and a second ranging method, the method comprising: judging whether the distance between the measured object and the electronic equipment exceeds a first preset distance or not by using a first distance measuring method and/or a second distance measuring method;

if the distance from the measured object to the electronic equipment is smaller than the first preset distance, the distance from the measured object to the electronic equipment, which is determined by adopting the first distance measuring method, is taken as a distance measuring result; or (b)

And if the distance from the measured object to the electronic equipment is greater than or equal to the second preset distance, taking the distance from the measured object to the electronic equipment, which is determined by adopting the second distance measuring method, as the distance measuring result, wherein the second preset distance is greater than or equal to the first preset distance.

2. The method of claim 1, wherein the optoelectric ToF detecting element is elongated in shape and has an aspect ratio of 3 or more.

3. The method according to claim 1 or 2, wherein the first ranging method comprises:

and determining the distance from the detected object to the electronic equipment by utilizing the imaging position on the photoelectric TOF detection element after the first light emitted by the first emitter is reflected by the detected object.

4. A method according to claim 3, wherein the first ranging method further comprises:

if the distance from the object to be measured to the electronic equipment is smaller than or equal to the third preset distance, the first light emitted by the first emitter is subjected to light splitting treatment, so that the first light emitted by the first emitter is divided into a first light path and a second light path, the distance from the object to be measured to the electronic equipment is determined by utilizing the imaging position of the light of the second light path on the photoelectric TOF detection element after the light of the second light path is reflected by the object to be measured,

the light of the first light path is the same as the first light in direction, the included angle between the light of the first light path and the direction of the second light path ranges from 5 degrees to 10 degrees, and the third preset distance is smaller than the first preset distance.

5. The method of claim 3, wherein the electronic device further comprises a second transmitter, the first ranging method further comprising:

If the distance from the detected object to the electronic equipment is smaller than or equal to a third preset distance, after the light rays emitted by the second emitter are reflected by the detected object, determining the distance from the detected object to the electronic equipment by utilizing the imaging position of the detected object on the photoelectric TOF detection element, wherein the third preset distance is smaller than the first preset distance, and the included angle range of the light rays emitted by the first emitter and the second emitter is 5-10 degrees.

6. The method according to any one of claims 1 to 5, wherein the second ranging method comprises:

and determining the distance from the measured object to the electronic equipment by using the time which elapses in the process of receiving the first light emitted by the first emitter by the first receiver after the first light is reflected by the measured object.

7. A photoelectric detection module, comprising:

the first laser radar is used for emitting first light rays to the object to be measured;

the receiver comprises a photoelectric ToF detection element, wherein the photoelectric ToF detection element is used for receiving first light reflected by a measured object;

a memory for storing instructions for execution by one or more processors of the photodetection module, and

A processor, which is one of the processors of the photoelectric detection module, for performing the ranging method as set forth in any one of claims 1 to 6.

8. The photoelectric detection module according to claim 8, wherein a beam splitting device is disposed on the first laser radar and is configured to split light emitted by the first laser radar into a first light path and a second light path, so that the light of the first light path and the first light path have the same direction, and an included angle between the light of the first light path and the direction of the second light path ranges from 5 ° to 10 °.

9. The photodetection module according to claim 8, further comprising a second lidar, wherein an angle between the outgoing light of the first lidar and the outgoing light of the second lidar is in a range of 5 ° to 10 °.

10. An electronic device comprising a photodetection module according to any one of claims 8 to 10,

a memory for storing instructions for execution by one or more processors of the electronic device, and

a processor, being one of the processors of an electronic device, for performing the ranging method of any of claims 1 to 6.

11. An optoelectronic ToF detecting chip, wherein the optoelectronic ToF detecting chip comprises:

a communication interface for inputting and/or outputting information;

a processor for executing a computer-executable program to cause a device mounted with the opto-electronic ToF detection chip to perform the ranging method of any one of claims 1 to 6.

12. The optoelectronic ToF detecting chip according to claim 11, wherein the optoelectronic ToF detecting chip outputs a distance from the object under test to the electronic device via the communication interface.

13. The ranging method is applied to electronic equipment and is characterized by comprising an optoelectronic ToF detection chip, a processor, a transmitter and a receiver, wherein the receiver comprises an optoelectronic ToF detection element, and the optoelectronic ToF detection chip supports a first ranging method and a second ranging method;

the method comprises the following steps:

the photoelectric TOF detection chip determines an imaging position of a detected object on the photoelectric TOF detection chip based on a first ranging method, and the processor calculates a first distance from the detected object to an electronic device according to the determined imaging position, and

The photoelectric ToF detection chip determines the time which is elapsed in the process that the light is reflected by the detected object and received by the receiver based on a second distance measuring method, and the processor calculates the second distance from the detected object to the electronic equipment according to the determined time;

the processor takes the first distance as a distance measurement result when the first distance or the second distance is smaller than a first preset distance, and takes the second distance as a distance measurement result when the first distance or the second distance is larger than or equal to the second preset distance, wherein the second preset distance is larger than or equal to the first preset distance.

14. An electronic device, comprising an optoelectronic ToF detection chip, a processor, a transmitter and a receiver, the receiver comprising an optoelectronic ToF detection element, the optoelectronic ToF detection chip supporting a first ranging method and a second ranging method; wherein,,

the photoelectric ToF detection chip can determine the imaging position of the detected object on the photoelectric ToF detection element based on a first distance measurement method, and can determine the time which elapses in the process that the light is reflected by the detected object and received by the receiver based on a second distance measurement method;

The processor is capable of calculating a first distance of the object to be measured to an electronic device based on the determined imaging position information and a second distance of the object to be measured to the electronic device based on the determined time, and

the processor is further capable of taking the first distance as a ranging result if the first distance or the second distance is smaller than a first preset distance, and taking the second distance as the ranging result if the first distance or the second distance is larger than or equal to a second preset distance, wherein the second preset distance is larger than or equal to the first preset distance.

15. A readable medium having stored thereon instructions which, when executed on an electronic device, cause the electronic device to perform the ranging method of any of claims 1 to 6.