CN107272010A - Range sensor and its distance measurement method, 3D rendering sensor - Google Patents
Range sensor and its distance measurement method, 3D rendering sensor Download PDFInfo
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- CN107272010A CN107272010A CN201710477641.XA CN201710477641A CN107272010A CN 107272010 A CN107272010 A CN 107272010A CN 201710477641 A CN201710477641 A CN 201710477641A CN 107272010 A CN107272010 A CN 107272010A
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- 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
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Abstract
A kind of range sensor and its distance measurement method, 3D rendering sensor, the distance measurement method include：Obtain multiple count signals, each count signal, which has to count, to be started edge and counts to stop edge, wherein, the counting of first count signal starts edge and produced when light source sends photon, the counting of first count signal stops along being reflected the obtained reflected light period of the day from 11 p.m. to 1 a.m through destination object and producing detecting, and the counting of other count signals stops stopping along with different delays along the counting relative to the first count signal；The counting for starting edge and each count signal in the counting of first count signal stops along along the time window defined, input clock signal is counted, to obtain corresponding count value；The distance between described destination object and the range sensor are determined using individual count value.The measurement accuracy of the 3D rendering sensor based on photon detection technology can be effectively improved using technical solution of the present invention.
Description
Technical field
The present invention relates to 3D rendering sensor technical field, more particularly to a kind of range sensor and its range measurement side
Method, 3D rendering sensor.
Background technology
Light has fluctuation and corpuscular property.It is just molecular by substantial amounts of light according to the corpuscular property of light, the energy of photon
Determined by the frequency of light.Because the energy of the single photon of visible light wave range is especially low, in order to detect the light of low energy
Son is, it is necessary to special photoelectricity testing part, namely single-photon detector.Single-photon detector mainly has two kinds：Photomultiplier
With single-photon avalanche diode (Single Photon Avalanche Diode, abbreviation SPAD).Wherein, based on semiconductor work
The SPAD of skill, which has, measures that efficiency high, low in energy consumption, small volume, frequency spectrums of operation scope be big, operating voltage is low in infrared communication wave band
The advantages of, it is widely used in the scenes such as range measurement field, 3D rendering reconstruct, be particularly suitable for use in the detection to low light signals.
There is a kind of 3D rendering sensor based on SPAD in the prior art, the 3D rendering sensor includes multiple such as Fig. 1
Shown range sensor 100, wherein, the SPAD (referring to D1) in the 3D rendering sensor is arranged in array.As shown in figure 1,
The range sensor 100 is to realize that distance is surveyed by detecting the flight time of photon (Time Of Flight, abbreviation TOF)
Amount.In specific implementation, the range sensor 100 can include：Control circuit for light source 10, light source 20, SPAD, pulse production
Raw circuit 30 and counter 40.While the control circuit for light source 10 controls the transmitting of light source 20 photon, counting is produced
Commencing signal counter_start, is started counting up with flip-flop number 40, and photon irradiation to destination object is reflexed to by it to be reached
SPAD, triggers snowslide in SPAD, and the avalanche current of generation is detected by the pulse-generating circuit 30, is stopped with generating to count
Signal counter_stop.Wherein, the count start signal counter_start and count stop signal counter_stop
Waveform may refer to Fig. 2.
, can be according in the count start signal counter_start in specific implementation in the lump referring to Fig. 1 and Fig. 2
Rising edge and count stop signal counter_stop the time window that is defined of rising edge in, 40 pair one of the counter
The count results of high-frequency clock (not shown) obtain the destination object to the distance of the range sensor 100.Further,
The 3D rendering sensor can obtain the target pair by controlling 20 pairs of the light source destination object to carry out array scanning
As each upper position to the distance of the range sensor 100, it is reconstructed come the image to the destination object.
Because the counter 40 is worked under the frequency of the high-frequency clock, weighed by the periodicity of the high-frequency clock
The time window, namely photon flight time, the cycle of the high-frequency clock just determines the range sensor 100
Measurement accuracy., it is necessary to which each pixel or each column pixel use a counter for 3D rendering sensor.However, for
The restriction of area, power consumption and technique, very big cost can be paid by improving the frequency of the high-frequency clock.Therefore, how base is improved
In the measurement accuracy of the 3D rendering sensor of photon detection technology be a technical problem urgently to be resolved hurrily.
The content of the invention
Present invention solves the technical problem that being the measurement essence for how improving the 3D rendering sensor based on photon detection technology
Degree.
, should be away from order to solve the above technical problems, the embodiment of the present invention provides a kind of distance measurement method of range sensor
Include from measuring method：Multiple count signals are obtained, each count signal, which has to count, to be started edge and count to stop edge, wherein,
The counting of first count signal starts along being produced when light source sends photon, the counting of first count signal stop along be
Detect and reflect what the obtained reflected light period of the day from 11 p.m. to 1 a.m was produced through destination object, the counting of other count signals stops along relative to institute
The counting for stating first count signal stops along with different delays；Start edge and each counting in the counting of first count signal
The counting of signal stops along along the time window defined, input clock signal is counted, to obtain corresponding count value；
The distance between described destination object and the range sensor are determined using individual count value.
Alternatively, the multiple count signals of acquisition include：The light source is controlled to send photon different at the time of respectively,
The counting that corresponding count signal is produced when the light source generates photon starts edge；Reflected detecting through the destination object
The counting that the obtained reflected light period of the day from 11 p.m. to 1 a.m produces corresponding count signal stops edge；Wherein, the counting of other count signals starts
Start along the counting relative to the first count signal along with different delays.
Alternatively, the counting of other count signals stops stopping along the counting relative to the first count signal
The delay on edge is respectively less than the cycle equal to the input clock signal.
Alternatively, for i-th of count signal, the delay is equal to T/ (N-1) × (i-1), wherein, T is the input
The cycle of clock signal, N is the total quantity of the count signal, and i and N are integer, 2≤i≤N.
Alternatively, the utilization individual count value determines the distance between the destination object and described range sensor bag
Include：Institute is determined according to the average value of obtained individual count value, the cycle of the input clock signal and the spread speed of photon
State the distance between destination object and described range sensor.
Alternatively, the distance between the destination object and the range sensor is determined in the utilization individual count value
Before, in addition to：The count value that previous ought be counted to get and the count value that is obtained before current time are compared；If current
The secondary count value counted to get is more than maximum and 1 sum in the count value obtained before current time, or less than current
Maximum in the count value obtained before secondary, then judge the count value that previous ought be counted to get as anomalous counts value, and to it
Rejected.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of range sensor, the range sensor includes：
Count signal acquisition module, suitable for obtaining multiple count signals, each count signal, which has to count, to be started edge and counts to stop edge,
Wherein, the counting of first count signal starts along being produced when light source sends photon, and the counting of first count signal stops
Along being reflected the obtained reflected light period of the day from 11 p.m. to 1 a.m through destination object and produces detecting, the counting stoppings of other count signals is along phase
Counting for the first count signal stops along with different delays；Counter, suitable for the meter in first count signal
Number starts edge and the counting of each count signal stops along along the time window defined, and input clock signal is counted,
To obtain corresponding count value；Wherein, individual count value is used to determine between the destination object and the range sensor
Distance.
Alternatively, the count signal acquisition module includes：Delay circuit, suitable for controlling the light source respectively different
Moment sends photon, and the counting that corresponding count signal is produced when the light source generates photon starts edge, wherein, others meter
The counting beginning of number signal starts along with different delays along the counting relative to the first count signal；Photon detection electricity
Road, suitable for being detected respectively to reflecting obtained reflection photon through the destination object, in terms of obtaining each count signal
Number stops edge.
Alternatively, the counting of other count signals stops stopping along the counting relative to the first count signal
The delay on edge is respectively less than the cycle equal to the input clock signal.
Alternatively, for i-th of count signal, the delay is equal to T/ (N-1) × (i-1), wherein, T is the input
The cycle of clock signal, N is the total quantity of the count signal, and i and N are integer, 2≤i≤N.
Alternatively, the range sensor also includes：Control module, suitable for being averaged according to obtained individual count value
The spread speed of value, the cycle of the input clock signal and photon is determined between the destination object and the range sensor
Distance.
Alternatively, the control module using individual count value determine the destination object and the range sensor it
Between distance before, be further adapted for the count value by the count value that previous ought be counted to get with being obtained before current time and compared
Compared with, if the count value that previous ought be counted to get is more than maximum and 1 sum in the count value obtained before current time, or it is small
Maximum in the count value obtained before current time, then judge the count value that previous ought be counted to get as anomalous counts
Value, and it is rejected.
Alternatively, the delay circuit includes：Controllable time delay chain, its input end of clock accesses the input clock signal,
Suitable for producing output clock signal under the control of phase selection signal, the output clock signal is relative to the input clock
The delay of signal is equal to T/ (N-1) × (i-1)；Trigger, the counting that its data input pin accesses the first count signal is opened
Beginning edge, in the presence of the output clock signal, the counting that its data output end exports other count signals starts
Edge.
Alternatively, the photon detection circuit includes：SPAD, suitable for detecting the reflected light period of the day from 11 p.m. to 1 a.m generation snowslide electricity
Stream；Pulse generation circuit, the counting suitable for producing the count signal according to the avalanche current stops edge.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of 3D rendering sensor, the 3D rendering sensor
It is multiple above-mentioned range sensors including quantity, wherein, the photon detection circuit is arranged in array.
Compared with prior art, the technical scheme of the embodiment of the present invention has the advantages that：
The distance measurement method of range sensor in the embodiment of the present invention is by obtaining multiple count signals, each counting
There is signal counting to start edge and count to stop edge, wherein, it is to send photon in light source that the counting of first count signal, which starts edge,
When produce, the counting of first count signal stops along the obtained reflected light period of the day from 11 p.m. to 1 a.m is reflected through destination object being produced detecting
, the counting stopping of other count signals stops prolonging along with different along the counting relative to the first count signal
When, then along the time window that the counting stopping edge on the counting beginning edge of first count signal and each count signal is defined,
Input clock signal is counted, to obtain corresponding count value, finally the destination object is determined using individual count value
The distance between with the range sensor.The distance between the destination object and the range sensor correspond to photon
Flight time, above-mentioned individual count value can indicate that the flight time of photon is not counted into time of count results and accounts for described defeated
Enter the ratio in the cycle of clock signal, therefore, the quantization resolution of counter can be promoted to all recovered normal by the embodiment of the present invention
The 1/N in cycle, can effectively improve the measurement accuracy of the range sensor based on photon detection technology, and then can improve bag
Include the measurement accuracy of the 3D rendering sensor of the range sensor.
Furthermore, the embodiment of the present invention controls the light source to send photon different at the time of respectively, in the light
Source produces the counting of corresponding count signal when generating photon and starts edge, and obtain anti-is reflected through the destination object detecting
The counting that corresponding count signal is produced when penetrating photon stops edge, wherein, the countings of other count signals start along relative to
The counting of the first count signal starts along with different delays.That is, the embodiment of the present invention is by repeatedly quantifying
Above-mentioned multiple count signals are obtained, the mode repeatedly quantified can repeatedly be counted using identical counter, in terms of saving
The resource of number device, can also be by repeatedly quantifying to reduce influence of the noise to measurement.
Furthermore, the distance measurement method it is determined that between the destination object and the range sensor away from
From before, also the count value that previous ought be counted to get and the count value that is obtained before current time are compared, if when previous
The count value counted to get is more than maximum and 1 sum in the count value obtained before current time, or is counted when previous
To count value be less than maximum in the count value obtained before current time, then judge the count value that previous ought be counted to get
For anomalous counts value, and it is rejected, the progress rejecting of anomalous counts value can further be lifted into the Distance-sensing
The precision of the measurement of device.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of range sensor of the prior art.
Fig. 2 is the work wave schematic diagram of the range sensor shown in Fig. 1.
Fig. 3 is a kind of schematic block diagram of range sensor of the embodiment of the present invention.
Fig. 4 is the work wave schematic diagram of the range sensor shown in Fig. 3.
Fig. 5 is the counting schematic diagram of the counter shown in Fig. 3.
Fig. 6 is the schematic block diagram of another range sensor of the embodiment of the present invention.
Fig. 7 is a kind of flow chart of the distance measurement method of range sensor of the embodiment of the present invention.
Fig. 8 is the flow chart of the distance measurement method of another range sensor of the embodiment of the present invention.
Embodiment
As described in the background section, in the range sensor based on photon detection technology in the prior art, count
Device is weighed the flight time of photon by the periodicity of high-frequency clock, and the cycle of high-frequency clock determines the measurement essence of range sensor
Degree., it is necessary to which each pixel or each column pixel use a counter for 3D rendering sensor.However, for area, work(
The restriction of consumption and technique, very big cost can be paid by improving the frequency of the high-frequency clock.Therefore, how to improve based on photon inspection
The measurement accuracy of the 3D rendering sensor of survey technology is a technical problem urgently to be resolved hurrily.
The embodiment of the present invention provides a kind of measuring method of range sensor, by obtaining multiple count signals, and
The counting of first count signal starts edge and the counting of each count signal stops along along the time window defined, during to input
The mode that clock signal is counted, is effectively improved the quantified precision to the flight time of photon, and then effectively improve institute
State the measurement accuracy of range sensor.
It is understandable to enable above-mentioned purpose, feature and beneficial effect of the invention to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
In the lump referring to Fig. 3 and Fig. 4, the embodiment of the invention discloses a kind of range sensor 200, the range sensor 200
Count signal acquisition module 10 and counter 20 can be included.
Wherein, the count signal acquisition module 10 is suitable to obtain multiple count signal Ctrl, Ctr2 ... and CtrN, N
For positive integer, namely the total quantity that N is the count signal Ctr2 to CtrN, each count signal Ctr1 to CtrN, which has, to be counted
Start along (not indicated in figure) and count stopping along (not indicated in figure), wherein, first count signal Ctrl counting starts edge
Produced when light source 40 sends photon, first count signal Ctrl counting stop along be detect it is anti-through destination object
Penetrate what the obtained reflected light period of the day from 11 p.m. to 1 a.m was produced, other count signal Ctr2 to CtrN counting stop along relative to it is described it is first based on
Number signal Ctrl counting stops along with different delays.
The counter 20 is suitable to start edge and each count signal Ctr1 extremely in first count signal Ctr1 counting
CtrN counting stops along along the time window TOF1~N defined, input clock signal CLKin is counted, to obtain
Corresponding count value, counts complete once to quantify every time.Wherein, individual count value be used for determine the destination object with it is described away from
From the distance between sensor 200.
In specific implementation, the counter 20 can be any enforceable counter structure, such as conventional ripple
Counter (Ripple Counter), but not limited to this.
In embodiments of the present invention, the individual count value that the counter 20 is counted to get is used to determine the destination object
The distance between with the range sensor 200.It should be noted that half of the distance for the propagation path of the photon,
And the propagation path of the photon is to be examined from the light source 40 to the destination object, then by the destination object to the photon
Slowdown monitoring circuit 102.
In the present embodiment, the distance between the destination object and the range sensor 200 correspond to flying for photon
The row time (Time Of Flight, abbreviation TOF), above-mentioned individual count value can indicate that the flight time of photon is not counted into
The time of count results accounts for the ratio in the cycle of the input clock signal CLKin, therefore, and the embodiment of the present invention will can be counted
The quantization resolution of device 20 is promoted to the 1/N of all recovered normal cycle T, can effectively improve the distance based on photon detection technology and pass
The measurement accuracy of sensor 200, and then the measurement accuracy of the 3D rendering sensor including the range sensor 200 can be improved.
Preferably, the count signal acquisition module 10 can include delay circuit 101 and photon detection circuit 102.
Wherein, the delay circuit 101 is suitable to control the light source 40 to send photon different at the time of respectively, described
Light source 40 produces corresponding count signal counting when generating photon starts edge, wherein, other count signal Ctr2 to CtrN
Counting start along relative to the first count signal Ctr1 counting start along have different delays.
The photon detection circuit 102 is suitable to examine to reflecting obtained reflection photon through the destination object respectively
Survey, edge is stopped with the counting for obtaining each count signal Ctr1 to CtrN.
That is, the range sensor 200 in the embodiment of the present invention can be by repeatedly quantifying to obtain above-mentioned multiple meters
Number signal Ctr1 to CtrN, the mode repeatedly quantified can repeatedly be counted using identical counter, to save counter
Resource, can also be by repeatedly quantifying to reduce influence of the noise to measurement.
In specific implementation, the photon detection circuit 102 can include single-photon avalanche diode (Single
Photon Avalanche Diode, abbreviation SPAD) (not shown) and pulse generation circuit (not shown).Wherein, based on SPAD
Avalanche characteristic, the SPAD is suitable to produce avalanche current detecting the reflected light period of the day from 11 p.m. to 1 a.m；The pulse generation circuit is fitted
Stop edge in the counting that the count signal Ctr1 to CtrN is produced according to the avalanche current.
In the change case of the present embodiment one, the photon detection circuit 102 can also include photomultiplier (not shown)
With pulse generation circuit (not shown).Wherein, the reflection photon is detected by the photomultiplier, to produce photoelectric current, and
The counting for producing the count signal Ctr1 to CtrN according to the photoelectric current by the pulse generation circuit stops edge.
Above-mentioned SPAD and photomultiplier can complete the detection to photon., can be according to reality in specific implementation
Application demand to detect photon device select.Furthermore, the two can detect single photon, therefore with high
Photon detection efficiency.
In specific implementation, in the delay circuit 101 can include time delay chain (not shown), can by control with it is described
The light source control module (not shown) that light source 40 is mutually coupled controls the light source 40 to send photon different at the time of respectively.Example
Such as, quantify corresponding to first time, the light source control module produces LED control signal (not shown) to control the light source 40
Photon is sent first, and the counting that first count signal Ctr1 is produced during the generation of light source 40 photon starts edge；Corresponding to second
Secondary to quantify, the LED control signal that the light source control module is produced passes through the delay of the time delay chain so that the light source 40
It is tardy relative to first time quantization delay go out photon, and produce second count signal Ctr2 counting start edge；By that analogy,
Quantify corresponding to n-th, the LED control signal that the light source control module is produced passes through the delay of the time delay chain so that institute
State relative to the N-1 times quantization delay of light source 40 it is tardy go out photon, and produce n-th count signal CtrN counting and start edge.
Therefore, other count signal Ctr2 to CtrN counting starts to start along the counting relative to the first count signal Ctr1
Along with different delays.
For example, when the light source 40 is semiconductor laser, the light source control module can be laser controlling
Device.The light source control module can carry out temperature control to the light source 40 and provide electric current driving.It should be noted that
The light source control module outside can be coupled to or be internally integrated in the range sensor 200, the present embodiment without
It is specifically limited.
Preferably, the counting of other count signal Ctr2 to CtrN stops along relative to the first count signal
The delay that Ctr1 counting stops edge being respectively less than the cycle T for being equal to the input clock signal CLKin.
It is further preferred that for i-th of count signal Ctri, the delay is equal to T/ (N-1) × (i-1), wherein, T
For the cycle of the input clock signal CLKin, i is integer, and 2≤i≤N.
By taking N=16 as an example：For second count signal Ctr2, the delay is equal to T/15；Letter is counted for the 3rd
Number Ctr3, the delay is equal to 2 × T/15；For the 4th count signal Ctr4, the delay is equal to 3 × T/15；……；It is right
In the 16th count signal Ctr16, the delay is equal to T.
With continued reference to Fig. 4, counted with the counter 20 by the rising edge triggering of the input clock signal CLKin
Exemplified by, it is assumed that the counting for first count signal Ctr1 starts edge and counts the time window stopped along being defined in the prior art
Mouth TOF1 is counted to the input clock signal CLKin, due to that can not wait until in the arrival of next rising edge, Fig. 4
Δ t1 can not be counted into count results so that when the distance between the destination object and the range sensor 200 pair
When the flight time for the photon answered changes in input clock signal CLKin cycle T, it is impossible to by the range sensor 200
Recognized.The cycle T of the input clock signal CLKin is smaller, and the distance change that the range sensor 200 can be recognized is got over
Small, Measurement Resolution is higher.
In the lump referring to Fig. 4 and Fig. 5, the dotted line in Fig. 5 represents the total quantity of the count signal in the present embodiment, namely N
=16.Wherein, the 1st article of dotted line represents first count signal Ctr1 counting stopping edge, and the 2nd article of dotted line represents second and count letter
Number Ctr2 counting stops edge, by that analogy, and the counting that the 16th article of dotted line represents the 16th count signal Ctr16 stops edge.
Time span between 2nd to the 16th article of dotted line is equal to the cycle T of the input clock signal CLKin.In the present embodiment, it is false
It is A to be located at count value in time window TOF1, and A is positive integer, and the count value in time window TOF1~6 is also A, when
Between count value in window TOF7~16 be changed into A+1, namely be for 6 times A, 10 times are A+1.Therefore, the average value of above-mentioned count value
A fraction for [6 × A+10 × (A+1)]/16=A+5/8, the fraction indicate destination object described in Fig. 4 with it is described away from
The Δ t1 that the flight time of photon corresponding from the distance between sensor 200 is not counted into count results accounts for the input clock
The ratio of signal CLKin cycle T.Wherein, N value is bigger, and identification of the range sensor 200 to Δ t1 is more accurate.
In summary, in n times quantizing process, it is assumed that have the secondary counting knots of n (n is the integer more than or equal to 0 and less than N)
Fruit is A, and remaining N-n times count results are A+1, then final quantized result should being averaged for individual count result
Value：
The present embodiment can be according to the average value of obtained individual count valueThe input clock signal CLKin
Cycle T and the spread speed C of photon determine the distance between the destination object and described range sensor 200.
Specifically, the flight time of the photon isThen the destination object to the range sensor 200 distanceThe quantization resolution of counter 20 can be promoted to original by the embodiment of the present invention by repeatedly quantifying
The 1/N in counting cycle, can effectively improve the measurement accuracy of the range sensor 200 based on photon detection technology.If N=
2m, m is positive integer, then the range sensor 200 compares prior art, and its range accuracy lifts m.
It should be noted that also there are passage time numeral conversion (Time-to-Digital in the prior art
Converter, abbreviation TDC) technology improve time measurement resolution ratio scheme.Scheme of the embodiment of the present invention can be with the TDC
Technology is combined the range accuracy for further improving the range sensor 200.
It should also be noted that, counting of the embodiment of the present invention to other count signal Ctr2 to CtrN stops edge
Counting relative to the first count signal Ctr1 stops the delay on edge without specifically limited.Their delays from each other
It is able to can not also be waited with equal.Furthermore, above-mentioned delay is also not defined to respectively less than be equal to input clock letter
Number CLKin cycle T, when more than cycle T, then cuts positive integer cycle T in count results.
It should also be noted that, in specific implementation, the rising of 20 pairs of the counter input clock signal CLKin
Edge or trailing edge are counted, and the present embodiment is without specifically limited.Although the starting point counted has error to influence to described
One pixel of destination object carries out the measurement result of ranging, however, when being measured to multiple pixels, will can be somebody's turn to do
Error gives overall elimination as bias, has no effect on depth of field when Image Reconstruction is carried out to the destination object.
Alternatively, the range sensor 200 can also include being arranged at the destination object and photon detection electricity
Lens or lens subassembly (not shown) between road 102, suitable for being carried out to the reflection photon after pH effect (such as being imaged),
Detected again by the photon detection circuit 102.
In an alternative embodiment of the invention, the delay circuit 20 can also stop to first count signal Ctr1 counting
Along line delay is entered, edge is stopped with the counting for obtaining other count signal Ctr2 to CtrN, to cause other count signals
Ctr2 to CtrN counting stopping stops along with different delays along the counting relative to first count signal Ctr1.Further
For, the counter 20 can include multiple sub-count device (not shown), and each sub-count device is respectively in first count signal
Ctr1 counting starts edge and the counting of corresponding count signal stops along along the time window TOF1~N defined, to described
Input clock signal CLKin is counted, to obtain corresponding count value.
Fig. 6 is the schematic block diagram of another range sensor of the embodiment of the present invention.
Preferably, the range sensor 300 shown in Fig. 6 can include delay circuit 101, photon detection circuit 102, count
Device 20 and control module 50.Wherein, the control module 50 is suitable to the average value for the individual count value that basis is obtained, the input
Clock signal clk in cycle and the spread speed of photon are determined between the destination object and the range sensor 300
Distance.
In specific implementation, the control module 50 can be such as single-chip microcomputer, PLD
(Programmable Logic Device, abbreviation PLD), field programmable gate array (Field Programmable Gate
Array, abbreviation FPGA) etc. control unit.
It should be noted that the control module 50 outside can be coupled or be internally integrated in the range sensor
300, the present embodiment is without specifically limited.
Preferably, the control module 50 is determining the destination object and the range sensor using individual count value
Before the distance between 300, it is further adapted for the count value by the count value that previous ought be counted to get with being obtained before current time and enters
Row compares, if the count value that previous ought be counted to get is more than maximum and 1 sum in the count value obtained before current time,
Or less than the maximum in the count value obtained before current time, then judge the count value that previous ought be counted to get as abnormal meter
Numerical value, and it is rejected.
Because the time that the counter 20 terminates to count is more late, count results will be bigger, if the knot of actual count
Fruit occurs smaller or excessive, then will be determined as miscount, is recognized by the control module 50, and control the counting
Device 20 re-starts counting.Finally, the anomalous counts value is rejected, correct count value be averaged, so as to lift institute
State the precision of the measurement of range sensor 300.
Continue by taking the N=16 shown in Fig. 5 as an example, if known obtained 6 count values are respectively A, A, A, A, A, A, when
7th count value is normal when being A+1, be A-1 or it is smaller or be A+1 it is even more big be then abnormal；If known 6 obtained
Count value is respectively A, A, A, A, A and A+1, when the 7th count value is that A+1 is normal, be A or it is smaller or be A+2 even more
It is big then to be abnormal.
In specific implementation, the delay circuit 101 includes controllable time delay chain 1011 and trigger 1012.
Wherein, the input end of clock Clk of the controllable time delay chain 1011 accesses the input clock signal CLKin, is suitable to
Under phase selection signal Sel control produce output clock signal clk out, the output clock signal clk out relative to
The delay of the input clock signal CLKin is equal to T/ (N-1) × (i-1).Wherein, the phase selection signal Sel can be by
The control module 50 is provided, but not limited to this.The controllable time delay chain 1011 can be delay phase-locked loop (Delay-locked
Loop, abbreviation DLL).
The trigger 1012 can be d type flip flop.The data input pin D of the trigger 1012 accesses the first meter
Number signal Ctr1 counting starts along Ctr1_Up, in the presence of the output clock signal clk out, its data output end Q
The counting for exporting other count signal Ctr2 to CtrN starts along Ctr2..N_Up.Due to the structure and work of d type flip flop
It is well known to those skilled in the art as principle, to put it more simply, no longer repeat one by one herein.
In specific implementation, the phase selection signal Sel can control the output that the controllable time delay chain 1011 is exported
Clock signal clk out has the delay that size is T/ (N-1) × (i-1) relative to the input clock signal CLKin.With institute
Exemplified by counter 20 is stated for rising edge counting, the trigger 1012 also triggers for rising edge.When the output clock signal
When CLKout rising edge acts on the trigger 1012, data output end Q logic level of the trigger 1012 etc.
In its data input pin D logic level, namely the delay size that can be provided according to the controllable time delay chain 1011, produce
The counting of individual count signal starts along and transmitted to the light source 40, to control it not sending photon in the same time.
It should be noted that the delay circuit 101 is not limited to such scheme, for example it can also only include controllable
Time delay chain, the controllable time delay chain can be by buffer and some switches.The controllable time delay chain is in the phase selection signal
In the presence of Sel, counting that can be directly to first count signal Ctr1 starts along Ctr1_Up, to obtain individual count signal
Counting start edge.
The correlation that more information on the range sensor 300 refers to above to the range sensor 200 is retouched
State, no longer repeat one by one herein.
The embodiments of the invention provide a kind of distance measurement method of range sensor.In the lump referring to Fig. 7, Fig. 3 and Fig. 4,
The distance measurement method of range sensor 200 may comprise steps of：
Step S101, it is positive integer to obtain multiple count signal Ctrl, Ctr2 ... and CtrN, N, namely N is the meter
Number signal Ctr2 to CtrN total quantity, each count signal Ctr1 to CtrN, which has to count, to be started along (not indicated in figure) and meter
Number stops along (not indicated in figure), wherein, first count signal Ctrl counting, which starts edge, is produced when light source 40 sends photon
Raw, first count signal Ctrl counting stops along the obtained reflected light period of the day from 11 p.m. to 1 a.m is reflected through destination object being produced detecting
, other count signal Ctr2 to CtrN counting stops stopping edge along the counting relative to the first count signal Ctrl
With different delays；
The counting that step S102, first count signal Ctr1 counting start edge and each count signal Ctr1 to CtrN stops
Only along along the time window TOF1~N defined, input clock signal CLKin is counted, to obtain corresponding count value；
Step S103, the distance between described destination object and the range sensor 200 are determined using individual count value.
In the present embodiment, the distance between the destination object and the range sensor 200 correspond to flying for photon
The row time (Time Of Flight, abbreviation TOF), above-mentioned individual count value can indicate that the flight time of photon is not counted into
The time of count results accounts for the ratio in the cycle of the input clock signal CLKin, therefore, and the embodiment of the present invention will can be counted
Quantization resolution be promoted to the 1/N in all recovered normal cycle, the range sensor based on photon detection technology can be effectively improved
200 measurement accuracy.
Preferably, multiple count signal Ctr1 to CtrN are obtained described in the step S101 may include steps of：
Control the light source 40 to send photon different at the time of respectively, produced when the light source 40 generates photon and corresponding count letter
Number counting start edge；Detecting the corresponding count signal of obtained reflected light period of the day from 11 p.m. to 1 a.m generation is reflected through the destination object
Count and stop edge；Wherein, other count signal Ctr2 to CtrN counting starts along relative to the first count signal
Ctr1 counting starts along with different delays.
Furthermore, the embodiment of the present invention can be by repeatedly quantifying to obtain above-mentioned multiple count signal Ctr1 extremely
CtrN, the mode repeatedly quantified can repeatedly be counted using identical counter, to save the resource of counter, can be with
By repeatedly quantifying to reduce influence of the noise to measurement.
Preferably, the counting of other count signal Ctr2 to CtrN stops along relative to the first count signal
The delay that Ctr1 counting stops edge being respectively less than the cycle T for being equal to the input clock signal CLKin.
It is further preferred that for i-th of count signal Ctri, the delay is equal to T/ (N-1) × (i-1), wherein, T
For the cycle of the input clock signal CLKin, i is integer, and 2≤i≤N.
In specific implementation, the step S103 may comprise steps of：According to being averaged for obtained individual count value
The spread speed of value, the cycle of the input clock signal CLKin and photon determines the destination object and the Distance-sensing
The distance between device 200.
The embodiment of the present invention additionally provides the distance measurement method of another range sensor.In the lump referring to Fig. 8 and Fig. 6,
The distance measurement method of range sensor 300 may comprise steps of：
Step S101, it is positive integer to obtain multiple count signal Ctrl, Ctr2 ... and CtrN, N, each count signal
Ctr1 to CtrN, which has to count, to be started to stop along (not indicating in figure) along (not indicating in figure) and counting, wherein, it is first to count letter
Number Ctrl counting starts along being produced when light source 40 sends photon, first count signal Ctrl counting stop along be
Detect and reflect what the obtained reflected light period of the day from 11 p.m. to 1 a.m was produced through destination object, other count signal Ctr2 to CtrN counting stops
Stop along the counting relative to the first count signal Ctrl along with different delays；
The counting that step S102, first count signal Ctr1 counting start edge and each count signal Ctr1 to CtrN stops
Only along along the time window TOF1~N defined, input clock signal CLKin is counted, to obtain corresponding count value；
Step S104, the count value that previous ought be counted to get and the count value that is obtained before current time are compared；
Step S105, judges whether the count value that previous ought be counted to get is more than in the count value obtained before current time
Maximum and 1 sum, or less than the maximum in the count value obtained before current time；If so, step S106 is then performed,
The count value that previous ought be counted to get is judged as anomalous counts value, and it is rejected；If it is not, then performing step S103.
Wherein, step S106：Judge the count value that previous ought be counted to get as anomalous counts value；Step S103：Using each
Individual count value determines the distance between the destination object and described range sensor 300.
Because the time that the counter 20 terminates to count is more late, count results will be bigger, if the knot of actual count
Fruit occurs smaller or excessive, then will be determined as miscount, counting should be re-started when being identified.Finally, will be described
Anomalous counts value is rejected, and correct count value is averaged, so as to lift the precision of the measurement of the range sensor 300.
More information on described step S101, S102 and S103 refers to associated description above to Fig. 7, herein not
Repeat again.
More information on the distance measurement method of the range sensor 200 or 300 refer to above to it is described away from
From the associated description of sensor 200 and 300, also repeat no more herein.
The embodiment of the invention also discloses a kind of 3D rendering sensor, it is many that the 3D rendering sensor, which can include quantity,
Individual above-mentioned range sensor 200 or 300, wherein, the photon detection circuit 102 is arranged in array.Due to compared to existing
Range sensor in technology, the range sensor 200 or 300 of the embodiment of the present invention has higher measurement accuracy, therefore, institute
The reconstruction accuracy that 3D rendering sensor is stated to 3D rendering is higher, can be for the finer and smoother 3D rendering of detection.
In specific implementation, the 3D rendering sensor can apply to such as single photon camera, 3D printer 3D rendering
Reconstructing arrangement.Further, because the photon detection circuit 102 that the 3D rendering sensor in the present embodiment is used can detect list
Photon, therefore efficiently, can quickly and accurately rebuild 3D scenes under low light environment.
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, are not departing from this
In the spirit and scope of invention, it can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
The scope of restriction is defined.
Claims (15)
1. a kind of distance measurement method of range sensor, it is characterised in that including：
Multiple count signals are obtained, each count signal, which has to count, to be started edge and count to stop edge, wherein, first count signal
Counting start along being produced when light source sends photon, the counting of first count signal stops along being detected through target
What the reflected light period of the day from 11 p.m. to 1 a.m that object reflection is obtained was produced, the counting of other count signals stops believing along relative to first count
Number counting stop along have different delays；
The counting for starting edge and each count signal in the counting of first count signal stops along along the time window defined, right
Input clock signal is counted, to obtain corresponding count value；
The distance between described destination object and the range sensor are determined using individual count value.
2. distance measurement method according to claim 1, it is characterised in that the multiple count signals of acquisition include：
Control the light source to send photon different at the time of respectively, produced when the light source generates photon and corresponding count letter
Number counting start edge；
Stop edge in the counting for detecting the corresponding count signal of reflected light period of the day from 11 p.m. to 1 a.m generation obtained through destination object reflection；
Wherein, the counting of other count signals starts to start along with difference along the counting relative to the first count signal
Delay.
3. distance measurement method according to claim 1, it is characterised in that the counting of other count signals stops
The delay for stopping edge along the counting relative to the first count signal is respectively less than the cycle equal to the input clock signal.
4. distance measurement method according to claim 3, it is characterised in that for i-th of count signal, the delay etc.
In T/ (N-1) × (i-1), wherein, T is the cycle of the input clock signal, and N is the total quantity of the count signal, i and N
For integer, 2≤i≤N.
5. distance measurement method according to claim 4, it is characterised in that the utilization individual count value determines the mesh
The distance between mark object and described range sensor include：During according to the average value of obtained individual count value, the input
The cycle of clock signal and the spread speed of photon determine the distance between the destination object and described range sensor.
6. distance measurement method according to claim 1, it is characterised in that determined in the utilization individual count value described
Before the distance between destination object and the range sensor, in addition to：
The count value that previous ought be counted to get and the count value that is obtained before current time are compared；
If the count value that previous ought be counted to get is more than maximum and 1 sum in the count value obtained before current time, or
Less than the maximum in the count value obtained before current time, then judge the count value that previous ought be counted to get as anomalous counts
Value, and it is rejected.
7. a kind of range sensor, it is characterised in that including：
Count signal acquisition module, suitable for obtaining multiple count signals, there is each count signal counting beginning edge and counting to stop
Only edge, wherein, the counting of first count signal starts along being produced when light source sends photon, the counting of first count signal
Stop along being reflected the obtained reflected light period of the day from 11 p.m. to 1 a.m through destination object and produces detecting, the counting stopping of other count signals
Stop along the counting relative to the first count signal along with different delays；
Counter, the counting suitable for starting edge and each count signal in the counting of first count signal stop along being defined when
Between in window, input clock signal is counted, to obtain corresponding count value；
Wherein, individual count value is used to determine the distance between the destination object and described range sensor.
8. range sensor according to claim 7, it is characterised in that the count signal acquisition module includes：
Delay circuit, suitable for controlling the light source to send photon different at the time of respectively, is produced when the light source generates photon
The counting of raw corresponding count signal starts edge, wherein, the countings of other count signals start along relative to it is described it is first based on
The counting of number signal starts along with different delays；
Photon detection circuit, it is every to obtain suitable for being detected respectively to reflecting obtained reflection photon through the destination object
The counting of one count signal stops edge.
9. range sensor according to claim 8, it is characterised in that the counting of other count signals stops edge
The delay that counting relative to the first count signal stops edge being respectively less than the cycle for being equal to the input clock signal.
10. range sensor according to claim 9, it is characterised in that for i-th of count signal, the delay etc.
In T/ (N-1) × (i-1), wherein, T is the cycle of the input clock signal, and N is the total quantity of the count signal, i and N
For integer, 2≤i≤N.
11. range sensor according to claim 10, it is characterised in that also include：Control module, is obtained suitable for basis
Individual count value average value, the cycle of the input clock signal and the spread speed of photon determine the destination object with
The distance between described range sensor.
12. range sensor according to claim 11, it is characterised in that the control module is utilizing individual count value
Determine before the distance between the destination object and described range sensor, be further adapted for the count value that previous ought will be counted to get
It is compared with the count value that is obtained before current time, if the count value that previous ought be counted to get is more than before current time
To count value in maximum and 1 sum, or less than the maximum in the count value obtained before current time, then judge to work as
The previous count value counted to get is anomalous counts value, and it is rejected.
13. range sensor according to claim 9, it is characterised in that the delay circuit includes：
Controllable time delay chain, its input end of clock accesses the input clock signal, suitable for being produced under the control of phase selection signal
Raw output clock signal, delay of the output clock signal relative to the input clock signal is equal to T/ (N-1) × (i-
1)；
Trigger, the counting that its data input pin accesses the first count signal starts edge, in the output clock signal
Under effect, the counting that its data output end exports other count signals starts edge.
14. the range sensor according to any one of claim 7 to 13, it is characterised in that the photon detection circuit
Including：
SPAD, suitable for detecting the reflected light period of the day from 11 p.m. to 1 a.m generation avalanche current；
Pulse generation circuit, the counting suitable for producing the count signal according to the avalanche current stops edge.
15. a kind of 3D rendering sensor, it is characterised in that including quantity be any one of multiple claims 8 to 14
Range sensor, wherein, the photon detection circuit is arranged in array.
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