CN111427048A - ToF depth measuring device, method for controlling ToF depth measuring device and electronic equipment - Google Patents
ToF depth measuring device, method for controlling ToF depth measuring device and electronic equipment Download PDFInfo
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- CN111427048A CN111427048A CN202010116700.2A CN202010116700A CN111427048A CN 111427048 A CN111427048 A CN 111427048A CN 202010116700 A CN202010116700 A CN 202010116700A CN 111427048 A CN111427048 A CN 111427048A
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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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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
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Abstract
The invention provides a ToF depth measuring device, a method for controlling the ToF depth measuring device and electronic equipment, wherein the ToF depth measuring device comprises an emission module, a first light source and a second light source; the acquisition module comprises an RGB camera and a ToF image sensor, and the ToF image sensor is connected with the emission module; control and processing circuit, respectively with the emission module and gather the module and be connected for: providing an activation signal to the acquisition module to enable the RGB camera to generate a synchronous signal and activate the ToF image sensor; and generating a trigger signal and a high/low level signal according to the synchronous signal and respectively providing the trigger signal and the high/low level signal to the ToF image sensor and the transmitting module, wherein the ToF image sensor receives the trigger signal and generates a pulse width modulation signal to be transmitted to the transmitting module. The control acquisition module receives the reflected light beam and forms an electric signal; the phase difference is calculated from the electrical signals to obtain the distance. Reduce multipath interference and can measure objects at long distance.
Description
Technical Field
The present invention relates to the field of depth measurement technologies, and in particular, to a ToF depth measuring device, a method of controlling the ToF depth measuring device, and an electronic apparatus.
Background
A Time of Flight (ToF) depth measuring device calculates a distance to a target object by calculating a Time difference or a phase difference between a light beam emitted from the target object and a light beam received by being reflected by the target object to obtain depth data information of the target object. ToF-based depth measurement devices have begun to be used in the fields of three-dimensional measurement, gesture control, robotic navigation, security and surveillance, and the like.
Conventional ToF depth measuring devices typically include a light source that emits a flood beam of light into a target space to provide illumination, and a camera that images the reflected flood beam of light, and calculate the distance to the object by calculating the time required for the beam to be received from emission to reflection. When the traditional ToF depth measuring device is used for distance sensing, on one hand, the measurement accuracy is affected due to ambient light interference, for example, when the ambient light intensity is high and even floods the flood light of the light source, the light beam of the light source is difficult to distinguish, so that a large measurement error occurs; on the other hand, the conventional ToF depth measuring device can only measure objects at a short distance.
Although the ToF depth measuring device comprising a non-floodlight source and a floodlight source is available in the prior art, the structure is complex, and the control method is also complex.
The above background disclosure is only for the purpose of assisting understanding of the concept and technical solution of the present invention and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
In order to solve the existing problems, the invention provides a ToF depth measuring device, a method for controlling the ToF depth measuring device and an electronic device.
In order to solve the above problems, the technical solution adopted by the present invention is as follows:
a ToF depth measurement device comprising: the transmitting module comprises a first light source and a second light source and is used for emitting light beams to a target object; the acquisition module comprises an RGB camera and a ToF image sensor and is used for receiving the light beam reflected by the target object and forming an electric signal, and the ToF image sensor is connected with the transmitting module; control and processing circuit, respectively with the emission module and gather the module and be connected for: providing activation signals to the RGB camera and the ToF image sensor, respectively causing the RGB camera to generate synchronization signals to activate the ToF image sensor; receiving a synchronous signal generated by the RGB camera according to the activation signal, and generating a trigger signal and a high/low level signal according to the synchronous signal; providing the trigger signal to the ToF image sensor; providing the high/low level signal to the first light source and the second light source to turn on or off the first light source or the second light source; the ToF image sensor receives the trigger signal to generate a pulse width modulation signal, and transmits the pulse width modulation signal to the transmitting module so as to control the first light source and/or the second light source to emit light beams to the target object; controlling the acquisition module to receive the light beam reflected by the target object and form an electric signal; calculating a phase difference according to the electric signals to obtain the distance of the target object;
in one embodiment of the invention, the first light source is a speckle light source for emitting a speckle beam; the second light source is a floodlight source and is used for emitting floodlight beams. The speckle light source comprises a first speckle light source and a second speckle light source which are independently started or synchronously started; the speckle densities of the first speckle light source and the second speckle light source are different. The spots in the spot beam are regularly arranged.
The invention also provides a method for controlling the ToF depth measuring device, which comprises the following steps: s1: providing activation signals to an RGB camera and a ToF image sensor of an acquisition module, wherein the activation signals enable the RGB camera to generate synchronous signals respectively and activate the ToF image sensor; s2: receiving the synchronous signal generated by the RGB camera according to the activation signal, and generating a trigger signal and a high/low level signal according to the synchronous signal; s3: providing the trigger signal to the ToF image sensor, and providing the high/low level signal to a first light source and a second light source of an emission module to turn on or off the first light source or the second light source; s4: controlling the ToF image sensor to receive the trigger signal to generate a pulse width modulation signal, and transmitting the pulse width modulation signal to the transmitting module, so as to control the first light source and/or the second light source to emit light beams to a target object; s5: controlling the acquisition module to receive the light beam reflected by the target object and form an electric signal; s6: and calculating the phase difference according to the electric signals to acquire the distance of the target object.
In one embodiment of the invention, the first light source is a speckle light source for emitting a speckle beam; the second light source is a floodlight source and is used for emitting floodlight beams. Controlling a first speckle light source and a second speckle light source of the speckle light sources to be independently started or synchronously started; the speckle densities of the first speckle light source and the second speckle light source are different. Controlling the speckle light source with small spot density in the speckle light source to independently emit light beams for remote measurement; controlling the speckle light source with large spot density in the speckle light source to independently emit light beams for short-distance measurement; and controlling the first speckle light source and the second speckle light source to simultaneously emit light beams for dense projection.
In another embodiment of the invention, the first light source is controlled to emit a spot beam and the second light source emits a flood beam for intensity projection.
The invention further provides an electronic device comprising a ToF depth measuring apparatus as described in any of the above.
The invention has the beneficial effects that: the ToF depth measuring device comprises a transmitting module, an acquisition device and a control and processing circuit, wherein the transmitting module comprises a first light source and a second light source, the acquisition device comprises an RGB camera and a ToF image sensor, and the control and processing circuit is matched with the transmitting module and the acquisition module for use, so that signals generated by multipath are filtered, the signal-to-noise ratio of effective signals is improved, multipath interference is reduced, and a long-distance object can be measured.
Drawings
Fig. 1 is a schematic structural diagram of a ToF depth measuring device in an embodiment of the invention.
Fig. 2 is a schematic structural diagram of another ToF depth measuring device in an embodiment of the invention.
Fig. 3 is a schematic diagram of a method for controlling a ToF depth measuring device in an embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixing function or a circuit connection function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Fig. 1 is a schematic structural diagram of a ToF depth measuring device 10 according to an embodiment of the present invention. ToF degree of depth measuring device 10 includes emission module 11, gathers module 12 and respectively with the control and processing circuit 13 that emission module 11 and gather module 12 and be connected. The emission module 11 is used for emitting a light beam to the target object 20; the collecting module 12 is used for receiving the light beam reflected by the target object 20 and forming an electric signal; the control and processing circuit 13 calculates the phase difference from the electric signal to acquire the distance of the target object 20.
The emitting module 11 includes a light source, a light source driver (not shown), and the like, the light source may be a light source such as a light emitting diode (L ED), an edge emitting laser (EE L), a vertical cavity surface emitting laser (VCSE L), and the like, or may be a light source array composed of a plurality of light sources, and the light beam emitted by the light source may be visible light, infrared light, ultraviolet light, and the like.
The collecting module 12 includes a ToF image sensor, a lens unit, and may further include a filter (not shown in the figure), the lens unit receives and images at least a part of the light beam reflected by the target object 20 on at least a part of the ToF image sensor, and the filter needs to select a narrow-band filter matched with the wavelength of the light source to suppress background light noise in other bands. The ToF image sensor may be a Charge Coupled Device (CCD), Complementary Metal Oxide Semiconductor (CMOS), Avalanche Diode (AD), Single Photon Avalanche Diode (SPAD), etc., with an array size representing the resolution of the depth camera, e.g., 320x240, etc. Generally, a readout circuit (not shown in the figure) composed of one or more of a signal amplifier, a time-to-digital converter (TDC), an analog-to-digital converter (ADC), and the like is also included in connection with the image sensor 121.
In general, a ToF image sensor comprises at least one pixel, where each pixel comprises more than two taps (for storing and reading or discharging charge signals generated by incident photons under control of respective electrodes), such as 2 taps, compared to a conventional image sensor for taking pictures only, and the taps are sequentially switched in a certain order within a single frame period (or within a single exposure time) to collect the respective photons for receiving and converting into electrical signals.
The control and processing circuit 13 may be a separate dedicated circuit, such as a dedicated SOC chip, an FPGA chip, an ASIC chip, etc. including a CPU, a memory, a bus, etc., or may include a general-purpose processing circuit, such as a processing circuit in an intelligent terminal, such as a mobile phone, a television, a computer, etc., when the depth camera is integrated into the intelligent terminal, such as the mobile phone, the television, the computer, etc., as at least a part of the control and processing circuit 13.
The control and processing circuit 13 is adapted to provide an emission signal required when the light source emits laser light, the light source emitting a light beam towards the target object 20 under control of the emission signal.
Furthermore, the control and processing circuit 13 also supplies a demodulation signal (acquisition signal) for each tap in each pixel of the ToF image sensor, and the tap acquires an electrical signal generated by the reflected light beam reflected back by the target object 20 under the control of the demodulation signal. The electrical signal is related to the intensity of the reflected beam and the control and processing circuitry 13 then processes the electrical signal and calculates the phase difference to obtain the distance to the target object 20.
Fig. 2 is a schematic structural diagram of another ToF depth measuring device 30 according to an embodiment of the invention. ToF depth measuring device 30 includes emission module 11, gathers module 12 and control and processing circuit 13 who is connected with emission module 11 and gathering module 12 respectively. The emitting module 11 includes a first light source 111 and a second light source 112 for emitting light beams to the target object 20; the collecting module 12 includes an RGB camera 121 and a ToF image sensor 122, and is configured to receive the light beam reflected by the target object 20 and form an electrical signal, and the ToF image sensor 122 is connected to the transmitting module 11; the control and processing circuit 13 is connected to the emission module 11 and the collection module 12, respectively, and is configured to provide an activation signal 14 to the RGB camera 121 and the ToF image sensor 122, respectively, the activation signal 14 activates the ToF image sensor 122, and receive a synchronization signal 15 generated by the RGB camera 121 according to the activation signal 14 and generate a trigger signal 16 and a high/low level signal 18 according to the synchronization signal 15, and provide the trigger signal 16 to the ToF image sensor 122, and provide the high/low level signal 18 to the first light source 111 and/or the second light source 112 to turn on or off the first light source 111 and/or the second light source 112. The ToF image sensor 122 receives the trigger signal 16 to generate a pulse width modulation signal 17, and transmits the pulse width modulation signal 17 to the transmitting module 11, so as to control the first light source 111 and/or the second light source 112 to emit light beams.
It will be appreciated that the RGB camera 121 receives the activation signal 14 and then exposes it, the exposure generating synchronization signal 15 is transmitted to the control and processing circuit 13, and the control and processing circuit 13 receives the synchronization signal 15 and generates the trigger signal 16 and the high/low level signal 18 according to the synchronization signal 15. The high/low level signal 18 is used to turn on or off the first light source 111 or the second light source 112 synchronously or independently according to specific requirements.
In another embodiment of the invention, the control and processing circuit 13 provides an activation signal 14 to the RGB camera 121 and the ToF image sensor 122, the activation signal 14 being used to activate the ToF image sensor 122, the activation signal 14 being I2C. The RGB camera 121 receives the activation signal 14 and generates a synchronization signal 15, which synchronization signal 15 is a sync, for synchronizing the control and processing circuit 13. After receiving the synchronization signal 15, the control and processing circuit 13 determines whether to modify configuration parameters of the ToF image sensor 122, such as frame rate, exposure time, etc., according to the application scenario, and then the control and processing circuit 13 generates a trigger signal 16 and a high/low level signal 18 according to the synchronization signal 15, where the trigger signal 16 is trig and provides the trigger signal 16 to the ToF image sensor 122, and provides the high/low level signal 18 to the first light source 111 and the second light source 112 to synchronously or independently turn on or off the first light source 111 or the second light source 112. The ToF image sensor 122 receives the trigger signal 16 to generate a pulse width modulation signal 17, where the pulse width modulation signal 17 is PWM, and transmits the pulse width modulation signal 17 to the emission module 11 to control the first light source 111 and/or the second light source 112 to emit light beams toward the target object 20, the collection module 12 receives the light beams reflected by the target object 20 and forms electrical signals, and the control and processing circuit 13 calculates a phase difference according to the electrical signals to obtain the distance of the target object 20.
It is understood that the control and processing circuit 13 provides the high level signal 18 to the first light source 111 and the second light source 112, and the ToF image sensor 122 provides the pulse width modulation signal 17 to the first light source 111 and the second light source 112, so as to enable the first light source 111 and the second light source 112 to emit light beams.
In one embodiment, first light source 111 is a speckle light source, second light source 112 is a flood light source, and this is not to be construed as limiting, and in fact second light source 112 is a speckle light source and first light source 111 is a flood light source are also suitable for use with the present invention, and it is described herein that first light source 111 is a speckle light source. The first light source 111 is used to emit a spot beam. The speckle light source comprises a first speckle light source and a second speckle light source, wherein the first speckle light source emits light beams with small spot density, the second speckle light source emits light beams with large spot density, and the first speckle light source and the second speckle light source can be independently started or synchronously started. If the depth measuring device requires remote measurement and does not require a high measurement resolution, the control and processing circuit 13 provides a high level signal 18 to the first light source 111, and the ToF image sensor 122 provides a pulse width modulation signal 17 to the first speckle light source, so that the first speckle light source emits a light beam with a small spot density; if the depth measuring device needs to measure at a short distance and needs a higher measuring resolution, the control and processing circuit 13 provides a high level signal 18 to the second speckle light source, and the ToF image sensor 122 provides a pulse width modulation signal 17 to the second speckle light source, so that the second speckle light source emits a light beam with a larger spot density. It can be understood that when the depth measuring device needs higher measuring resolution, the first speckle light source and the second speckle light source can be synchronously turned on to realize dense projection, so that more effective depth data can be acquired.
In one embodiment, if the depth measuring device requires an extremely high measurement resolution, the control and processing circuit 13 provides the high level signal 18 to the first light source 111 and the second light source 112, and the ToF image sensor 122 provides the pulse width modulation signal 17 to the first light source 111 and the second light source 112, so that the first light source 111 emits a speckle beam and the second light source 112 emits a flood beam, thereby enabling a denser projection to obtain more effective depth data.
It can be understood that if the first speckle light source is controlled to emit the spot light beams with smaller density, the distance which can be measured is farthest because the light intensity of each spot light beam is higher; if the first light source 111 and the second light source 112 are controlled to emit light beams simultaneously, denser projection can be achieved to obtain more effective depth data.
The traditional ToF depth measuring device generally adopts flood lighting, and because the flood light beam is dense, the measuring distance is limited, and multipath interference is easy to generate, thereby causing measurement errors. In the present invention, the first light source 111 emits the spot light beam, since the spot light beam is sparsely distributed and the energy of each spot is more concentrated, and the direct illumination intensity is higher than the intensity reflected back by the multipath, the signal generated by the multipath can be filtered, thereby improving the signal-to-noise ratio of the effective signal, reducing the multipath interference, and measuring the distant object.
It is understood that the spots in the spot pattern emitted by the first light source 111 may be regularly arranged or irregularly arranged. The size of the spot may be configured to be 2 pixel unit size, 3 pixel unit size, etc., and the shape may be circular, elliptical, etc., without any limitation thereto.
An electronic device includes the ToF depth measuring apparatus as described above, and it is understood that the electronic device includes a mobile phone, a notebook computer, a wearable device for a human body, and the like, and the electronic device itself includes an RGB camera, so that when the ToF depth measuring apparatus of the present invention is integrated into an electronic device, the RGB camera included in the electronic device itself can be used to enable the ToF depth measuring apparatus to obtain a depth image with higher accuracy and a longer distance. Further, the RGB image of the RGB camera may be further fused with the depth image of the ToF depth measuring device to obtain an RGB-D image. It should be understood that the RGB-D image obtained by further fusing the depth images obtained by the apparatus or method of the present invention and the application thereof are considered as the protection scope of the present invention, and are not described herein again. Fig. 3 is a flowchart of a method for controlling a ToF depth measuring device according to an embodiment of the present invention, which includes the following steps:
s301, providing activation signals to an RGB camera and a ToF image sensor of an acquisition module, wherein the activation signals enable the RGB camera to generate synchronous signals respectively to activate the ToF image sensor;
s302, receiving the synchronous signal generated by the RGB camera according to the activation signal, and generating a trigger signal and a high/low level signal according to the synchronous signal;
s303, providing the trigger signal to the ToF image sensor; providing the high/low level signal to a first light source and a second light source of a transmitting module so as to turn on or off the first light source or the second light source;
s304, controlling the ToF image sensor to receive the trigger signal to generate a pulse width modulation signal, and transmitting the pulse width modulation signal to the transmitting module, so as to control the first light source and/or the second light source to emit light beams to a target object;
s305, controlling the acquisition module to receive the light beam reflected by the target object and form an electric signal;
and S306, calculating the phase difference according to the electric signals to obtain the distance of the target object.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.
Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.
The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (10)
1. A ToF depth measurement device, comprising:
the transmitting module comprises a first light source and a second light source and is used for emitting light beams to a target object;
the acquisition module comprises an RGB camera and a ToF image sensor and is used for receiving the light beam reflected by the target object and forming an electric signal, and the ToF image sensor is connected with the transmitting module;
control and processing circuit, respectively with the emission module and gather the module and be connected for:
providing activation signals to the RGB camera and the ToF image sensor, respectively causing the RGB camera to generate synchronization signals to activate the ToF image sensor;
receiving a synchronous signal generated by the RGB camera according to the activation signal, and generating a trigger signal and a high/low level signal according to the synchronous signal;
providing the trigger signal to the ToF image sensor;
providing the high/low level signal to the first light source and the second light source to turn on or off the first light source or the second light source;
the ToF image sensor receives the trigger signal to generate a pulse width modulation signal, and transmits the pulse width modulation signal to the transmitting module so as to control the first light source and/or the second light source to emit light beams to the target object;
controlling the acquisition module to receive the light beam reflected by the target object and form an electric signal;
and calculating the phase difference according to the electric signals to acquire the distance of the target object.
2. The ToF depth measurement device of claim 1, wherein the first light source is a speckle light source for emitting a speckle beam; the second light source is a floodlight source and is used for emitting floodlight beams.
3. The ToF depth measurement device of claim 2, wherein the speckle light source comprises a first speckle light source and a second speckle light source that are independently turned on or turned on synchronously; the speckle densities of the first speckle light source and the second speckle light source are different.
4. The ToF depth measuring device of claim 2 wherein the spots in the spot beam are regularly arranged.
5. A method of controlling a ToF depth measuring device, comprising:
s1: providing activation signals to an RGB camera and a ToF image sensor of an acquisition module, wherein the activation signals enable the RGB camera to generate synchronous signals respectively and activate the ToF image sensor;
s2: receiving the synchronous signal generated by the RGB camera according to the activation signal, and generating a trigger signal and a high/low level signal according to the synchronous signal;
s3: providing the trigger signal to the ToF image sensor, and providing the high/low level signal to a first light source and a second light source of an emission module to turn on or off the first light source or the second light source;
s4: controlling the ToF image sensor to receive the trigger signal to generate a pulse width modulation signal, and transmitting the pulse width modulation signal to the transmitting module, so as to control the first light source and/or the second light source to emit light beams to a target object;
s5: controlling the acquisition module to receive the light beam reflected by the target object and form an electric signal;
s6: and calculating the phase difference according to the electric signals to acquire the distance of the target object.
6. The method of controlling a ToF depth measuring device according to claim 5, wherein the first light source is a speckle light source for emitting a speckle beam; the second light source is a floodlight source and is used for emitting floodlight beams.
7. The method of claim 6, wherein a first speckle light source and a second speckle light source of the speckle light source are controlled to be turned on independently or synchronously; the speckle densities of the first speckle light source and the second speckle light source are different.
8. The method of controlling a ToF depth measuring device according to claim 7, wherein a speckle light source with a small spot density among the speckle light sources is controlled to emit a light beam alone for remote measurement;
controlling the speckle light source with large spot density in the speckle light source to independently emit light beams for short-distance measurement;
and controlling the first speckle light source and the second speckle light source to simultaneously emit light beams for dense projection.
9. The method of controlling a ToF depth measuring device according to any one of claims 6 to 8, wherein the first light source is controlled to emit a spot light beam and the second light source is controlled to emit a flood light beam for dense projection.
10. An electronic device comprising the ToF depth measuring device of any one of claims 1 to 4.
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| CN202010116700.2A CN111427048B (en) | 2020-02-25 | 2020-02-25 | ToF depth measuring device, control method and electronic equipment |
| PCT/CN2020/138111 WO2021169531A1 (en) | 2020-02-25 | 2020-12-21 | Tof depth measurement apparatus, method for controlling tof depth measurement apparatus, and electronic device |
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| CN202010116700.2A CN111427048B (en) | 2020-02-25 | 2020-02-25 | ToF depth measuring device, control method and electronic equipment |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111896971A (en) * | 2020-08-05 | 2020-11-06 | 上海炬佑智能科技有限公司 | TOF sensing device and distance detection method thereof |
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