CN-120677472-B - Time-of-flight statistics device and laser rangefinder

Abstract

The application provides a flight time statistics device and a laser ranging device, which relate to the technical field of laser ranging, wherein the statistics device comprises a statistics part and a memory, the statistics part is used for acquiring S first initial flight time data sets in S first integration periods, accumulating each first initial flight time data set by taking every adjacent N first initial flight time data as a group to obtain S accumulated flight time data sets corresponding to the S first initial flight time data sets, S is a positive integer, S is more than or equal to 2, N is a positive integer, N is more than or equal to 2, overlapping the S accumulated flight time data sets to obtain overlapping flight time data sets, storing at least one overlapping photon count value in the overlapping flight time data sets in the memory in a mode of storing a overlapping photon count value in the memory, and the statistics device can increase the detection distance of the laser ranging device.

Inventors

• TAN WEI
• ZANG JUNLING

Assignees

• 深圳市速腾聚创科技有限公司

Dates

Publication Date

20260505

Application Date

20230228

Claims (13)

1. 1. A time-of-flight statistics device is characterized by comprising a statistics part and a memory; The statistics part is used for acquiring S first initial flight time data sets in S first integration periods, accumulating each first initial flight time data set by taking every adjacent N first initial flight time data as a group to acquire S accumulated flight time data sets which are in one-to-one correspondence with the S first initial flight time data sets, wherein S is a positive integer, S is more than or equal to 2, N is a positive integer, and N is more than or equal to 2; Each first initial flight time data set comprises a plurality of first initial flight time data which are in one-to-one correspondence with a plurality of flight times, and each accumulated flight time data set comprises at least one accumulated photon count value which is in one-to-one correspondence with at least one accumulated flight time; The statistics part is further used for performing superposition processing on the S accumulated flight time data sets to obtain superimposed flight time data sets, and storing at least one superimposed photon count value in the superimposed flight time data sets in the memory according to a mode that the superimposed photon count value is stored in the memory, wherein the superimposed flight time data sets comprise superimposed photon count values corresponding to each accumulated flight time one by one.
2. 2. The time-of-flight statistics apparatus of claim 1 wherein each of said first integration periods comprises X N clock periods, each of said clock periods comprising M first initial time-of-flight data, X being greater than or equal to 2, M being greater than or equal to 2, X and M being positive integers; The statistics part comprises a control module and K statistics modules connected in parallel; The control module is used for outputting a first control signal; The K statistical modules are used for respectively acquiring K groups of first time-of-flight data sets in each clock cycle of each first integration cycle, and accumulating N first time-of-flight data in each group of first time-of-flight data according to the first control signals to obtain S accumulated time-of-flight data sets corresponding to the S first integration cycles one by one, wherein M=K is equal to or larger than 1, and K is a positive integer; the K statistical modules are further used for performing superposition processing on the S accumulated flight time data sets to obtain the superimposed flight time data sets, and storing at least one superimposed photon count value in the superimposed flight time data sets in the memory according to the first control signal in a mode that the superimposed photon count value is stored in a memory unit.
3. 3. The time-of-flight statistics apparatus according to claim 2, wherein the K statistics modules are further configured to store, according to the first control signal, x×n clock cycles in each of the first integration periods as one statistics period per N clock cycles, n×k accumulated photon count values corresponding to n×k sets of first initial time-of-flight data included in N clock cycles in one statistics period in one storage module; The memory comprises X memory modules, each memory module comprises N X K memory units, and the N X K memory units in each memory module are respectively used for storing N X K accumulated photon count values corresponding to N clock cycles in one statistical period.
4. 4. A time-of-flight statistics apparatus according to claim 2 or 3, wherein each of the statistics modules comprises an input accumulator and N superimposed channels connected in parallel; the input accumulator comprises N input ends and an output end, K input accumulators in the K statistical modules are used for respectively acquiring K groups of first flight time data sets of each clock period in each first integration period, and accumulating each group of first flight time data sets in the K groups of first flight time data sets to generate accumulated flight time data sets corresponding to each first integration period; each superposition channel comprises a first superposition input end, a superposition output end and a superposition feedback end; The N first superposition input ends of the N superposition channels are connected with the output end of the input accumulator, and are used for receiving N x K accumulated photon count values generated by the input accumulator in N clock cycles in each first integration period according to the first control signals in a one-to-one correspondence manner; The N superposition output ends are used for storing N x K accumulated photon count values generated by an input accumulator in N clock cycles in each first integration period in N x K storage units of the memory according to the first control signals; And N superposition feedback ends of the N superposition channels are connected with output ends of N storage units corresponding to the N first superposition output ends in the memory one by one.
5. 5. The time-of-flight statistic apparatus according to claim 4, wherein for N superimposed channels of a kth statistic module of the K statistic modules, an nth superimposed channel of a preceding N-1 superimposed channels of the N superimposed channels includes an nth input selection unit, an nth accumulation unit, an nth limit saturation unit, an nth output selection unit, an nth writing unit, and an nth reading unit, N is a positive integer, and 1N is equal to or less than N-1, K is a positive integer, and 1K is equal to or less than K; The n-th input selection unit comprises two input ends, an output end and a control end, wherein one input end of the n-th input selection unit is connected with the output end of the input accumulator of the k-th statistics module, the other input end of the n-th input selection unit is used for receiving data 0, the output end of the n-th input selection unit is connected with the n-th accumulation unit, and the control end of the n-th input selection unit is connected with the control module; The n-th accumulation unit comprises two input ends and an output end, one input end of the n-th accumulation unit is connected with the output end of the n-th input selection unit, and the output end of the n-th accumulation unit is connected with the input end of the n-th limit saturation unit; the n-th limiting saturation unit comprises an input end and an output end, the input end of the n-th limiting saturation unit is connected with the output end of the n-th accumulation unit, and the output end of the n-th limiting saturation unit is connected with one input end of the n-th output selection unit; The n-th output selection unit comprises two input ends, an output end and a control end, wherein one input end of the n-th output selection unit is connected with the output end of the n-th limit saturation unit, the other input end of the n-th output selection unit is connected with one output end of the n-th writing unit, the output end of the n-th output selection unit is connected with the input end of the n-th writing unit, and the control end of the n-th output selection unit is connected with the output end of the control module; The n-th writing unit comprises an input end and two output ends, the input end of the n-th writing unit is connected with the output end of the n-th output selection unit, one output end of the n-th writing unit is connected with one input end of the n-th output selection unit, and the other output end of the n-th writing unit is connected with the memory; The n-th reading unit comprises an input end and an output end, the input end of the n-th reading unit is connected with the memory, and the output end of the n-th reading unit is connected with the other input end of the n-th accumulating unit.
6. 6. The time-of-flight statistics apparatus according to claim 5 wherein an nth one of the N superimposed channels comprises an nth input selection unit, an nth accumulation unit, an nth limit saturation unit, an nth write unit, and an nth read unit; The system comprises an N input selection unit, an N accumulation unit, an N output selection unit and a control unit, wherein the N input selection unit comprises two input ends, an output end and a control end, one input end of the N input selection unit is connected with the output end of an input accumulator of the k statistics module, the other input end of the N input selection unit is used for receiving data 0, the output end of the N input selection unit is connected with the N accumulation unit, and the control end of the N input selection unit is connected with the control module; The N accumulation unit comprises two input ends and an output end, wherein one input end of the N accumulation unit is connected with the output end of the N input selection unit, and the output end of the N accumulation unit is connected with the input end of the N limit saturation unit; The N limiting saturation unit comprises an input end and an output end, wherein the input end of the N limiting saturation unit is connected with the output end of the N accumulation unit, and the output end of the N limiting saturation unit is connected with the input end of the N writing unit; The N-th writing unit comprises an input end and two output ends, the input end of the N-th writing unit is connected with the output end of the N-th output selection unit, one output end of the N-th writing unit is connected with one input end of the N-th limit saturation unit, and the other output end of the N-th writing unit is connected with the memory; the N-th reading unit comprises an input end and an output end, wherein the input end of the N-th reading unit is connected with the memory, and the output end of the N-th reading unit is connected with the other input end of the N-th accumulating unit.
7. 7. A time-of-flight statistics device is characterized by comprising a statistics part and a memory; When the flight time statistics device is in a first detection mode, the statistics part is used for acquiring S first initial flight time data sets in S first integration periods, accumulating each first initial flight time data set by taking every adjacent N first initial flight time data sets as a group to obtain S accumulated flight time data sets which are in one-to-one correspondence with the S first initial flight time data sets, S is a positive integer, S is more than or equal to 2, N is a positive integer, N is more than or equal to 2, each first initial flight time data set comprises a plurality of first initial flight time data which are in one-to-one correspondence with a plurality of flight time, and each accumulated flight time data set comprises at least one accumulated photon count value which is in one-to-one correspondence with at least one accumulated flight time; When the flight time statistics device is in a second detection mode, the statistics part is used for acquiring S second initial flight time data sets in S second integration periods, performing superposition processing on the S second initial flight time data sets to obtain second superposition flight time data sets, storing at least one second superposition photon count value in the second superposition flight time data sets in a storage unit according to a second superposition photon count value, and storing the second superposition flight time data sets in the storage unit, wherein the second superposition flight time data sets comprise second superposition photon count values corresponding to each flight time, and each second initial flight time data set comprises second initial flight time data corresponding to a plurality of flight times one by one.
8. 8. The time of flight statistic apparatus according to claim 7, wherein each said first integration period comprises X N first clock periods, each said first clock period comprises M first initial time of flight data, each said second integration period comprises X second clock periods, each said second clock period comprises M second initial time of flight data, X is greater than or equal to 2, M is greater than or equal to 2, and X and M are positive integers; The statistics part comprises a control module and K statistics modules connected in parallel; The control module is used for outputting a second control signal, and the second control signal is in a first state or a second state; When the second control signal is in the first state, the time-of-flight statistics device is in the first detection mode, the K statistics modules are used for respectively obtaining K groups of first initial time-of-flight data sets in each first clock period of each first integration period, accumulating N groups of first initial time-of-flight data in each group of first initial time-of-flight data according to the second control signal to obtain S accumulated time-of-flight data sets corresponding to the S first integration periods one by one, and further performing superposition processing on the S accumulated time-of-flight data sets to obtain the first superimposed time-of-flight data sets, and storing at least one first superimposed photon count value in the first superimposed time-of-flight data sets in a memory according to the second control signal in a mode that the first superimposed photon count value is stored in a memory unit, wherein M=k×n, and K is a positive integer greater than or equal to 1, K; when the second control signal is in the second state, the time-of-flight statistics device is in the second detection mode, the K statistics modules are configured to obtain K groups of second initial time-of-flight data sets in each second clock period of each second integration period according to the second control signal, perform superposition processing on the S second initial time-of-flight data sets corresponding to the S second integration periods, obtain a second superposition time-of-flight data set, and store at least one second superposition photon count value in the second superposition time-of-flight data set in the memory according to a second superposition photon count value in a manner that the second superposition photon count value is stored in a memory unit, and store the second superposition time-of-flight data set in the memory.
9. 9. The time-of-flight statistics apparatus of claim 8, wherein the memory comprises X memory modules, each memory module comprising N X K memory cells; When the time-of-flight statistics device is in a first detection mode, the K statistics modules are further configured to store, according to the second control signal, x×n first clock cycles in each first integration period as a first statistics period according to each N first clock cycles, n×k accumulated photon count values corresponding to n×k groups of first initial time-of-flight data included in the N first clock cycles in one first statistics period in one storage module, where n×k storage units in each storage module are respectively configured to store n×k accumulated photon count values corresponding to N clock cycles in one first statistics period; When the time-of-flight statistics device is in the second detection mode, the K statistics modules are further configured to store, according to the second control signal, X second clock cycles in each second integration period as a second statistics period according to each second clock cycle, n×k second initial time-of-flight data included in one second clock cycle in one storage module, where n×k storage units in each storage module are respectively configured to store n×k second initial time-of-flight data corresponding to one second clock cycle.
10. 10. The time-of-flight statistics apparatus of claim 8 or 9, wherein each of the statistics modules comprises an input accumulator and N superimposed channels connected in parallel; the input accumulator comprises N input ends and an output end, K input accumulators in the K statistical modules are used for respectively acquiring K groups of first flight time data sets of each clock period in each first integration period, and accumulating each group of first flight time data sets in the K groups of first flight time data sets to generate accumulated flight time data sets corresponding to each first integration period; each superposition channel comprises a first statistic input end, a second statistic input end and a first superposition output end; When the second control signal is in a first state, the N first superposition input ends are used for receiving N x K accumulated photon count values generated by the input accumulator in N first clock periods in each first integration period in a one-to-one correspondence manner according to the second control signal; when the second control signal is in a second state, N second statistical input ends of the N superimposed channels are used for receiving n×k second initial flight time data of the input accumulator in each second statistical period of each second integration period in a one-to-one correspondence manner according to the second control signal; When the second control signal is in the first state, the N superposition output ends are used for storing N x K accumulated photon count values generated by the input accumulator in N first clock periods in each first integration period in N x K storage units of the memory according to the second control signal, and when the second control signal is in the second state, the N superposition output ends are used for storing N x K second initial flight time data of the input accumulator in N x K storage units of the memory in each second statistical period in each second integration period according to the second control signal.
11. 11. The time-of-flight statistic apparatus according to claim 10, wherein for N superimposed channels of a kth statistic module of the K statistic modules, an nth superimposed channel of a preceding N-1 superimposed channels of the N superimposed channels includes an nth input selection unit, an nth accumulation unit, an nth limit saturation unit, an nth output selection unit, an nth writing unit, and an nth reading unit, N is a positive integer, and 1N is equal to or less than N-1, K is a positive integer, and 1K is equal to or less than K; The n-th input selection unit comprises two input ends, an output end and a control end, wherein one input end of the n-th input selection unit is connected with the output end of the input accumulator of the k-th statistics module, the other input end of the n-th input selection unit is used for receiving data 0, the output end of the n-th input selection unit is connected with the n-th selection unit, and the control end of the n-th input selection unit is connected with the control module, wherein when the second control signal is in a first state, the n-th input selection unit is used for selecting accumulated photon count values of a k-th group of first initial flight time data corresponding to the n-th first clock period to the n-th selection unit according to the second control signal in each first statistics period; The n-th selection unit comprises two input ends, an output end and a control end, wherein one input end of the n-th selection unit is used for acquiring n-th second initial flight time data in a k-th group of second initial flight time data in each second clock period, the other input end of the n-th selection unit is connected with the output end of the n-th input selection unit, the output end of the n-th selection unit is connected with one input end of the n-th accumulation unit, and the control end of the n-th selection unit is connected with the control module; when the second control signal is in the first state, the nth selection unit is used for selecting an accumulated photon count value of a kth group of first initial flight time data corresponding to the nth first clock period to be output to the nth accumulation unit according to the second control signal in the nth first clock period in each first statistic period; when the second control signal is in the second state, the nth selection unit is used for selecting and outputting the nth second initial flight time data in the kth group of second initial flight time data in each second integration period to the nth accumulation unit according to the second control signal; The n-th accumulation unit comprises two input ends and an output end, one input end of the n-th accumulation unit is connected with the output end of the n-th selection unit, and the output end of the n-th accumulation unit is connected with the input end of the n-th limit saturation unit; The n-th limiting saturation unit comprises an input end and an output end, the input end of the n-th limiting saturation unit is connected with the output end of the n-th accumulation unit, and the output end of the n-th limiting saturation unit is connected with one input end of the n-th output selection unit; The n-th output selection unit comprises two input ends, an output end and a control end, wherein one input end of the n-th output selection unit is connected with the output end of the n-th limit saturation unit, the other input end of the n-th output selection unit is connected with one output end of the n-th writing unit, the output end of the n-th output selection unit is connected with the input end of the n-th writing unit, and the control end of the n-th output selection unit is connected with the control module, wherein when the second control signal is in the first state, the n-th output selection unit is used for outputting data output by the n-th limit saturation unit to the n-th writing unit in every n-th clock period of the statistic period according to the second control signal; The n-th writing unit comprises an input end and two output ends, the input end of the n-th writing unit is connected with the output end of the n-th output selection unit, one output end of the n-th writing unit is connected with one input end of the n-th output selection unit, and the other output end of the n-th writing unit is connected with the memory; The n-th reading unit comprises an input end and an output end, the input end of the n-th reading unit is connected with the memory, and the output end of the n-th reading unit is connected with the other input end of the n-th accumulating unit.
12. 12. The time of flight statistic apparatus according to claim 11, wherein an nth one of said N superimposed channels comprises an nth input selection unit, an nth accumulation unit, an nth limit saturation unit, an nth write unit, and an nth read unit; The system comprises an N input selection unit, an N output selection unit, a control module and a first statistics module, wherein the N input selection unit comprises two input ends, an output end and a control end, one input end of the N input selection unit is connected with the output end of the input accumulator of the k statistics module, the other input end of the N input selection unit is used for receiving data0, the output end of the N input selection unit is connected with the N selection unit, and the control end of the N input selection unit is connected with the control module, wherein when the second control signal is in the first state, the N input selection unit is used for selecting accumulated photon count values of a k group of first initial flight time data corresponding to the N first clock cycles to the N selection unit according to the second control signal; the N-th selection unit comprises two input ends, an output end and a control end, wherein one input end of the N-th selection unit is used for acquiring N-th second initial flight time data in a k-th group of second initial flight time data in each second clock period, the other input end of the N-th selection unit is connected with the output end of the N-th input selection unit, the output end of the N-th selection unit is connected with one input end of the N-th accumulation unit, and the control end of the N-th selection unit is connected with the control module; when the second control signal is in the first state, the nth selection unit is used for selecting an accumulated photon count value of a kth group of first initial flight time data corresponding to the nth first clock period in an nth first clock period in each first statistic period according to the second control signal, and outputting the accumulated photon count value to the nth accumulation unit; when the second control signal is in the second state, the nth selection unit is used for selecting and outputting an nth second initial time of flight data in a kth group of second initial time of flight data in each second integration period to the nth accumulation unit according to the second control signal; the N accumulation unit comprises two input ends and an output end, one input end of the N accumulation unit is connected with the output end of the N selection unit, and the output end of the N accumulation unit is connected with the input end of the N limit saturation unit; The N limiting saturation unit comprises an input end and an output end, the input end of the N limiting saturation unit is connected with the output end of the N accumulation unit, and the output end of the N limiting saturation unit is connected with the input end of the N writing unit; The N-th writing unit comprises an input end and two output ends, the input end of the N-th writing unit is connected with the output end of the N-th limit saturation unit, one output end of the N-th writing unit is connected with one input end of the N-th limit saturation unit, and the other output end of the N-th writing unit is connected with the memory; The N-th reading unit comprises an input end and an output end, the input end of the N-th reading unit is connected with the memory, and the output end of the N-th reading unit is connected with the other input end of the N-th accumulating unit.
13. 13. A laser ranging device comprising a time-of-flight statistics device according to any one of claims 1 to 12.

Description

Time-of-flight statistics device and laser rangefinder Technical Field The application relates to the technical field of laser ranging, in particular to a flight time statistics device and a laser ranging device. Background Currently, a laser ranging device measures a distance of a target object using a Time of flight (TOF) technology, and has important applications in various fields of three-dimensional ranging and three-dimensional imaging, such as autopilot, face recognition, 3D game, and virtual reality. Specifically, the laser ranging device utilizes a light source to emit continuous or pulsed emergent light beams, utilizes a photoelectric sensor to receive echo light beams returned after the emergent light beams are reflected by a target object, and obtains the distance, namely depth information, of a measured target by counting the flight time between the emitted emergent light beams and the echo light beams. In the time-of-flight statistics process, the limited amount of memory of the memory for storing the time-of-flight results in limited storable time-of-flight data, thereby limiting the detection distance of the laser ranging device. How to increase the detection distance of the laser ranging device is a technical problem to be solved by the person skilled in the art. Disclosure of Invention The embodiment of the application provides a flight time statistics device and a laser ranging device, which can increase the detection distance of the laser ranging device. In a first aspect, an embodiment of the present application provides a time-of-flight statistics apparatus, including a statistics portion and a memory; The statistics part is used for acquiring S first initial flight time data sets in S first integration periods, carrying out accumulation processing on each first initial flight time data set by taking every adjacent N first initial flight time data as a group to obtain S accumulated flight time data sets which are in one-to-one correspondence with the S first initial flight time data sets, wherein S is a positive integer, S is more than or equal to 2, N is a positive integer, and N is more than or equal to 2; The statistics part is also used for carrying out superposition processing on the S accumulated flight time data sets to obtain the superimposed flight time data sets, and storing at least one superimposed photon count value in the superimposed flight time data sets in a memory according to a manner that the superimposed photon count value is stored in a memory unit, wherein the superimposed flight time data sets comprise superimposed photon count values corresponding to each accumulated flight time one by one. In a second aspect, an embodiment of the present application further provides a time-of-flight statistics apparatus, including a statistics portion and a memory; When the flight time statistics device is in a first detection mode, the statistics part is used for acquiring S first initial flight time data sets in S first integration periods, accumulating each first initial flight time data set by taking every adjacent N first initial flight time data sets as a group to obtain S accumulated flight time data sets which are in one-to-one correspondence with the S first initial flight time data sets, S is a positive integer, S is more than or equal to 2, N is a positive integer, N is more than or equal to 2, each first initial flight time data set comprises a plurality of first initial flight time data which are in one-to-one correspondence with a plurality of flight times, and each accumulated flight time data set comprises at least one accumulated photon count value which is in one-to-one correspondence with at least one accumulated flight time; When the flight time statistics device is in a second detection mode, the statistics part is used for acquiring S second initial flight time data sets in S second integration periods, performing superposition processing on the S second initial flight time data sets to obtain second superposition flight time data sets, storing at least one second superposition photon count value in the second superposition flight time data sets in a storage unit according to a second superposition photon count value, and storing the second superposition flight time data sets in the storage unit, wherein the second superposition flight time data sets comprise second superposition photon count values corresponding to each flight time, and each second initial flight time data set comprises second initial flight time data corresponding to a plurality of flight times one by one. In a third aspect, an embodiment of the present application provides a laser ranging device, including a time-of-flight statistics device as described in any one of the first and second aspects above. In a fourth aspect, an embodiment of the present application provides a method for counting time of flight, including: S first initial flight time data sets in S first integration period