阅读说明：本技术 Tof模组的噪声滤除方法、tof模组及装置 (Noise filtering method, TOF mould group and the device of TOF mould group ) 是由 王路 于 2019-08-13 设计创作，主要内容包括：本申请实施例公开了一种TOF模组的噪声滤除方法、TOF模组及装置,该方法包括：控制所述发射单元发射出射光信号；控制所述接收单元接收入射光信号；其中,所述入射光信号至少包括：由目标拍摄物体反射形成的目标入射光,以及引入所述噪声信号的非目标入射光；控制所述接收单元将所述入射光信号转换成电信号；其中,所述电信号至少包括：所述目标入射光对应的目标电信号,以及所述非目标入射光对应的所述噪声信号；基于所述噪声滤除单元滤除所述电信号中的所述噪声信号,得到所述目标电信号。如此,利用得到有效的目标电信号实现深度测量,能够提高测量精度,消除噪声信号对深度测量的影响。(The embodiment of the present application discloses noise filtering method, TOF mould group and the device of a kind of TOF mould group, this method comprises: controlling the transmitting unit transmitting outgoing optical signal；It controls the receiving unit and receives incident optical signal；Wherein, the incident optical signal includes at least: the target incident light reflected to form by target shooting object, and introduces the non-targeted incident light of the noise signal；It controls the receiving unit and the incident optical signal is converted into electric signal；Wherein, the electric signal includes at least: the corresponding target electric signal of target incident light and the corresponding noise signal of the non-targeted incident light；The noise signal in the electric signal is filtered out based on the noise filtering unit, obtains the target electric signal.In this way, realizing depth measurement using effective target electric signal is obtained, measurement accuracy can be improved, eliminate influence of the noise signal to depth measurement.)

1. a kind of noise filtering method of TOF mould group, the TOF mould group includes: transmitting unit and receiving unit, and the reception is single Member includes pixel array, at least partly in pixel includes noise filtering unit, the noise filtering unit in the pixel array For filtering out the noise signal in the receiving unit；

The described method includes:

Control the transmitting unit transmitting outgoing optical signal；

It controls the receiving unit and receives incident optical signal；Wherein, the incident optical signal includes at least: shooting object by target The target incident light reflected to form, and introduce the non-targeted incident light of the noise signal；

It controls the receiving unit and the incident optical signal is converted into electric signal；Wherein, the electric signal includes at least: described The corresponding target electric signal of target incident light and the corresponding noise signal of the non-targeted incident light；

The noise signal in the electric signal is filtered out based on the noise filtering unit, obtains the target electric signal.

2. the method according to claim 1, wherein further including that photoelectric conversion unit, charge are deposited in the pixel Storage unit and charge conversion cell；

Wherein, the photoelectric conversion unit is converted into charge for receiving the incident optical signal, and by the incident optical signal Output；

The charge storage elements, for storing the charge of the photoelectric conversion unit output in preset time period, output accumulation Charge is to the charge conversion cell；

The charge conversion cell, for input charge to be converted to voltage signal.

3. according to the method described in claim 2, it is characterized in that, the noise signal be charge parameter when, the electric signal For the stored charge of charge storage elements output, the noise filtering unit is located at the input terminal of the charge conversion cell Side；

It is described to filter out the noise signal in the electric signal using the noise filtering unit, obtain the target telecommunications Number, comprising:

The noise signal is subtracted from the electric signal, obtains aimed charge；

The aimed charge is converted into the target electric signal using the charge conversion cell.

4. according to the method described in claim 2, it is characterized in that, the noise signal be voltage parameter when, the electric signal For the voltage of charge conversion cell output, the noise filtering unit is located at charge conversion cell output end side；

It is described to filter out the noise signal in the electric signal using the noise filtering unit, obtain the target telecommunications Number, comprising:

The noise signal is subtracted from the electric signal, obtains the target electric signal.

5. method according to claim 1-4, which is characterized in that set above the transmitting unit and receiving unit There is euphotic cover plate；

The noise signal includes at least one of the following: that the reflected light of the euphotic cover plate enters bring in the receiving unit First noise signal, environment light enter the second noise signal of bring in the receiving unit.

6. according to the method described in claim 5, it is characterized in that, the noise signal include the first noise signal when, it is described Method further include:

Shading piece is set on the outside of first surface of the euphotic cover plate far from the transmitting unit and the receiving unit, is controlled The transmitting unit transmitting is emitted optical signal to the euphotic cover plate；

The receiving unit is controlled to receive into the first incident light reflected to form by the euphotic cover plate；

First incident light is converted into the first noise signal；

Based on first noise signal, the noise filtering unit is configured.

7. according to the method described in claim 5, it is characterized in that, the noise signal include the second noise signal when, it is described Method further include:

The transmitting unit is controlled to close；

It controls the receiving unit and receives external environmental light as the second incident light；

Second incident light is converted into the second noise signal；

Based on second noise signal, the noise filtering unit is configured.

8. a kind of TOF mould group, the TOF mould group includes: transmitting unit and receiving unit, and the receiving unit includes pixel battle array Column at least partly in pixel include noise filtering unit in the pixel array, and the noise filtering unit is described for filtering out Noise signal in receiving unit；

The transmitting unit, for emitting outgoing optical signal；

The receiving unit, for receiving incident optical signal；Wherein, the incident optical signal includes at least: by target subject The target incident light that body reflects to form, and introduce the non-targeted incident light of the noise signal；

The receiving unit is also used to the incident optical signal being converted into electric signal；Wherein, the electric signal includes at least: The corresponding target electric signal of target incident light and the corresponding noise signal of the non-targeted incident light；

The receiving unit is also used to be filtered out the noise signal in the electric signal using the noise filtering unit, be obtained To the target electric signal.

9. a kind of noise filtering device, described device include: TOF mould group, processor and be configured to storage can be on a processor The memory of the computer program of operation；Wherein,

The TOF mould group includes: transmitting unit and receiving unit, and the receiving unit includes pixel array, the pixel array In include noise filtering unit at least partly in pixel, the noise filtering unit is used to filter out the noise in the receiving unit Signal；

When the processor is configured to run the computer program, for realizing following steps:

Control the transmitting unit transmitting outgoing optical signal；

It controls the receiving unit and receives incident optical signal；Wherein, the incident optical signal includes at least: shooting object by target The target incident light reflected to form, and introduce the non-targeted incident light of the noise signal；

It controls the receiving unit and the incident optical signal is converted into electric signal；Wherein, the electric signal includes at least: described The corresponding target electric signal of target incident light and the corresponding noise signal of the non-targeted incident light；

The noise signal in the electric signal is filtered out based on the noise filtering unit, obtains the target electric signal.

10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program quilt The step of claim 1 to 7 described in any item methods are realized when processor executes.

Technical field

This application involves the noises of electronic technology more particularly to a kind of flight time (Time Of Flight, TOF) mould group Filtering method, TOF mould group and device.

Background technique

The time that TOF mould group is flown in space by the optical signalling of measurement transmitting is to be calculated external subject Body is at a distance from camera.TOF mould group range measurement principle is shown in Fig. 1, TOF mould group includes transmitting unit, receiving unit, modulation Unit, demodulating unit and processor.Wherein, modulation unit is responsible for the infrared light of modulate emission, by transmitting unit by infrared light Launch；Receiving unit receives the reflected light by shooting body surface reflection, and demodulating unit is responsible for receiving receiving unit To reflected light demodulated；Signal processing module include analog-digital converter (Analog-to-Digital Converter, ADC) and processor, ADC is used to convert analog signal to digital signal, processor, by the lightwave signal of transmitting with it is received Reflection signal is compared, and obtains their phase difference, passes through a transmitting-reflection path according to the frequency light wave of signal Elapsed time, so that the depth information in the corresponding practical three-dimensional space of each pixel be calculated according to the light velocity.

Fig. 2 shows the schematic diagrames of the light propagation path of TOF mould group ranging；TOF makes on mould group surface of glass cover-plate Protection, the infrared light glass cover-plate that transmitting unit issues project after exterior space shooting body surface to receiving unit Reflectance target reflected light (useful signal of ranging), target reflecting light are received unit reception, since cover board is usually using saturating Bright glass cover-plate, transmitance still have certain reflectivity generally 90% or more, this part is more by glass cover-plate Secondary reflection is received the noise signal that the non-targeted reflected light that unit receives is a kind of influence depth measurement, and this noise Signal typically occurs in side of the receiving unit close to transmitting unit, and the pixel at the position can receive regular reflection back Useful signal and the noise signal for passing through glass cover-plate multiple reflection inside, the presence of this noise signal will affect depth information The accuracy and integrality of measurement, this noise are known as edge noise.

Fig. 3 is the depth image schematic diagram there are edge noise, which is the white wall depth map shot at a 1m, image Left side is side of the receiving unit far from transmitting unit, and the depth value value=1000mm at pixel (x1, y1), precision is very It is high；It is receiving unit on the right side of image at the side (side that there is edge noise) of transmitting unit, pixel (x2, y2) Depth value value=1015mm, precision is poor.

To solve this problem, the scheme used in the prior art is as follows:

1) glass cover-plate is made into split type, i.e., with two pieces of glass cover-plates, one piece covers transmitting unit, and one piece covers and connects Receiving end；In this way, the reflected light that the glass cover-plate for covering transmitting unit is formed just will not be entered receiving unit；

2) increase transmitting unit and receiving unit spacing, increase glass cover-plate inside order of reflection, reflection attenuation light, Eliminate or weaken the energy of the reflected light entered in receiving unit.

However it will affect the consistency of device appearance using first method, and the assembling of two cover plates is covered with respect to one piece Plate wants complicated, needs independent plated film, at high cost；The setting of device overall space will affect using second method.As it can be seen that for upper Stating technical problem, there is still a need for a kind of more preferably solutions.

Summary of the invention

In order to solve the above technical problems, the embodiment of the present application is intended to provide noise filtering method, the TOF of a kind of TOF mould group Mould group and device.

The technical solution of the embodiment of the present application is achieved in that

In a first aspect, providing a kind of noise filtering method of TOF mould group, TOF mould group includes: transmitting unit and receives single Member, receiving unit include pixel array, at least partly in pixel include noise filtering unit, noise filtering unit in pixel array For filtering out the noise signal in receiving unit；

This method comprises:

Control transmitting unit transmitting outgoing optical signal；

It controls and receives unit and receives incident optical signal；Wherein, incident optical signal includes at least: by target shooting object reflection The target incident light of formation, and introduce the non-targeted incident light of noise signal；

It controls and receives unit and incident optical signal is converted into electric signal；Wherein, electric signal includes at least: target incident light pair The target electric signal and the corresponding noise signal of non-targeted incident light answered；

Based on the noise signal in noise filtering unit filtering electric signal, target electric signal is obtained.

Second aspect, provides a kind of TOF mould group, and TOF mould group includes: transmitting unit and receiving unit, receiving unit packet It includes pixel array, at least partly in pixel includes noise filtering unit in pixel array, noise filtering unit is for filtering out reception Noise signal in unit；

Transmitting unit, for emitting outgoing optical signal；

Receiving unit, for receiving incident optical signal；Wherein, incident optical signal includes at least: anti-by target shooting object The target incident light to be formed is penetrated, and introduces the non-targeted incident light of noise signal；

Receiving unit is also used to incident optical signal being converted into electric signal；Wherein, electric signal includes at least: target incident The corresponding target electric signal of light and the corresponding noise signal of non-targeted incident light；

Receiving unit is also used to obtain target electric signal using the noise signal in noise filtering unit filtering electric signal.

The third aspect, provides a kind of noise filtering device, and device includes: TOF mould group, processor and is configured to storage energy The memory of enough computer programs run on a processor；Wherein,

TOF mould group includes: transmitting unit and receiving unit, and receiving unit includes pixel array, at least portion in pixel array Dividing includes noise filtering unit in pixel, and noise filtering unit is used to filter out the noise signal in receiving unit；

When processor is configured to operation computer program, for realizing following steps:

Control transmitting unit transmitting outgoing optical signal；

It controls and receives unit and receives incident optical signal；Wherein, incident optical signal includes at least: by target shooting object reflection The target incident light of formation, and introduce the non-targeted incident light of noise signal；

It controls and receives unit and incident optical signal is converted into electric signal；Wherein, electric signal includes at least: target incident light pair The target electric signal and the corresponding noise signal of non-targeted incident light answered；

Based on the noise signal in noise filtering unit filtering electric signal, target electric signal is obtained.

Fourth aspect provides a kind of computer readable storage medium, is stored thereon with computer program, wherein the meter The step of preceding method is realized when calculation machine program is executed by processor.

By adopting the above technical scheme, it when shooting depth image using TOF mould group, can effectively be filtered using noise filtering unit Except the noise signal being converted into electric signal by non-targeted incident optical signal, only retain the target that target incident optical signal is converted into Electric signal realizes depth measurement using effective target electric signal is obtained, can be improved measurement accuracy, eliminates noise signal to depth Spend the influence of measurement.

Detailed description of the invention

Fig. 1 is the schematic diagram of TOF mould group range measurement principle；

Fig. 2 is the schematic diagram of the light propagation path of TOF mould group ranging；

Fig. 3 is the depth image schematic diagram there are edge noise；

Fig. 4 is the window switching mode schematic diagram inside a kind of pixel；

Fig. 5 is the schematic diagram that pixel window reception stores charge；

Fig. 6 is the flow diagram of noise filtering method in the embodiment of the present application；

Fig. 7 is the composed structure schematic diagram of dot structure in the embodiment of the present application；

First window switching mode schematic diagram in Fig. 8 the embodiment of the present application inside pixel；

The second window switching mode schematic diagram in Fig. 9 the embodiment of the present application inside pixel；

Figure 10 is the first pass schematic diagram of noise filtering cell arrangement method in the embodiment of the present application；

Figure 11 is the schematic illustration that the first noise signal is obtained in the embodiment of the present application；

Figure 12 is the second procedure schematic diagram of noise filtering cell arrangement method in the embodiment of the present application；

Third window switching mode schematic diagram in Figure 13 the embodiment of the present application inside pixel；

Figure 14 is the schematic diagram of the composed structure of TOF mould group in the embodiment of the present application；

Figure 15 is the schematic diagram of the composed structure of noise filtering device in the embodiment of the present application.

Specific embodiment

The characteristics of in order to more fully hereinafter understand the embodiment of the present application and technology contents, with reference to the accompanying drawing to this Shen Please the realization of embodiment be described in detail, appended attached drawing purposes of discussion only for reference is not used to limit the embodiment of the present application.

A kind of noise filtering method of TOF mould group provided by the embodiments of the present application is based on TOF measurement principle,

Fig. 4 is the window switching mode schematic diagram inside a kind of pixel, as shown in figure 4, transmitting unit launches outward outgoing After optical signal, outgoing optical signal forms reflected light after being reflected by target object and is incident on receiving unit, each pixel of receiving end It is all made of a photosensitive unit (such as photodiode), it can convert incident light into charge, and photosensitive unit is connected to Multiple high-frequency change over switches (G0 and G1 in such as Fig. 4) can import charge in the different capacitors that can store charge (such as S0 and S1 in Fig. 4), and electric signal is read respectively from reading port 0 and reading port 1.

G0 and G1 pixel in a burst length T is separately turned on by switching sequence, continues the time t an of phase, Charge adds up as Q0 and Q1, and the time interval Δ t for then calculating laser signal transmitting and returning is are as follows: Δ t=[Q1/ (Q0+ Q1)]·t。

The sequence that G0 and G1 is opened are as follows:

While starting transmitting unit transmitting pulse signal, the G0 of each pixel is opened, by the time t of a pulse After (time of one pulse of Laser emission), G1 is opened, while G0 is closed；

In this time t, signal that laser reflection is returned some charge storage is received and converted into S0 by G0 In, remaining signal is received and stored in S1 by G1；

Fig. 5 is the schematic diagram that pixel window reception stores charge, and the outgoing light pulse of transmitting unit transmitting is shown in Fig. 5 Signal, reflection light pulse signal, the charge of charge storage elements S0 storage and the charge of charge storage elements S1 storage.

Light pulse signal is emitted according to the time of one phase t of operating mode continuous illumination of setting, S0 and S1 are interior respectively Have accumulated the charge of t time, after a phase, TOF sensor converts the charge to voltage and store be placed on register In, then S0 and S1 using above-mentioned formula Δ t=[Q1/ (Q0+Q1)] t you can get it Laser emission and return time, so The distance between camera and target object d are calculated according to formula d=(Δ tc)/2 afterwards, c is the light velocity.

The embodiment of the present application provides a kind of noise filtering method of TOF mould group, can filter by non-targeted incident light band The noise signal come, the TOF mould group includes: transmitting unit and receiving unit, and the receiving unit includes pixel array, described It include noise filtering unit at least partly in pixel in pixel array, the noise filtering unit is for filtering out the receiving unit Interior noise signal；

Fig. 6 is the flow diagram of noise filtering method in the embodiment of the present application, as shown in fig. 6, this method specifically can be with Include:

Step 101: controlling the transmitting unit transmitting outgoing optical signal；

Step 102: controlling the receiving unit and receive incident optical signal；Wherein, the incident optical signal includes at least: by The target incident light that target shooting object reflects to form, and introduce the non-targeted incident light of the noise signal；

Step 103: controlling the receiving unit for the incident optical signal and be converted into electric signal；Wherein, the electric signal It includes at least: the corresponding target electric signal of target incident light and the corresponding noise letter of the non-targeted incident light Number；

Step 104: the noise signal in the electric signal being filtered out based on the noise filtering unit, obtains the mesh Mark electric signal.

Here, the executing subject of step 101 to step 104 can be the processor of the device of configuration TOP camera module. For example, smart phone, PC (such as tablet computer, desktop computer, notebook, net book, palm PC), mobile electricity It words, E-book reader, portable media player, audio/video player, video camera, virtual reality device and can wear Wear equipment etc..

Fig. 7 is the composed structure schematic diagram of dot structure in the embodiment of the present application, further includes photoelectric conversion in the pixel Unit, charge storage elements and charge conversion cell；

Wherein, the photoelectric conversion unit is converted into for receiving the incident optical signal, and by the incident optical signal Charge output；The charge storage elements, for storing the charge of the photoelectric conversion unit output in preset time period, output Stored charge is to the charge conversion cell；The charge conversion cell, for input charge to be converted to voltage signal.

In practical application, noise filtering unit can be located at the input terminal side of charge conversion cell, can also be located at defeated Outlet side obtains target electric signal, target electric signal is read port and is input to ADC, and ADC will for filtering out noise signal Target electric signal is converted to digital signal.

Illustratively, photoelectric conversion unit is photodiode, and charge storage elements are capacitor, and charge conversion cell is electricity Lotus amplifier.

In practical application, euphotic cover plate is equipped with above the transmitting unit and receiving unit；The noise signal include with At least one of lower: the reflected light of the euphotic cover plate enters the first noise signal of bring in the receiving unit, environment light into Enter the second noise signal of bring in the receiving unit.

It in practical application, is limited by euphotic cover plate reflection angle, the first noise signal influences close in pixel array more The edge pixel of transmitting unit.Therefore, after predefining impacted peripheral pixel area, only in impacted edge pixel Region is configured to filter out the noise filtering unit of the first noise signal, does not configure in impregnable pixel region.

Since environment light does not have the limitation of incident angle, the second noise signal may influence all pixels.Therefore, it is necessary to It is configured to filter out the noise filtering unit of the second noise signal inside each pixel.

That is, needing when needing while filtering out the first noise signal and the second noise signal in edge pixel area Configuration of territory can filter out the noise filtering unit of the first noise signal and the second noise signal simultaneously, and the configuration of other regions can filter Except the noise filtering unit of the second noise signal.

In some embodiments, noise filtering unit is located at charge conversion cell input terminal side or output end side.

Specifically, the electric signal is the tired of the charge storage elements output when noise signal is charge parameter Accumulated charge, the noise filtering unit are located at the input terminal side of the charge conversion cell；It is described to utilize the noise filtering Unit filters out the noise signal in the electric signal, obtains the target electric signal, comprising: subtract from the electric signal The noise signal, obtains aimed charge；The aimed charge is converted into the target electricity using the charge conversion cell Signal.

Here, electric signal is also charge parameter, and target electric signal is voltage signal.That is, being converted in charge signal Before voltage signal, the charge being converted by non-targeted incident light is removed from the stored charge that charge storage elements export, Aimed charge is obtained, charge conversion cell can directly obtain target voltage signal after converting aimed charge.Illustratively, noise Filtering out unit can be capacitor, and capacitance is the corresponding charge of noise signal.

First window switching mode schematic diagram in Fig. 8 the embodiment of the present application inside pixel；As shown in figure 8, target signal filter Unit is capacitor, and each pixel of receiving end is made of a photosensitive unit (such as photodiode), it can will be incident Light is converted to charge, and photosensitive unit is connected to two high-frequency change over switches G0 and G1, photosensitive unit output electricity when switch G0 is closed Lotus, which imports in the first via, is stored in capacitor S0, and photosensitive unit output charge imports in the second tunnel and is stored in capacitor when switch G1 is closed S1.It is configured with the first noise filtering unit after capacitor S0, the second noise filtering unit, the first noise are each configured with after S1 The quantity of electric charge for filtering out unit and the second noise filtering unit is demarcated in advance according to the reflected light of euphotic cover plate, in capacitor S0 The quantity of electric charge subtracts the first noise filtering unit, obtains aimed charge 0, and the quantity of electric charge in capacitor S1 subtracts the second noise filtering list Member obtains aimed charge 1, and obtained signal is passing through Simulation scale-up, then samples by ADC, it is defeated can to carry out digital signal Out, and subsequent Digital Signal Processing is carried out.

Specifically, the electric signal is the electricity of the charge conversion cell output when noise signal is voltage parameter Pressure, the noise filtering unit are located at charge conversion cell output end side；It is described to be filtered using the noise filtering unit Except the noise signal in the electric signal, the target electric signal is obtained, comprising: described make an uproar is subtracted from the electric signal Acoustical signal obtains the target electric signal.

Here, electric signal is also voltage parameter, and target electric signal is voltage signal.That is, being converted in charge signal After voltage signal, the voltage being converted by non-targeted incident light is subtracted from the voltage signal of output, obtains target voltage Signal.Illustratively, noise filtering unit can be the register of storage noise signal corresponding voltage.

The second window switching mode schematic diagram in Fig. 9 the embodiment of the present application inside pixel；As shown in figure 9, target signal filter Unit is capacitor, and each pixel of receiving end is made of a photosensitive unit (such as photodiode), it can will be incident Light is converted to charge, and photosensitive unit is connected to two high-frequency change over switches G0 and G1, photosensitive unit output electricity when switch G0 is closed Lotus, which imports in the first via, is stored in capacitor S0, and photosensitive unit output charge imports in the second tunnel and is stored in capacitor when switch G1 is closed S1.Amplifier 0 and amplifier 1 is respectively set after capacitor S0 and capacitor S1, the stored charge for exporting capacitor is passed through Amplification is converted to voltage output, is based on this, the register of amplifier is arranged, and the voltage of corresponding noise signal is written, defeated The voltage of noise signal is cut when voltage out, the voltage exported in this way just only has the voltage of target incident light.

Noise signal includes that the reflected light of the euphotic cover plate enters the first noise signal of bring in the receiving unit, The method for furthermore presenting configuration noise filtering unit.Figure 10 is noise filtering cell arrangement method in the embodiment of the present application First pass schematic diagram, as shown in Figure 10, this method comprises:

Step 201: being set on the outside of first surface of the euphotic cover plate far from the transmitting unit and the receiving unit Shading piece is set, controls the transmitting unit transmitting outgoing optical signal to the euphotic cover plate；

Here, euphotic cover plate can be transparent glass cover plate or transparent plastic cover board, and shading piece can be opaque black paper, First surface is the upper surface of euphotic cover plate.

Figure 11 is the schematic illustration that the first noise signal is obtained in the embodiment of the present application, as shown in figure 11, glass cover-plate Upper surface covered by shading piece after, transmitting unit transmitting laser signal be incident on glass cover-plate after, through table on glass cover-plate Multiple reflections on the inside of face and on the inside of lower surface form the first incident light (i.e. the reflected light of glass cover-plate), are incident on receiving unit Inside, the pixel being received in unit receive.

Step 202: controlling the receiving unit and receive into the first incident light reflected to form by the euphotic cover plate；

Step 203: first incident light is converted into the first noise signal；

Specifically, control photoelectric conversion unit turns the first incident optical signal when the first noise signal is charge parameter Change charge output into, the charge of the photoelectric conversion unit output, output in control charge storage elements storage preset time period Stored charge is the first noise signal.

When the first noise signal is voltage parameter, photoelectric conversion unit is controlled by the first incident optical signal and is converted into charge Output, control charge storage elements store the charge of the photoelectric conversion unit output in preset time period, export stored charge, It controls charge conversion cell and stored charge is converted into voltage, output voltage is the first noise signal.

Step 204: being based on first noise signal, configure the noise filtering unit.

Specifically, noise filtering unit can be capacitor when the first noise signal is charge parameter, the first noise is utilized Signal configures capacitance parameter, for filtering out the first noise signal in the case of normal photographing.When the first noise signal is voltage ginseng When number, noise filtering unit can be the register of storage noise signal corresponding voltage, after completing charge and being converted into voltage, The voltage that noise signal is obtained from register, cuts the voltage of noise signal in output voltage, the voltage exported in this way The just only voltage of target incident light.

Here noise signal includes that the reflected light of the euphotic cover plate enters the first noise of bring in the receiving unit It is as follows to give a kind of completion implementation for signal:

1) it is capped with one piece of glass cover-plate on the transmitting unit and receiving unit of TOF, by glass cover-plate upper surface black Lighttight paper touch, so that TOF sensor does not receive effective target incident signal；TOF sensor receives only at this time By the non-targeted incoming signal of cover-plate glass cover board internal reflection bring, after a phase time t, the electricity of G0 and G1 accumulation Lotus is to be denoted as Q00 and Q10 respectively；

2) corresponding first noise filtering unit and the second noise filtering unit is respectively set using Q00 and Q10；

3) glass change surface is naked under normal circumstances, TOF sensor, which had both received, at this time projects space subject Reflected target incident signal on body also receives glass cover-plate internal reflection bring first and reflects signal；By same After one phase time t, the charge of G0 and G1 accumulation is denoted as Q01 Q11 respectively；

4) Q01 and Q11 passes through the first noise filtering unit and the second noise filtering unit respectively, can will pass through glass cover The charge of plate internal reflection accumulation filters out, and obtains aimed charge Q0 and Q1；Q0=Q01-Q00, Q1=Q11-Q10.

When the first noise signal is voltage parameter, noise filtering unit can be the register of storage voltage, by first Noise signal is stored in register, and in this way when reading pixel voltage, the voltage of the first noise signal is cut, target is obtained Voltage signal.

Noise signal includes that environment light enters the second noise signal of bring in the receiving unit, furthermore presents and matches The method for setting noise filtering unit.Figure 12 is the second procedure signal of noise filtering cell arrangement method in the embodiment of the present application Figure, as shown in figure 12, this method comprises:

Step 301: controlling the transmitting unit and close；

Step 302: controlling the receiving unit and receive external environmental light as the second incident light；

Here, closing unit opens receiving unit to receive external environmental light, can make an uproar to second under varying environment brightness Acoustical signal is demarcated, for example, can judge current environment brightness according to RGB camera or light sensor, obtains different rings Corresponding second noise signal under the brightness of border calibrates the second noise signal under different brightness to come, to establish noise in advance Filter out unit.

Step 303: second incident light is converted into the second noise signal；

Specifically, control photoelectric conversion unit turns the first incident optical signal when the first noise signal is charge parameter Change charge output into, the charge of the photoelectric conversion unit output, output in control charge storage elements storage preset time period Stored charge is the first noise signal.

When the first noise signal is voltage parameter, photoelectric conversion unit is controlled by the first incident optical signal and is converted into charge Output, control charge storage elements store the charge of the photoelectric conversion unit output in preset time period, export stored charge, It controls charge conversion cell and stored charge is converted into voltage, output voltage is the first noise signal.

Step 304: being based on second noise signal, configure the noise filtering unit.

Specifically, noise filtering unit can be capacitor when the first noise signal is charge parameter, the first noise is utilized Signal configures capacitance parameter, for filtering out the first noise signal in the case of normal photographing.When the first noise signal is voltage ginseng When number, noise filtering unit can be the register of storage noise signal corresponding voltage, after completing charge and being converted into voltage, The voltage that noise signal is obtained from register, cuts the voltage of noise signal in output voltage, the voltage exported in this way The just only voltage of target incident light.

Since ambient brightness variation relatively loads, and environment light does not have the limitation of incident angle, and the second noise signal may shadow Ring all pixels.Therefore, it is necessary to be configured to filter out the noise filtering unit of the second noise signal inside each pixel.

By adopting the above technical scheme, it when shooting depth image using TOF mould group, can effectively be filtered using noise filtering unit Except the noise signal being converted into electric signal by non-targeted incident optical signal, only retain the target that target incident optical signal is converted into Electric signal realizes depth measurement using effective target electric signal is obtained, can be improved measurement accuracy, eliminates noise signal to depth Spend the influence of measurement.

Third window switching mode schematic diagram in Figure 13 the embodiment of the present application inside pixel eliminates ambient light noise, In On the basis of TOF sensor G0 at present, G1, the effect that individually switch G2, G2 is arranged is transmitting unit after the completion of G0 and G1 When closing, G2 closure photosensitive unit output charge, which imports in third road, is stored in capacitor S2, according to S2 in a phase time The charge of storage determines the corresponding voltage of the second noise signal；When normal photographing, after the completion of a phase time, read-out voltage When from S2 read voltage cut, so that it may eliminate ambient light noise.

A kind of TOF mould group is additionally provided in the embodiment of the present application, as shown in figure 14, the TOF mould group includes: transmitting unit 141 and receiving unit 142, the receiving unit include pixel array, comprising making an uproar at least partly in pixel in the pixel array Sound filters out unit, and the noise filtering unit is used to filter out the noise signal in the receiving unit；

The transmitting unit 141, for emitting outgoing optical signal；

The receiving unit 142, for receiving incident optical signal；Wherein, the incident optical signal includes at least: by target The target incident light that shooting object reflects to form, and introduce the non-targeted incident light of the noise signal；

The receiving unit 142 is also used to the incident optical signal being converted into electric signal；Wherein, the electric signal is extremely It less include: the corresponding target electric signal of the target incident light and the corresponding noise signal of the non-targeted incident light；

The receiving unit 142 is also used to filter out the noise in the electric signal using the noise filtering unit Signal obtains the target electric signal.

It in some embodiments, further include that photoelectric conversion unit, charge storage elements and charge conversion are single in the pixel Member；Wherein, the photoelectric conversion unit is converted into charge for receiving the incident optical signal, and by the incident optical signal Output；The charge storage elements, for storing the charge of the photoelectric conversion unit output in preset time period, output accumulation Charge is to the charge conversion cell；The charge conversion cell, for input charge to be converted to voltage signal.

In some embodiments, when the noise signal is charge parameter, the electric signal is the charge storage elements The stored charge of output, the noise filtering unit are located at the input terminal side of the charge conversion cell；

The receiving unit 142 obtains aimed charge specifically for subtracting the noise signal from the electric signal； The aimed charge is converted into the target electric signal using the charge conversion cell.

In some embodiments, when the noise signal is voltage parameter, the electric signal is the charge conversion cell The voltage of output, the noise filtering unit are located at charge conversion cell output end side；The receiving unit, it is specific to use In subtracting the noise signal from the electric signal, the target electric signal is obtained.

In some embodiments, euphotic cover plate is equipped with above the transmitting unit 141 and receiving unit 142；The noise Signal includes at least one of the following: that the reflected light of the euphotic cover plate enters the first noise of bring letter in the receiving unit Number, environment light enters the second noise signal of bring in the receiving unit.

In some embodiments, when the noise signal includes the first noise signal, the transmitting unit 141 is also used to Shading piece, transmitting outgoing are set on the outside of first surface of the euphotic cover plate far from the transmitting unit and the receiving unit Optical signal is to the euphotic cover plate；

Correspondingly, the receiving unit 142, is also used to receive incident into first reflected to form by the euphotic cover plate Light；First incident light is converted into the first noise signal；Based on first noise signal, the noise filtering list is configured Member.

In some embodiments, when the noise signal includes the second noise signal, the receiving unit 142 is also used to When the transmitting unit is closed；External environmental light is received as the second incident light；Second incident light is converted into second Noise signal；Based on second noise signal, the noise filtering unit is configured.

The embodiment of the present application also provides a kind of noise filtering devices, and as shown in figure 15, described device includes: TOF mould group 151, processor 152 and it is configured to the memory 153 of computer program that storage can be run on a processor；Wherein,

The TOF mould group 151 includes: transmitting unit and receiving unit, and the receiving unit includes pixel array, the picture It include noise filtering unit at least partly in pixel in pixel array, the noise filtering unit is for filtering out in the receiving unit Noise signal；

When the processor 152 is configured to run the computer program, for realizing following steps:

Control the transmitting unit transmitting outgoing optical signal；

It controls the receiving unit and receives incident optical signal；Wherein, the incident optical signal includes at least: being shot by target The target incident light that object reflects to form, and introduce the non-targeted incident light of the noise signal；

It controls the receiving unit and the incident optical signal is converted into electric signal；Wherein, the electric signal includes at least: The corresponding target electric signal of target incident light and the corresponding noise signal of the non-targeted incident light；

The noise signal in the electric signal is filtered out based on the noise filtering unit, obtains the target telecommunications Number.

It in some embodiments, further include that photoelectric conversion unit, charge storage elements and charge conversion are single in the pixel Member；Wherein, the photoelectric conversion unit is converted into charge for receiving the incident optical signal, and by the incident optical signal Output；The charge storage elements, for storing the charge of the photoelectric conversion unit output in preset time period, output accumulation Charge is to the charge conversion cell；The charge conversion cell, for input charge to be converted to voltage signal.

In some embodiments, when the noise signal is charge parameter, the electric signal is the charge storage elements The stored charge of output, the noise filtering unit are located at the input terminal side of the charge conversion cell；

When the processor 152 is configured to run the computer program, specifically for performing the steps of from the electricity The noise signal is subtracted in signal, obtains aimed charge；The aimed charge is converted to using the charge conversion cell The target electric signal.

In some embodiments, when the noise signal is voltage parameter, the electric signal is the charge conversion cell The voltage of output, the noise filtering unit are located at charge conversion cell output end side；

When the processor 152 is configured to run the computer program, specifically for performing the steps of from the electricity The noise signal is subtracted in signal, obtains the target electric signal.

In some embodiments, euphotic cover plate is equipped with above the transmitting unit and receiving unit；The noise signal packet Include at least one of following: the reflected light of the euphotic cover plate enters the first noise signal of bring in the receiving unit, environment Light enters the second noise signal of bring in the receiving unit.

In some embodiments, when the noise signal includes the first noise signal, the processor 152 is configured to run When the computer program, it is also used to perform the steps of in the euphotic cover plate far from the transmitting unit and the reception Shading piece is set on the outside of the first surface of unit, controls the transmitting unit transmitting outgoing optical signal to the euphotic cover plate；Control The receiving unit is made to receive into the first incident light reflected to form by the euphotic cover plate；First incident light is converted into First noise signal；Based on first noise signal, the noise filtering unit is configured.

In some embodiments, when the noise signal includes the second noise signal, the processor 152 is configured to run When the computer program, it is also used to perform the steps of the control transmitting unit and closes；The receiving unit is controlled to receive External environmental light is as the second incident light；Second incident light is converted into the second noise signal；Based on second noise Signal configures the noise filtering unit.

Certainly, when practical application, as shown in figure 15, the various components in the noise filtering device pass through bus system 154 It is coupled.It is understood that bus system 154 is for realizing the connection communication between these components.Bus system 154 is removed It further include power bus, control bus and status signal bus in addition except data/address bus.But for the sake of clear explanation, scheming Various buses are all designated as bus system 154 in 15.

In practical applications, above-mentioned processor can be application-specific IC (ASIC, Application Specific Integrated Circuit), digital signal processing device (DSPD, Digital Signal Processing Device), programmable logic device (PLD, Programmable Logic Device), field programmable gate array At least one of (Field-Programmable Gate Array, FPGA), controller, microcontroller, microprocessor.It can To understand ground, for different equipment, the electronic device for realizing above-mentioned processor function can also be other, the application reality Example is applied to be not especially limited.

Above-mentioned memory can be volatile memory (volatile memory), such as random access memory (RAM, Random-Access Memory)；Or nonvolatile memory (non-volatile memory), such as read-only memory (ROM, Read-Only Memory), flash memory (flash memory), hard disk (HDD, Hard Disk Drive) or solid State hard disk (SSD, Solid-State Drive)；Or the combination of the memory of mentioned kind, and to processor provide instruction and Data.

The embodiment of the present application also provides a kind of computer readable storage mediums, for storing computer program.

Optionally, which can be applied to the dress of any one noise filtering in the embodiment of the present application It sets, and the computer program makes computer execute the respective streams realized in each method of the embodiment of the present application by processor Journey, for sake of simplicity, details are not described herein.

In several embodiments provided herein, it should be understood that disclosed device and method can pass through it Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only A kind of logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can combine, or It is desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed each composition portion Mutual coupling or direct-coupling or communication connection is divided to can be through some interfaces, the INDIRECT COUPLING of equipment or unit Or communication connection, it can be electrical, mechanical or other forms.

Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit The component shown can be or may not be physical unit, it can and it is in one place, it may be distributed over multiple network lists In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.

In addition, each functional unit in various embodiments of the present invention can be fully integrated into a processing module, it can also To be each unit individually as a unit, can also be integrated in one unit with two or more units；It is above-mentioned Integrated unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.This Field those of ordinary skill, which is understood that, realizes that all or part of the steps of above method embodiment can be by program instruction phase The hardware of pass is completed, and program above-mentioned can be stored in a computer readable storage medium, which when being executed, holds Row step including the steps of the foregoing method embodiments；And storage medium above-mentioned include: movable storage device, RO, RAM, magnetic disk or The various media that can store program code such as CD.

Disclosed method in several embodiments of the method provided herein, in the absence of conflict can be any group It closes, obtains new embodiment of the method.

Disclosed feature in several product embodiments provided herein, in the absence of conflict can be any group It closes, obtains new product embodiments.

Disclosed feature in several methods provided herein or apparatus embodiments, in the absence of conflict can be with Any combination obtains new embodiment of the method or apparatus embodiments.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.