阅读说明：本技术 像素阵列的信号采集方法、飞行时间传感器、终端及介质 (Pixel array signal acquisition method, time-of-flight sensor, terminal and medium ) 是由 郭同辉 于 2021-08-05 设计创作，主要内容包括：本申请实施例适用于信号采集技术领域,提供了一种像素阵列的信号采集方法、飞行时间传感器、终端及介质,该方法应用于飞行时间传感器,飞行时间传感器包括感光像素阵列,方法包括：分别控制感光像素阵列中的不同像素从调制波中采集相位差为T/2的第一相位信号值和第二相位信号值,T为调制波的周期；针对任一当前像素,确定当前像素的多个相邻像素；根据多个相邻像素的第一相位信号值和第二相位信号值,计算当前像素的补充相位信号；根据补充相位信号和当前像素采集的原始相位信号,确定当前像素的目标相位信号。采用上述方法可减少感光像素阵列中的像素从调制波进行相位信号采集的次数。(The embodiment of the application is suitable for the technical field of signal acquisition, and provides a signal acquisition method of a pixel array, a time-of-flight sensor, a terminal and a medium, wherein the method is applied to the time-of-flight sensor, the time-of-flight sensor comprises a photosensitive pixel array, and the method comprises the following steps: respectively controlling different pixels in the photosensitive pixel array to collect a first phase signal value and a second phase signal value with a phase difference of T/2 from the modulation wave, wherein T is the period of the modulation wave; for any current pixel, determining a plurality of adjacent pixels of the current pixel; calculating a supplementary phase signal of the current pixel according to the first phase signal value and the second phase signal value of a plurality of adjacent pixels; and determining a target phase signal of the current pixel according to the supplementary phase signal and the original phase signal acquired by the current pixel. The method can reduce the frequency of phase signal acquisition of pixels in the photosensitive pixel array from the modulation wave.)

1. A method of signal acquisition for a pixel array, for use in a time-of-flight sensor comprising a photosensitive pixel array, the method comprising:

respectively controlling different pixels in the photosensitive pixel array to acquire original phase signals of corresponding modulation waves; for each of the pixels, the acquired raw phase signal comprises a first phase signal value and a second phase signal value; the phase difference of the first phase signal value and the second phase signal value corresponding to the modulated wave is T/2, wherein T is the period of the modulated wave;

for any current pixel, determining a plurality of adjacent pixels of the current pixel;

calculating a supplementary phase signal of the current pixel according to the first phase signal value and the second phase signal value of the plurality of adjacent pixels;

and determining a target phase signal of the current pixel according to the supplementary phase signal and the original phase signal acquired by the current pixel.

2. The signal acquisition method for the pixel array according to claim 1, wherein the step of controlling different pixels in the photosensitive pixel array to acquire the original phase signals of the corresponding modulation waves respectively comprises:

determining two-dimensional coordinate positions of the different pixels in the photosensitive pixel array;

determining pixels of which the abscissa and the ordinate in the two-dimensional coordinate position are both odd numbers or even numbers as first pixels; determining pixels corresponding to the rest two-dimensional coordinate positions as second pixels;

controlling the first pixel to collect a first type of original phase signal; controlling the second pixel to collect a second type of original phase signal;

wherein, the phase difference between the first phase signal value of the first type of original phase signal and the first phase signal value of the second type of original phase signal in the modulated wave is T/4; and the phase difference between the second phase signal value of the first type of original phase signal and the second phase signal value of the second type of original phase signal in the modulated wave is T/4.

3. The method of claim 1, wherein said determining, for any current pixel, a plurality of neighboring pixels of the current pixel comprises:

and determining pixels respectively at the left end, the right end, the upper end and the lower end of the current pixel in the photosensitive pixel array as adjacent pixels of the current pixel based on the two-dimensional coordinate positions of the different pixels.

4. The method of any one of claims 1-3, wherein calculating the supplemental phase signal for the current pixel based on the first phase signal value and the second phase signal value of the plurality of neighboring pixels comprises:

calculating a complementary first phase signal value based on the first phase signal values of the plurality of neighboring pixels; and calculating a supplemental second phase signal value based on the second phase signal values of the plurality of neighboring pixels; the supplemental first phase signal value and the supplemental second phase signal value together constitute the supplemental phase signal for the current pixel.

5. The method of claim 4, wherein calculating a supplemental first phase signal value based on the first phase signal values of the plurality of neighboring pixels and calculating a supplemental second phase signal value based on the second phase signal values of the plurality of neighboring pixels comprises:

calculating an average value of the first phase signal values of the plurality of adjacent pixels to obtain the supplementary first phase signal value; and calculating an average value of the second phase signal values of the plurality of adjacent pixels to obtain the supplemental second phase signal value.

6. The signal acquisition method for the pixel array according to claim 5, wherein the number of the adjacent pixels is four, and each of the four is one of a left end, a right end, an upper end, and a lower end of the current pixel; obtaining the supplemental first phase signal value and the supplemental second phase signal value, comprising:

calculating an average of the first phase signal values of the four adjacent pixels as a supplementary first phase signal value; and calculating an average of the second phase signal values of the four adjacent pixels as the supplementary second phase signal value.

7. The method for acquiring signals of a pixel array according to claim 4, wherein the time-of-flight sensor further comprises a light source emitter for emitting the modulated wave to a measured object at a preset frequency;

after determining a target phase signal of the current pixel from the supplemental phase signal and the original phase signal of the current pixel, comprising:

calculating a phase difference between the modulated wave and a reflected wave thereof for any one of the target phase signals based on the first phase signal value, the second phase signal value, the complementary first phase signal value, and the complementary second phase signal value;

and calculating the transmission time of the modulated wave transmitted to the measured object according to the phase difference.

8. The signal pickup method of the pixel array according to claim 7, wherein the formula for calculating the phase difference between the modulated wave and the reflected wave thereof is as follows;

wherein sig (A1) is the first phase signal value, sig (A2) is the second phase signal value, sig (B1) is the supplemental first phase signal value, and sig (B2) is the supplemental second phase signal value.

9. A time-of-flight sensor, comprising:

the control module is used for respectively controlling different pixels in the photosensitive pixel array to acquire original phase signals of the corresponding modulation waves; and for determining, for any current pixel, a plurality of neighboring pixels of said current pixel, said raw phase signal collected comprising, for each said pixel, a first phase signal value and a second phase signal value; the phase difference of the first phase signal value and the second phase signal value corresponding to the modulated wave is T/2, wherein T is the period of the modulated wave;

a calculating module, configured to calculate a complementary phase signal of the current pixel according to the first phase signal value and the second phase signal value of the plurality of adjacent pixels; and determining a target phase signal of the current pixel according to the supplementary phase signal and the original phase signal of the current pixel.

10. A terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 8 when executing the computer program.

11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 8.

Technical Field

The application belongs to the technical field of signal acquisition, and particularly relates to a signal acquisition method of a pixel array, a time-of-flight sensor, a terminal and a medium.

Background

The time-of-flight sensor is an important component structure in distance measuring equipment, and can capture distance information between the time-of-flight sensor and a measured object to obtain a three-dimensional image. Time-of-flight sensors typically use time-of-flight methods to calculate distance information to an object being measured. Specifically, after the time-of-flight sensor emits light waves to the object to be measured, the light waves are emitted to the object to be measured, and the propagation time of the reflected light waves which are received by the time-of-flight sensor is formed, so that the distance information between the reflected light waves and the target object is calculated. The propagation time of the light wave emitted from the time-of-flight sensor and received by the time-of-flight sensor may be specifically: the flight time sensor calculates the phase difference between the phase of the light wave when the light wave is transmitted and the phase of the light wave when the light wave is received, and then calculates the propagation time of the light wave according to the phase difference.

Time-of-flight sensors typically include a photosensitive pixel array module, in which each pixel needs to collect four phase signals of a light wave to calculate the propagation time of the light wave. However, each pixel can typically only acquire one or two phase signals from the light waves at a time. If four phase signals of the light wave are to be acquired, each pixel needs to perform at least two phase signal acquisitions. Therefore, the time-of-flight sensor needs to emit light waves to the object to be measured for many times, and needs to acquire phase signals from the light waves for many times. However, emitting the light waves to the object to be measured multiple times will cause the power consumption of the time-of-flight sensor to be high, and when one pixel collects the phase signals from the light waves multiple times, the three-dimensional image of the object to be measured finally obtained is also prone to be distorted.

Disclosure of Invention

The embodiment of the application provides a signal acquisition method and device of a pixel array, a time-of-flight sensor and a medium, and can solve the problems that the time-of-flight sensor needs to emit light waves to a measured object for multiple times and needs to acquire phase signals from the light waves for multiple times.

In a first aspect, an embodiment of the present application provides a signal acquisition method for a pixel array, which is applied to a time-of-flight sensor, where the time-of-flight sensor includes a photosensitive pixel array, and the method includes:

respectively controlling different pixels in the photosensitive pixel array to acquire original phase signals of corresponding modulation waves; for each pixel, the acquired raw phase signal comprises a first phase signal value and a second phase signal value; the phase difference of the first phase signal value and the second phase signal value corresponding to the modulation wave is T/2, wherein T is the period of the modulation wave;

for any current pixel, determining a plurality of adjacent pixels of the current pixel;

calculating a supplementary phase signal of the current pixel according to the first phase signal value and the second phase signal value of a plurality of adjacent pixels;

and determining a target phase signal of the current pixel according to the supplementary phase signal and the original phase signal acquired by the current pixel.

In one embodiment, separately controlling different pixels in the photosensitive pixel array to acquire original phase signals of corresponding modulated waves includes:

determining two-dimensional coordinate positions of different pixels in the photosensitive pixel array respectively;

determining pixels of which the abscissa and the ordinate in the two-dimensional coordinate position are both odd numbers or even numbers as first pixels; determining pixels corresponding to the rest two-dimensional coordinate positions as second pixels;

controlling a first pixel to collect a first type of original phase signal; controlling a second pixel to collect a second type of original phase signal; the phase difference between the first phase signal value of the first type of original phase signal and the first phase signal value of the second type of original phase signal in the modulated wave is T/4; the phase difference between the second phase signal value of the first type of original phase signal and the second phase signal value of the second type of original phase signal in the modulated wave is T/4.

In one embodiment, for any current pixel, determining a plurality of neighboring pixels of the current pixel comprises:

and determining pixels at the left end, the right end, the upper end and the lower end of the current pixel in the photosensitive pixel array as adjacent pixels of the current pixel based on the two-dimensional coordinate positions of different pixels.

In one embodiment, calculating a supplemental phase signal for a current pixel based on first and second phase signal values for a plurality of neighboring pixels comprises:

calculating a complementary first phase signal value based on the first phase signal values of the plurality of neighboring pixels; and calculating a supplemental second phase signal value based on the second phase signal values of the plurality of neighboring pixels; the supplemental first phase signal value and the supplemental second phase signal value together constitute a supplemental phase signal for the current pixel.

In one embodiment, calculating supplemental first phase signal values based on first phase signal values of a plurality of neighboring pixels and calculating supplemental second phase signal values based on second phase signal values of a plurality of neighboring pixels comprises:

calculating an average value of first phase signal values of a plurality of adjacent pixels to obtain a supplementary first phase signal value; and calculating an average value of the second phase signal values of the plurality of adjacent pixels to obtain a supplemental second phase signal value.

In one embodiment, the number of the adjacent pixels is four, and the number of the adjacent pixels is respectively one of the left end, the right end, the upper end and the lower end of the current pixel; calculating an average value of first phase signal values of a plurality of adjacent pixels to obtain a supplementary first phase signal value; and calculating an average of the second phase signal values of the plurality of neighboring pixels to obtain a supplemental second phase signal value, comprising:

calculating an average value of the first phase signal values of the four adjacent pixels as a supplementary first phase signal value; and calculating an average value of the second phase signal values of the four adjacent pixels as the supplementary second phase signal value.

In one embodiment, after determining the target phase signal of the current pixel according to the complementary phase signal and the original phase signal of the current pixel, the method includes:

for any one target phase signal, calculating a phase difference between a modulated wave and a reflected wave thereof based on a first phase signal value, a second phase signal value, a supplementary first phase signal value, and a supplementary second phase signal value;

and calculating the transmission time of the modulated wave transmitted to the measured object according to the phase difference.

In one embodiment, the formula for calculating the phase difference between the modulated wave and its reflected wave is as follows;

wherein sig (a1) is the first phase signal value, sig (a2) is the second phase signal value, sig (B1) is the supplemental first phase signal value, and sig (B2) is the supplemental second phase signal value.

In a second aspect, an embodiment of the present application provides a time-of-flight sensor, where a signal acquisition method of any one of the pixel arrays in the above schemes may be implemented based on the time-of-flight sensor of the present invention, where the time-of-flight sensor includes:

the control module is used for respectively controlling different pixels in the photosensitive pixel array to acquire original phase signals of the corresponding modulation waves; and for determining for any current pixel a plurality of neighboring pixels of the current pixel, for each pixel the acquired original phase signal comprising a first phase signal value and a second phase signal value; the phase difference of the first phase signal value and the second phase signal value corresponding to the modulation wave is T/2, wherein T is the period of the modulation wave;

the calculating module is used for calculating a supplementary phase signal of the current pixel according to the first phase signal value and the second phase signal value of a plurality of adjacent pixels; and determining a target phase signal of the current pixel according to the complementary phase signal and the original phase signal of the current pixel.

In a third aspect, an embodiment of the present application provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method according to any one of the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, where the computer program is implemented, when executed by a processor, to implement the method according to any one of the above first aspects.

In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a time-of-flight sensor, causes the time-of-flight sensor to perform the method of any one of the first aspect described above.

Compared with the prior art, the embodiment of the application has the advantages that: after each pixel in the photosensitive pixel array is respectively controlled to collect a first phase signal value and a second phase signal value with a phase difference of T/2 from a corresponding modulation wave, for any current pixel to be subjected to phase signal value calculation, the time-of-flight sensor can calculate one phase signal value according to the first phase signal values of a plurality of adjacent pixels of the current pixel and calculate another phase signal value according to the second phase signal values of the plurality of adjacent pixels to obtain a supplementary phase signal. The time-of-flight sensor may then determine both the supplemental phase signal and the original phase signal for the current pixel as the phase signal in that pixel, such that the current pixel contains the desired four phase signal values. Therefore, the frequency of emitting the modulated wave to the measured object by the time-of-flight sensor when the time-of-flight sensor collects the signal can be reduced, the frequency of collecting the phase signal value from the modulated wave by each pixel can be reduced, the phase signal for calculating the time-of-flight can be obtained based on a single frame, the power consumption of the time-of-flight sensor is reduced, and finally obtained three-dimensional images of the measured object can be prevented from information distortion.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram of a time-of-flight sensor according to an embodiment of the present application;

fig. 2 is a flowchart illustrating an implementation of a signal acquisition method for a pixel array according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a photosensitive pixel array according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a photosensitive pixel array according to another embodiment of the present application;

FIG. 5 is a schematic diagram of an array of photosensitive pixels including a target phase signal according to an embodiment of the present application;

fig. 6 is a schematic diagram illustrating an implementation manner of S101 of a signal acquisition method for a pixel array according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a photosensitive pixel array according to yet another embodiment of the present application;

FIG. 8 is a schematic diagram of a photosensitive pixel array according to yet another embodiment of the present application;

fig. 9 is a flowchart of an implementation of a signal acquisition method for a pixel array according to another embodiment of the present application;

fig. 10 is a schematic structural diagram of a signal acquisition device of a pixel array according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a time-of-flight sensor according to another embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

The signal acquisition method of the pixel array is applied to the flight time sensor. Specifically, referring to fig. 1, the time-of-flight sensor may include a light source emitter, a controller, a photosensitive pixel array, a pixel signal processor, and a signal processing system.

The light source emitter can be used for emitting modulation waves with specific frequency and specific period to an object to be measured. The modulated wave includes, but is not limited to, a sinusoidal wave or a pulsed square wave, which is not limited to this. The frequency and the period can be set in the controller by the staff in advance according to actual conditions. Specifically, the controller is configured to control a frequency and a period when the light source emitter emits the modulation wave, and may also be configured to control a working state of each pixel in the photosensitive pixel array, so that each pixel may collect a phase signal value from the modulation wave reflected by the object to be measured within a preset working time.

The photosensitive pixel array may include a plurality of pixels arranged in rows and columns to form an array. In general, each pixel needs to acquire four phase signal values from the modulation wave multiple times. In this embodiment, each pixel only needs to collect two phase signal values from the modulation wave. Wherein the phases of two phase signal values collected by adjacent pixels are different. For example, one pixel may acquire a phase signal value of 0 ° phase and a phase signal value of 180 ° phase from the modulation wave, and pixels adjacent to the pixel in both the vertical direction and the horizontal direction acquire a phase signal value of 90 ° phase and a phase signal value of 270 ° phase.

Specifically, the controller may divide each pixel into two types of pixels for control based on the coordinate position of each pixel in the photosensitive pixel array. And then, respectively controlling the corresponding pixels of one type to collect phase signal values from the modulation waves based on the preset working time of each pixel of the other type.

It should be noted that, when the pixel acquires the phase signal value from the modulated wave, the pixel may acquire the phase signal value from the modulated wave in the form of a phase interval. For example, if the period of the modulation wave is 2 pi, when the pixel collects the phase signal value of 0 ° phase from the modulation wave, the phase signal value of-45 ° to 45 ° phase interval may be collected from the modulation wave, that is, the integrated charge signal of the interval is taken as the phase signal. Thereafter, the phase signal values representing the phase of 0 ° in the phase interval are subjected to subsequent calculations. Similarly, the phase signal value of the 90 ° phase can be obtained from the phase interval of 45 ° to 135 °; the phase signal value of the 180 ° phase can be obtained from the phase interval of 135 ° to 225 °; the above phase signal value of 270 deg. phase can then be taken from the phase interval of the 225 deg. value 315 deg. (i.e. -45 deg.).

The process of the pixels in the photosensitive pixel array acquiring the phase signal values from the modulation wave may specifically be: when the modulation wave is a light wave, the pixel may perform signal conversion processing on the received light signal by using the photoelectric conversion element at a preset operating time to generate a charge signal. And then, transmitting the charge signal to a charge storage capacitor connected with the pixel for processing to obtain a corresponding numerical value so as to obtain a corresponding phase signal value in the modulation wave.

The pixel signal processor may be configured to determine a plurality of adjacent pixels adjacent to the pixel, and perform calculation based on two phase signal values collected in the plurality of adjacent pixels to obtain two new phase signal values correspondingly. And then, the two new phase signal values and the two phase signal values originally acquired by the pixels are sent to a signal processing system, so that the signal processing system can calculate the transmission time of the modulated wave transmitted to the measured object.

Referring to fig. 2, fig. 2 is a flowchart illustrating an implementation of a signal acquisition method for a pixel array according to an embodiment of the present application, where the method includes the following steps:

s101, the flight time sensor respectively controls different pixels in the photosensitive pixel array to acquire original phase signals of corresponding modulation waves; for each pixel, the acquired raw phase signal comprises a first phase signal value and a second phase signal value; the phase difference of the first phase signal value and the second phase signal value corresponding to the modulation wave is T/2, wherein T is the period of the modulation wave.

In an embodiment, when the photosensitive pixel array is described, how the pixels collect phase signals from the modulation wave is explained, and the explanation is not repeated. It is added that, for any pixel, the phase signal value collected from the modulation wave is the original phase signal.

It is to be added that, based on the description of the above-described photosensitive pixel array, the time-of-flight sensor may previously divide a plurality of pixels into the first pixel and the second pixel. Then, the time-of-flight sensor can respectively control the first pixel and the second pixel to work so as to collect the original phase signals from the modulation wave.

However, it should be specifically noted that the original phase signal collected from the modulation wave by the first pixel is different from the original phase signal collected from the modulation wave by the second pixel. Specifically, referring to fig. 3, if the period of the modulation wave is 2 pi, the first pixel may acquire only a phase signal value of 0 ° phase and a phase signal value of 180 ° phase as the original phase signal, and the second pixel may acquire only a phase signal value of 90 ° phase and an original phase signal value of 270 ° phase. At this time, the time-of-flight sensor may consider the phase signal value of the phase of 0 ° as the first phase signal value in the first pixel, and the phase signal value of the phase of 180 ° as the second phase signal value in the first pixel. The phase signal value of the 90 ° phase is the first phase signal value in the second pixel, and the phase signal value of the 270 ° phase is the second phase signal value in the second pixel.

Based on this, it is understood that, in step S101, a plurality of pixels do not acquire phase signal values of the same phase from the modulation wave. In the original phase signals collected by two adjacent pixels, the phases of two first phase signal values are different, and the phases of two second phase signal values are also different. Here, "first", "second", and the like in the first phase signal value and the second phase signal value are described only for distinguishing two phase signal values acquired by one pixel.

In a particular embodiment, for a first phase signal value and a second phase signal value in any pixel, the time-of-flight sensor may determine a phase signal value with a smaller phase as the first phase signal value and a phase signal value with a larger phase as the second phase signal value. For example, referring to fig. 3, for any pixel point, the time-of-flight sensor may use a phase signal value of 0 ° phase and a phase signal value of 90 ° phase as the first phase signal value of the corresponding pixel; the phase signal value of the 180 ° phase and the phase signal value of the 270 ° phase are used as the second phase signal value of the corresponding pixel, which is not limited.

S102, aiming at any current pixel, the time-of-flight sensor determines a plurality of adjacent pixels of the current pixel.

The current pixel can be understood as any one pixel in the pixel array, and the description herein is only for describing a part between a certain pixel and an adjacent pixel. In an embodiment, the current pixel is a pixel processed by the time-of-flight sensor at a current time in the plurality of pixels. The neighboring pixels include, but are not limited to, pixels at the left end, the right end, the upper end, and the lower end of the current pixel, respectively, in the photosensitive pixel array. That is, there may be two, three, four or more adjacent pixels in the photosensitive pixel array for the number of adjacent pixels, which is not limited.

In an embodiment, the number of pixels at the left end, the right end, the upper end and the lower end of the current pixel may be one or more, respectively, without limitation.

For example, referring to fig. 3, fig. 3 is a schematic diagram of a photosensitive pixel array according to an embodiment of the present disclosure. In particular, the array of photosensitive pixels includes a plurality of rows and a plurality of columns of pixels. Wherein 1, 2, 3, 4, · are respectively represented as corresponding rows or columns. In the actual scene of the photosensitive pixel array, the rows or columns containing numbers 1, 2, 3, 4,. and so on do not belong to the structure on the photosensitive pixel array. Therefore, based on fig. 3, it can be understood that if the coordinate position of the current pixel in the photosensitive pixel array is (3, 3), the current pixel is considered to be in the position of the third row and the third column in the photosensitive pixel array. At this time, if one pixel of the left end, the right end, the upper end, and the lower end of the current pixel is determined as an adjacent pixel, the number of the adjacent pixels is four. I.e., the pixels in fig. 3 at the (2, 3), (3, 2), (3, 4) and (4, 3) coordinate positions. If N pixels at each of the left, right, upper, and lower ends of the current pixel are determined as neighboring pixels, the number of the corresponding neighboring pixels should be 4N in general, which will not be described in detail.

And S103, calculating a supplementary phase signal of the current pixel by the time-of-flight sensor according to the first phase signal value and the second phase signal value of a plurality of adjacent pixels.

In one embodiment, each pixel actually needs to collect phase signal values of four phase signals from the modulation wave to calculate the propagation time of the modulation wave. However, only two phase signal values are collected from the modulation wave per pixel in the above step S101. Based on this, it is known that if the propagation time of the modulation wave needs to be estimated, the pixel is usually required to acquire the phase signal again. Therefore, in order to reduce the number of pixel acquisitions, and the number of times the time-of-flight sensor emits a modulated impulse to the object being measured. In this embodiment, the time-of-flight sensor may calculate a complementary first phase signal value based on the first phase signal values of a plurality of adjacent pixels; and calculating a supplemental second phase signal value based on the second phase signal values of the plurality of neighboring pixels; and finally, the supplementary first phase signal value and the supplementary second phase signal value jointly form a supplementary phase signal of the current pixel, so that the current pixel obtains the other two phase signal values.

Wherein the time-of-flight sensor may use an average of the first phase signal values in each of the adjacent pixels as a complementary first phase signal value in the complementary phase signal; and taking the average value of the second phase signal value in each adjacent pixel as the supplementary second phase signal value in the supplementary phase signal, thereby obtaining the supplementary phase signal of the pixel.

Specifically, if the current pixel is located at the (m, n) coordinate position in the photosensitive pixel array, the phase signal values collected in the current pixel are sig (a) (m, n) and sig (b) (m, n), respectively. Where sig (a) (m, n) may represent the phase signal value of a ° phase acquired in the pixel at the (m, n) coordinate position, and sig (B) (m, n) may represent the phase signal value of B ° phase acquired in the pixel at the (m, n) coordinate position.

For example, the number of adjacent pixels is four, which is taken as an example for explanation. Wherein, four adjacent pixel points are respectively one of the left end, the right end, the upper end and the lower end of the current pixel. Referring to fig. 4, taking the two-dimensional coordinate position of the current pixel as (x, y coordinate position) in fig. 4 as an example, the collected first phase signal values are Sig (0) (x, y) and Sig (180) (x, y) — the neighboring pixels of the current pixel (x, y) are the pixels at (x-1, y), (x +1, y), (x, y-1) and (x, y +1) coordinate positions, respectively.

The supplemental second phase signal value Sig (270) (x, y) is calculated as follows:

that is, the supplemental first phase signal value can be obtained by calculating the average value of the first phase signal values of four adjacent pixels; and the supplemental second phase signal value may be obtained by calculating an average of the second phase signal values of four adjacent pixels.

It is understood that, based on the calculation process of the current pixel at the (x, y) two-dimensional coordinate position in fig. 4, the calculation process of acquiring any one of the pixels with the first phase signal value Sig (90) and the second phase signal value Sig (270) in fig. 4 and calculating the supplementary first phase signal value Sig (0) and the supplementary second phase signal value Sig (180) may be similar to the calculation process, and specifically, the calculation manner of the above Sig (90) (x, y) and Sig (270) (x, y) may be referred to. Specifically, taking the pixel at the (x, y +1) position as an example, the manner of calculating its complementary first phase signal value Sig (0) (x, y +1) is as follows:

the supplemental second phase signal value Sig (180) (x, y +1) is calculated as follows:

and S104, determining a target phase signal of the current pixel by the flight time sensor according to the supplementary phase signal and the original phase signal acquired by the current pixel.

In one embodiment, the above S103 has described how to calculate the supplemental phase signal based on the first phase signal value and the second phase signal value of the adjacent pixels, and based on this, the time-of-flight sensor may determine both the calculated supplemental phase signal and the original phase signal as the target phase signal of the current pixel. I.e. the current pixel now contains the four phase signal values of the modulated wave. Referring specifically to fig. 5, fig. 5 is a schematic diagram of a photosensitive pixel array including a target phase signal according to an embodiment of the present disclosure. I.e. each pixel comprises four phase signal values. Based on the technical scheme of the invention, the target phase signal can be obtained based on one frame.

In this embodiment, after each pixel in the photosensitive pixel array is controlled to collect a first phase signal value and a second phase signal value having a phase difference of T/2 from a corresponding modulation wave, for any current pixel whose phase signal value is to be calculated, the time-of-flight sensor may calculate one phase signal value according to the first phase signal values of a plurality of adjacent pixels of the current pixel, and calculate another phase signal value according to the second phase signal values of the plurality of adjacent pixels, so as to obtain a complementary phase signal. The time-of-flight sensor may then determine both the supplemental phase signal and the original phase signal for the current pixel as the phase signal in that pixel, such that the current pixel contains the desired four phase signal values. Therefore, the times of transmitting the modulation wave to the measured object when the flight time sensor collects the signal can be reduced, and the times of collecting the phase signal value from the modulation wave by each pixel can be reduced. Furthermore, the power consumption of the flight time sensor is reduced, and the finally obtained three-dimensional image of the measured object is prevented from information distortion.

In one embodiment, referring to fig. 6, in step S101, the different pixels in the photosensitive pixel array are respectively controlled to collect the original phase signals of the corresponding modulation waves, which can be specifically implemented by the following sub-steps S1011 to S1013, which are detailed as follows:

and S1011, the time-of-flight sensor determines two-dimensional coordinate positions of different pixels in the photosensitive pixel array respectively.

In one embodiment, based on the description in S103 and S104 above, the time-of-flight sensor may determine the two-dimensional coordinate position of each pixel in the photosensitive pixel array based on a two-dimensional coordinate system. Referring to fig. 4, rows thereof are represented as x-axes in a two-dimensional coordinate system, and columns thereof are represented as y-axes in the two-dimensional coordinate system. The two-dimensional coordinate position of each pixel in the photosensitive pixel array may be as shown in fig. 4.

S1012, determining pixels with odd or even horizontal coordinates and vertical coordinates in the two-dimensional coordinate position as first pixels by the flight time sensor; and determining the pixels corresponding to the rest two-dimensional coordinate positions as second pixels.

S1013, the time-of-flight sensor controls the first pixel to collect a first type of original phase signal; controlling a second pixel to collect a second type of original phase signal; the phase difference between the first phase signal value of the first type of original phase signal and the first phase signal value of the second type of original phase signal in the modulated wave is T/4; the phase difference between the second phase signal value of the first type of original phase signal and the second phase signal value of the second type of original phase signal in the modulated wave is T/4.

In one embodiment, after determining the two-dimensional coordinate position of each pixel, the current pixel is required to calculate the complementary phase signal based on the first phase signal value and the second phase signal value of the adjacent pixels. Therefore, in order to avoid coincidence of the phase of the first phase signal value in the current pixel based on the calculated complementary first phase signal value, it may be preset that adjacent pixels acquire the first phase signal value and the second phase signal value of different phases.

Specifically, the time-of-flight sensor may determine, as the first pixel, a pixel in the two-dimensional coordinate position whose abscissa and ordinate are both odd or even, and determine, as the second pixel, a pixel corresponding to the remaining two-dimensional coordinate position.

For example, referring to fig. 3 and 4, if x and y in the two-dimensional coordinate position of any pixel are both odd or even, the pixel is the first pixel. At this time, the remaining pixels (one of the pixels in the x and y of the two-dimensional coordinate position is an odd number, and one is an even number) in the photosensitive pixel array are all the second pixels.

Then, the time-of-flight sensor can control the first pixel to acquire a first type of original phase signal (for example, acquire a phase signal value of 0 ° phase and a phase signal value of 180 ° phase); and controlling the remaining pixels (second pixels) in the photosensitive pixel array to acquire a second type of original phase signal (e.g., acquiring phase signal values of 90 ° phase and phase signal values of 270 ° phase). In another example, it is also possible that the time-of-flight sensor controls the first pixel to acquire a first type of raw phase signal (e.g., acquire a phase signal value of 90 ° phase and a phase signal value of 270 ° phase); and controlling the rest of the pixels (second pixels) in the photosensitive pixel array to acquire a second type of original phase signals (such as acquiring phase signal values of 0 DEG phase and phase signal values of 180 DEG phase).

In a specific embodiment, in order to enable the time-of-flight sensor to accurately calculate the propagation time of the modulated wave based on the target phase signal, in this embodiment, the phase difference between the first phase signal value of the first type of original phase signal and the first phase signal value of the second type of original phase signal in the modulated wave may be set to T/4; and setting the phase difference between the second phase signal value of the first type of original phase signal and the second phase signal value of the second type of original phase signal in the modulated wave to be T/4.

Specifically, taking the period of the modulated wave as 2 pi as an example, referring to fig. 3, a pixel at a two-dimensional coordinate position (x, y) is taken as a current pixel, which acquires a phase signal value (first phase signal value) of 0 ° phase and a phase signal value (second phase signal value) of 180 ° phase, and any adjacent pixel adjacent to the current pixel acquires a phase signal value (first phase signal value) of 90 ° phase and a phase signal value (second phase signal value) of 270 ° phase. In this case, based on the formula in the description of S104, it can be seen that Sig (90) (x, y) and Sig (270) (x, y) can be obtained correspondingly when the complementary phase signal of the current pixel is calculated.

Based on this, referring to fig. 5, the target phase signal included in each pixel corresponds to a phase signal value having a phase of 0 °, a phase signal value having a phase of 90 °, a phase signal value having a phase of 180 °, and a phase signal value having a phase of 270 °. Further, since the cycle of the modulated wave is 2 π, it is considered that the phase signal value of 0 ° phase is also the phase signal value of 360 ° phase. Therefore, it can be considered that the four phase signal values included in this case for each pixel are phase signal values sequentially belonging to a constant phase interval within one cycle of the modulation wave. Furthermore, the time-of-flight sensor can accurately calculate the transmission time of the modulated wave transmitted to the measured object based on the four phase signal values with equal phase intervals.

In another embodiment, unlike fig. 3 and 4, for a first pixel, the time-of-flight sensor may also control the first pixel to acquire a second type of raw phase signal (i.e., acquire a phase signal value of 90 ° phase and a phase signal value of 270 ° phase); and controlling the rest of the pixels (second pixels) in the photosensitive pixel array to acquire the first type of original phase signals (i.e., acquiring phase signal values of 0 ° phase and phase signal values of 180 ° phase).

Specifically, reference may be made to fig. 7 and 8, where if x and y are both odd numbers or even numbers, the first phase signal value acquired by the corresponding first pixel is sig (90) and the second phase signal value is sig (270). At this time, the calculation formula for calculating the supplementary phase signal of the first pixel at the (x, y) position in fig. 8 may be similar to the calculation manner for calculating the value of the supplementary phase signal at the (x, y) position in fig. 4 described in the above-described S104. The manner of calculating the complementary phase signal in any one of the second pixels in fig. 8 is also similar to the manner of calculating the value of the complementary phase signal at the (x, y +1) position in fig. 4 described in S104 above, and will not be described in detail.

In one embodiment, referring to fig. 9, the time-of-flight sensor further includes a light source emitter for emitting a modulated wave to the object to be measured at a predetermined frequency; after determining the target phase signal of the current pixel according to the complementary phase signal and the original phase signal of the current pixel at S104, the following steps S141-S142 may be further included, which are detailed as follows:

s141, for any one of the target phase signals, the time-of-flight sensor calculates a phase difference between the modulated wave and the reflected wave thereof based on the first phase signal value, the second phase signal value, the supplemented first phase signal value, and the supplemented second phase signal value.

In one embodiment, the light source emitter is described above, and will not be described. Referring to fig. 1, after the signal processor in the time-of-flight sensor determines a target phase signal for each pixel based on the first phase signal value and the second phase signal value of each pixel in the photosensitive pixel array, the target phase signal may be sent to a signal processing system for processing to calculate a phase difference between a modulated wave and a reflected wave thereof.

Specifically, the signal processing system may calculate the phase difference between the modulated wave and the reflected wave thereof by using the following formula:

wherein sig (a1) is the first phase signal value, sig (a2) is the second phase signal value, sig (B1) is the supplemental first phase signal value, and sig (B2) is the supplemental second phase signal value.

And S142, the flight time sensor calculates the transmission time of the modulated wave transmitted to the measured object according to the phase difference.

In one embodiment, the time of flight is transmitted after the phase difference is calculatedThe sensor may calculate the transmission time of the modulated wave transmitted to the measured object according to the phase difference, and specifically, the propagation time may be calculated by the following formula:therefore, in this embodiment, the pixel may only collect one frame of phase signal values from the modulated wave, that is, through the above steps S102 to S104, the pixel may include phase signal values of four phases in the modulated light wave, so that the time-of-flight sensor directly calculates the propagation time of the modulated wave.

Referring to fig. 10, fig. 10 is a block diagram of a time-of-flight sensor according to an embodiment of the present disclosure. The signal acquisition device of the pixel array in this embodiment includes modules for executing the steps in the embodiments corresponding to fig. 2, fig. 6, and fig. 9. Please refer to fig. 2, fig. 6 and fig. 9, and the related descriptions of the embodiments corresponding to fig. 2, fig. 6 and fig. 9. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 10, a time-of-flight sensor 1000 includes an array of photosensitive pixels, and may further include: a control module 1010, and a calculation module 1020, wherein:

the control module 1010 is configured to determine, for any current pixel, a plurality of adjacent pixels of the current pixel, and further configured to respectively control different pixels in the photosensitive pixel array to acquire original phase signals of the corresponding modulation waves; for each pixel, the acquired raw phase signal comprises a first phase signal value and a second phase signal value; the phase difference of the first phase signal value and the second phase signal value corresponding to the modulation wave is T/2, wherein T is the period of the modulation wave;

a calculating module 1020, configured to calculate a complementary phase signal of the current pixel according to the first phase signal value and the second phase signal value of the multiple adjacent pixels; and the method can be further used for determining a target phase signal of the current pixel according to the supplementary phase signal and the original phase signal of the current pixel. For example, after obtaining the target signal, the calculation module may transmit the target signal to an existing ISP processing module to perform conventional image signal processing.

In one embodiment, the control module 1010 is further configured to:

determining two-dimensional coordinate positions of different pixels in the photosensitive pixel array respectively; determining pixels of which the abscissa and the ordinate in the two-dimensional coordinate position are both odd numbers or even numbers as first pixels; determining pixels corresponding to the rest two-dimensional coordinate positions as second pixels; controlling a first pixel to collect a first type of original phase signal; controlling a second pixel to collect a second type of original phase signal; the phase difference between the first phase signal value of the first type of original phase signal and the first phase signal value of the second type of original phase signal in the modulated wave is T/4; the phase difference between the second phase signal value of the first type of original phase signal and the second phase signal value of the second type of original phase signal in the modulated wave is T/4.

In one embodiment, the control module 1010 is further configured to:

and determining pixels at the left end, the right end, the upper end and the lower end of the current pixel in the photosensitive pixel array as adjacent pixels of the current pixel based on the two-dimensional coordinate positions of different pixels.

In one embodiment, the calculation module 1020 is further configured to:

calculating a complementary first phase signal value based on the first phase signal values of the plurality of neighboring pixels; and calculating a supplemental second phase signal value based on the second phase signal values of the plurality of neighboring pixels; the supplemental first phase signal value and the supplemental second phase signal value together constitute a supplemental phase signal for the current pixel.

In one embodiment, the calculation module 1020 is further configured to:

calculating an average value of first phase signal values of a plurality of adjacent pixels to obtain a supplementary first phase signal value; and calculating an average value of the second phase signal values of the plurality of adjacent pixels to obtain a supplemental second phase signal value.

In one embodiment, the number of the adjacent pixels is four, and the number of the adjacent pixels is respectively one of the left end, the right end, the upper end and the lower end of the current pixel; the calculation module 1020 is further configured to:

calculating an average value of the first phase signal values of the four adjacent pixels as a supplementary first phase signal value; and calculating an average value of the second phase signal values of the four adjacent pixels as the supplementary second phase signal value.

In one embodiment, the time-of-flight sensor further comprises a light source emitter for emitting a modulated wave to the object to be measured at a preset frequency; time-of-flight sensor 1000 further includes:

and the phase difference calculation module is used for calculating the phase difference between the modulated wave and the reflected wave thereof according to the first phase signal value, the second phase signal value, the supplemented first phase signal value and the supplemented second phase signal value aiming at any target phase signal.

And the transmission time calculation module is used for calculating the transmission time of the modulated wave transmitted to the measured object according to the phase difference.

In one embodiment, the phase difference calculation module calculates the phase difference by:

wherein the content of the first and second substances,for the phase difference, sig (a1) is the first phase signal value, sig (a2) is the second phase signal value, sig (B1) is the supplemental first phase signal value, and sig (B2) is the supplemental second phase signal value.

It should be understood that, in the structural block diagram of the signal acquisition device of the pixel array shown in fig. 10, each module may be used to execute each step in the embodiments corresponding to fig. 2, fig. 6, and/or fig. 9, and for each step in the embodiments corresponding to fig. 2, fig. 6, and/or fig. 9, details are already explained in the above embodiments, specifically please refer to fig. 2, fig. 6, and/or fig. 9 and the relevant description in the embodiments corresponding to fig. 2, fig. 6, and/or fig. 9, and are not repeated here.

Fig. 11 is a block diagram of a terminal according to an embodiment of the present application. As shown in fig. 11, the terminal 1100 of this embodiment includes: a processor 1110, a memory 1120, and a computer program 1130, such as a program for a signal acquisition method for a pixel array, stored in the memory 1120 and executable on the processor 1110. The processor 1110, when executing the computer program 1130, implements the steps in the embodiments of the signal acquisition method for each pixel array described above, such as S101 to S104 shown in fig. 1. Alternatively, when the processor 1110 executes the computer program 1130, the functions of the modules in the embodiment corresponding to fig. 10, for example, the functions of the modules 1010 to 1040 shown in fig. 10, are implemented, and refer to the related description in the embodiment corresponding to fig. 10 specifically.

Illustratively, the computer program 1130 may be divided into one or more modules, and the one or more modules are stored in the memory 1120 and executed by the processor 1110 to implement the signal acquisition method of the pixel array provided by the embodiments of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing certain functions that are used to describe the execution of computer program 1130 in terminal 1100. For example, the computer program 1130 may implement the signal acquisition method of the pixel array provided in the embodiment of the present application.

Terminal 1100 can include, but is not limited to, processor 1110, memory 1120. Those skilled in the art will appreciate that FIG. 11 may be merely an example of a time-of-flight sensor, and does not constitute a limitation of a time-of-flight sensor, and may include more or fewer components than shown, or some components may be combined, or different components, e.g., a time-of-flight sensor may also include input-output devices, network access devices, buses, etc.

The processor 1110 may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 1120 may be an internal storage unit of the time-of-flight sensor 1100, such as a hard disk or a memory of the time-of-flight sensor 1100. The memory 1120 may also be an external storage device of the time-of-flight sensor 1100, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the time-of-flight sensor 1100. Further, the memory 1120 may also include both internal and external memory units of the time-of-flight sensor 1100.

The embodiments of the present application provide a time-of-flight sensor, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for acquiring signals of a pixel array as in the above embodiments is implemented.

The embodiment of the present application provides a computer-readable storage medium, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the signal acquisition method of the pixel array as described in the above embodiments.

Embodiments of the present application provide a computer program product, which when running on a time-of-flight sensor, causes the time-of-flight sensor to execute the signal acquisition method of the pixel array in the above embodiments.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.