Ranging device and light reception method thereof
Ranging devices and light reception methods wherein the modulation frequencies of a light source and a ToF sensor are synchronized are disclosed. In one example, a ranging device includes a reception section that generates, by executing a synchronization process on a transmission signal transmitted from a separate device through wireless communication, a signal synchronized with a synchronization clock signal of the separate device, a reference clock generation section that generates, on the basis of the synchronization clock signal, a reference clock signal to be used as a reference for light emission from the light source, and a ToF sensor that receives, on the basis of the reference clock signal, reflection light resulting from irradiation light applied from the light source and reflected by an object.
1 . A ranging device comprising:
a memory storing a program;
at least one processor configured to execute the program to perform operations comprising:
generating, by executing a synchronization process on a transmission signal transmitted from a separate device through wireless communication, a signal synchronized with a synchronization clock signal of the separate device,
generating, on a basis of the synchronization clock signal, a reference clock signal to be used as a reference for light emission from a light source, and
receiving, through the wireless communication, light source information regarding irradiation light applied from the light source;
a time of flight (ToF) sensor that receives, on a basis of the reference clock signal, reflection light resulting from irradiation light applied from the light source and reflected by an object,
wherein the light source is one of a plurality of light sources, the plurality of light sources are respectively separately located from each other, and the ToF sensor receives reflection light resulting from irradiation light applied from the plurality of light sources and reflected by the object; and
calculating a distance to the object on a basis of a phase difference in irradiation light applied from the plurality of light sources.
2 . The ranging device according to claim 1 , wherein the light source information includes calibration data regarding the light source.
3 . The ranging device according to claim 1 , wherein the light source information includes an operation mode.
4 . The ranging device according to claim 3 , wherein the operation mode includes information indicating any one of a time division mode, a modulation frequency mode, or a light emission pattern mode.
5 . The ranging device according to claim 1 , wherein the light source information includes any one of a light emission time, light emission start time information, a modulation frequency, a light source wavelength, or a light emission pattern.
6 . The ranging device according to claim 1 , wherein the operations further comprise:
receiving a transmission signal transmitted from the separate device through wireless communication over a network.
7 . The ranging device according to claim 1 , wherein the operations further comprise:
receiving a GNSS signal as the transmission signal.
8 . The ranging device according to claim 1 , wherein the operations further comprise:
calculating a distance to the separate device on a basis of a detection result obtained by the ToF sensor.
9 . The ranging device according to claim 8 , wherein the operations further comprise:
defining, as a first distance, the distance to the separate device and transmits the first distance to the separate device, and receiving, as a second distance, a distance calculated by the separate device.
10 . The ranging device according to claim 9 , wherein the operations further comprise:
calculating a relative distance with respect to the separate device on a basis of the first distance and the second distance.
11 . A light reception method for a ranging device, the method comprising:
by the ranging device, generating, by executing a synchronization process on a transmission signal transmitted from a separate device through wireless communication, a signal synchronized with a synchronization clock signal of the separate device;
generating, on a basis of the synchronization clock signal, a reference clock signal to be used as a reference for light emission from a light source;
receiving, through the wireless communication, light source information regarding irradiation light applied from the light source; and
receiving, by a time of flight (ToF) sensor, on a basis of the reference clock signal, reflection light resulting from irradiation light applied from the light source and reflected by an object,
wherein the light source is one of a plurality of light sources, the plurality of light sources are respectively separately located from each other, and the ToF sensor receives reflection light resulting from irradiation light applied from the plurality of light sources and reflected by the object; and
calculating a distance to the object on a basis of a phase difference in irradiation light applied from the plurality of light sources.
12 . A non-transitory computer readable medium storing a program for controlling a ranging device, the program being executable by at least one processor to perform operations comprising:
generating, by executing a synchronization process on a transmission signal transmitted from a separate device through wireless communication, a signal synchronized with a synchronization clock signal of the separate device;
generating, on a basis of the synchronization clock signal, a reference clock signal to be used as a reference for light emission from a light source;
receiving, through the wireless communication, light source information regarding irradiation light applied from the light source;
receiving, by a time of flight (ToF) sensor, on a basis of the reference clock signal, reflection light resulting from irradiation light applied from the light source and reflected by an object,
wherein the light source is one of a plurality of light sources, the plurality of light sources are respectively separately located from each other, and the ToF sensor receives reflection light resulting from irradiation light applied from the plurality of light sources and reflected by the object; and
calculating a distance to the object on a basis of a phase difference in irradiation light applied from the plurality of light sources.
13 . The non-transitory computer readable medium according to claim 12 , wherein the light source information includes calibration data regarding the light source.
14 . The non-transitory computer readable medium according to claim 12 , wherein the light source information includes an operation mode.
15 . The non-transitory computer readable medium according to claim 14 , wherein the operation mode includes information indicating any one of a time division mode, a modulation frequency mode, or a light emission pattern mode.
16 . The non-transitory computer readable medium according to claim 12 , wherein the light source information includes any one of a light emission time, light emission start time information, a modulation frequency, a light source wavelength, or a light emission pattern.
17 . The non-transitory computer readable medium according to claim 12 , wherein the operations further comprise:
receiving a transmission signal transmitted from the separate device through wireless communication over a network.
18 . The non-transitory computer readable medium according to claim 12 , wherein the operations further comprise:
receiving a GNSS signal as the transmission signal.