Time-of-flight ranging device and time-of-flight ranging method
A time-of-flight ranging device and a time-of-flight ranging method are provided. The time-of-flight ranging device includes a light source, a sensing array, and a time-to-digital converter. The light source emits a laser pulse signal towards a sensing target. The sensing array includes a plurality of sensing units. The sensing array is configured to sense reflected pulse light generated when the sensing target reflects the laser pulse signal. The time-to-digital converter is coupled to the sensing array. The time-to-digital converter performs an integration operation on a plurality of sensing results of the sensing units during a plurality of consecutive integration periods to generate histogram data. At least part of the integration periods have different time lengths, such that at least part of a plurality of bins in the histogram data have different bin widths.
1. A time-of-flight ranging device, comprising:
a light source, configured to emit a laser pulse signal towards a sensing target;
a sensing array, comprising a plurality of sensing units, sensing reflected pulse light generated when the sensing target reflects the laser pulse signal;
a time-to-digital converter, coupled to the sensing array, performing an integration operation on a plurality of sensing results of the sensing units during a plurality of consecutive integration periods to generate histogram data; and
a control circuit, coupled to the light source, the sensing array, and the time-to-digital converter, configured to calculate a distance parameter between the time-of-flight ranging device and the sensing target according to the histogram data,
wherein at least part of the integration periods have different time lengths, such that at least part of a plurality of bins in the histogram data have different bin widths,
wherein the control circuit determines whether count values of consecutive bins among the bins in the histogram data exceed a pre-designed count value and whether a number of the consecutive bins exceeds a predetermined number of consecutive bins to calculate time when the sensing array receives the reflected pulse light,
wherein the control circuit dynamically adjusts a plurality of time lengths of another plurality of integration periods in a next sensing operation according to the time when the sensing array receives the reflected pulse light.
2. The time-of-flight ranging device according to claim 1 , wherein the control circuit determines a time difference between emitting of the laser pulse signal by the light source and receiving of the reflected pulse light by the sensing array according to a plurality of count values corresponding to the bins of the histogram data.
3. The time-of-flight ranging device according to claim 1 , wherein the control circuit decreases at least one of the another plurality of integration periods close to the time when the sensing array receives the reflected pulse light in the next sensing operation, and the control circuit increases the time length of at least another one of the another plurality of integration periods.
4. The time-of-flight ranging device according to claim 1 , wherein after the time lengths of the another plurality of integration periods in the next sensing operation are adjusted, a sensing total time length corresponding to the another plurality of integration periods remains unchanged.
5. The time-of-flight ranging device according to claim 1 , wherein after the time lengths of the another plurality of integration periods in the next sensing operation are adjusted, a number of integration periods of the another plurality of integration periods remains unchanged.
6. The time-of-flight ranging device according to claim 1 , further comprising:
a storage device, coupled to the control circuit,
wherein the time-to-digital converter performs an integration operation on another plurality of sensing results of the sensing units during the another plurality of consecutive integration periods in the next sensing operation to generate another histogram data,
wherein the histogram data and the another histogram data occupy a same storage space in the storage device.
7. The time-of-flight ranging device according to claim 1 , wherein the sensing units are a plurality of single photon avalanche diodes.
8. A time-of-flight ranging method, comprising:
emitting, through a light source, a laser pulse signal towards a sensing target;
sensing, through a plurality of sensing units of a sensing array, reflected pulse light generated when the sensing target reflects the laser pulse signal;
performing, through a time-to-digital converter, an integration operation on a plurality of sensing results of the sensing units during a plurality of consecutive integration periods to generate histogram data;
calculating, through a control circuit, a distance parameter between a time-of-flight ranging device and the sensing target according to the histogram data,
wherein at least part of the integration periods have different time lengths, such that at least part of a plurality of bins in the histogram data have different bin widths;
determining, through the control circuit, whether count values of consecutive bins among the bins in the histogram data exceed a pre-designed count value and whether a number of the consecutive bins exceeds a predetermined number of consecutive bins to calculate time when the sensing array receives the reflected pulse light; and
dynamically adjusting, through the control circuit, a plurality of time lengths of another plurality of integration periods in a next sensing operation according to the time when the sensing array receives the reflected pulse light.
9. The time-of-flight ranging method according to claim 8 , wherein the step of calculating the distance parameter further comprises:
determining a time difference between emitting of the laser pulse signal by the light source and receiving of the reflected pulse light by the sensing array according to a plurality of count values corresponding to the bins of the histogram data.
10. The time-of-flight ranging method according to claim 8 , wherein the step of dynamically adjusting the time lengths further comprises:
decreasing at least one of the another plurality of integration periods close to the time when the sensing array receives the reflected pulse light in the next sensing operation; and
increasing the time length of at least another one of the another plurality of integration periods.
11. The time-of-flight ranging method according to claim 8 , wherein after the time lengths of the another plurality of integration periods in the next sensing operation are adjusted, a sensing total time length corresponding to the another plurality of integration periods remains unchanged.
12. The time-of-flight ranging method according to claim 8 , wherein after the time lengths of the another plurality of integration periods in the next sensing operation are adjusted, a number of integration periods of the another plurality of integration periods remains unchanged.
13. The time-of-flight ranging method according to claim 8 , wherein the step of dynamically adjusting the time lengths further comprises:
performing, through the time-to-digital converter, an integration operation on another plurality of sensing results of the sensing units during the another plurality of consecutive integration periods in the next sensing operation to generate another histogram data,
wherein the histogram data and the another histogram data occupy a same storage space in the storage device.
14. The time-of-flight ranging method according to claim 8 , wherein the sensing units are a plurality of single photon avalanche diodes.