CN111239752A - Programmable detector and self-adaptive distance measuring method - Google Patents

Programmable detector and self-adaptive distance measuring method Download PDF

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CN111239752A
CN111239752A CN202010126231.2A CN202010126231A CN111239752A CN 111239752 A CN111239752 A CN 111239752A CN 202010126231 A CN202010126231 A CN 202010126231A CN 111239752 A CN111239752 A CN 111239752A
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light source
programmable
light
detection
controller
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雷述宇
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Ningbo Abax Sensing Electronic Technology Co Ltd
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Ningbo Abax Sensing Electronic Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters

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  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The application provides a programmable detector and a self-adaptive distance measurement method, and relates to the technical field of laser distance measurement. The programmable detector comprises: a processor, a programmable array light source, a controller, and a photodetector, wherein: the controller is electrically connected with the programmable array light source and used for generating a control instruction and controlling the programmable array light source to emit the detection light corresponding to the control instruction according to the control instruction; the programmable array light source, the controller and the photoelectric detector are respectively electrically connected with the processor; the photodetector comprises a plurality of detection modules; the programmable array light source at least part of the array light source elements are selectively connected with the controller through signals, so that the light emitted by at least two light source elements in at least part of the array light source is overlapped in a specific space area at a certain time. Compared with the prior art, the problem that the distance measurement effect is inaccurate because the device can not adapt to different application scenes in the application process is solved.

Description

Programmable detector and self-adaptive distance measuring method
Technical Field
The application relates to the technical field of laser ranging, in particular to a programmable detector and a self-adaptive ranging method.
Background
As a typical sensor, the laser radar has wide application prospect. Lidar systems employ light pulses to measure distance to an object based on the time of flight (TOF) of each light pulse. Light pulses emitted from a light source of the lidar system interact with the distal object. A portion of the light reflects off the object and returns to the detector of the lidar system. The distance is estimated based on the elapsed time between the emission of the light pulse and the detection of the returned light pulse. The lidar detection technology is gradually and widely popularized in various industries due to the advantages of the lidar detection technology, and with the development of the internet of vehicles and the automatic driving technology, various sensors including the lidar are installed on the vehicles and used for sensing surrounding environment parameters in real time and deciding the control of the vehicles.
The prior art generally generates optical pulses by means of a laser transmitter. The light pulses are focused by a lens or lens assembly. The time taken for a laser pulse to return to a detector mounted near the emitter is measured, and the distance is derived from the time measurement with high accuracy.
However, in practical applications, the propagation of laser is greatly affected by the use environment, especially the severe environments such as rain, fog, haze, smoke, etc., but the light source used by the existing laser radar generally does not have the capability of generating multiple waveforms, and different ranging methods cannot be adaptively selected according to different application environments, and meanwhile, due to the influence of external factors, the signal intensity received by the detector is weak, so that the device cannot adapt to different application scenarios in the application process, and the problem of inaccurate ranging effect is caused.
Disclosure of Invention
An object of the present application is to provide a programmable detector and a self-adaptive ranging method, which are directed to the deficiencies in the prior art, so as to solve the problem that the light source used by the laser radar in the prior art usually does not have the capability of generating multiple waveforms, and cannot adapt to different application scenarios in the application process, resulting in inaccurate ranging effect.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a programmable detector, including: a processor, a programmable array light source, a controller, and a photodetector, wherein:
the controller is electrically connected with the programmable array light source and used for generating a control instruction and controlling the programmable array light source to emit the detection light corresponding to the control instruction according to the control instruction;
the programmable array light source, the controller and the photoelectric detector are respectively electrically connected with the processor; the photodetector comprises a plurality of detection modules;
the programmable array light source at least part of the array light source elements are selectively connected with the controller through signals, so that the light emitted by at least two light source elements in at least part of the array light source is overlapped in a specific space area at a certain time.
Optionally, the geometric arrangement of the programmable array light source is as follows: rectangular, circular or triangular or a combination thereof.
Optionally, the programmable array light source is a programmable laser array light source.
Optionally, the controller is in selective signal connection with the programmable array, and at least part of the light source elements of the programmable array change the emission angle of the light source.
Optionally, the controller is electrically connected to the at least part of the array light source elements, the at least part of the array light source elements emit first optical signals to the space, the at least part of the detection module receives at least part of the returned first optical signals and is electrically connected to the controller, and the controller is again electrically connected to the at least part of the array light source elements, so that light emitted again by at least two light source elements in the at least part of the array light source elements are overlapped in a specific region of the space.
In a second aspect, another embodiment of the present application provides an adaptive ranging method applied to the programmable detector in any one of the above first aspects, the method including:
the processor determines a target detection module from the plurality of detection modules according to a control instruction; the control instruction is a control instruction sent by the controller in the programmable detector to the programmable array light source;
and the processor measures the distance of the detected object according to the detected light and the signal light reflected by the detected object and received by the target detection module.
Optionally, the processor performs ranging on the probe according to at least one of the following methods:
time-of-flight algorithm, matching, correlation, peak detection.
Optionally, the control instruction is a parameter adjustment instruction, and the parameter adjustment instruction is used to adjust a working parameter of the programmable array light source.
Optionally, the operating parameters of the programmable array light source include at least one of: the method comprises the steps of transmitting power, transmitting time sequence, pulse duration, a modulation signal, an initial phase of the modulation signal and a coding mode.
Optionally, the determining, by the processor, a target detection module from the plurality of detection modules according to a control instruction includes:
the processor determines the type of the detection light according to the control instruction;
the processor determines the target detection module from a plurality of the detection modules according to the type of the probe light.
Optionally, before the processor performs ranging on the object according to the signal light reflected by the object received by the target detection module, the method further includes:
the processor determines a distance measurement algorithm corresponding to the detection light according to the control instruction;
the processor measures the distance of the detection object according to the signal light reflected by the detection object received by the target detection module, and the method comprises the following steps:
and the processor adopts a distance measurement algorithm to measure the distance of the detected object according to the detection light and the signal light.
Optionally, the determining, by the processor according to the control instruction, a ranging algorithm corresponding to the probe light includes:
and the processor determines a distance measurement algorithm corresponding to the detection light according to the type of the detection light.
Optionally, the number of the detectors is plural, and the control instruction controls the plurality of programmable array light sources to emit the programmable light signals to the two or more detectors at least partially at the same time.
In a third aspect, another embodiment of the present application provides an adaptive ranging apparatus, including: confirm module and range finding module, wherein:
the determining module is used for determining a target detecting module from a plurality of detecting modules according to a control instruction; the control instruction is a control instruction sent by the controller in the programmable detector to the programmable array light source;
and the distance measuring module is used for measuring the distance of the detection object according to the detection light and the signal light reflected by the detection object received by the target detection module.
Optionally, the determining module is further configured to determine a type of the probe light according to the control instruction; determining the target detection module from a plurality of the detection modules according to the type of the probe light.
Optionally, the determining module is further configured to determine, by the processor, a ranging algorithm corresponding to the probe light according to the control instruction;
the distance measurement module is further configured to perform distance measurement on the detected object by using a distance measurement algorithm according to the detection light and the signal light.
Optionally, the determining module is further configured to determine, by the processor, a ranging algorithm corresponding to the probe light according to the type of the probe light.
In a fourth aspect, another embodiment of the present application provides an adaptive ranging device, which may be integrated in a terminal device or a chip of the terminal device.
The adaptive ranging apparatus includes: a processor, a storage medium, and a bus.
The processor is used for storing a program, and the processor calls the program stored in the storage medium to execute the method of the second aspect.
In a fifth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, including a program, which when executed by a processor, performs the method of the second aspect.
The beneficial effect of this application is: by adopting the programmable detector provided by the application, the programmable array light source is controlled by the controller, and the programmable array light source can be controlled to emit corresponding detection light according to the emitted control instruction, and the programmable array light source has at least part of array light source elements and is selectively connected with the controller through signals, so that the light emitted by at least two light source elements in at least part of the array light source is overlapped in a specific space area at a certain time, thereby not only the detection light emitted by the programmable array can be adjusted according to the control instruction, but also the light emitted by a plurality of light source elements can be overlapped, the problem of insufficient optical power is solved, the detection light emitted by the array light source can be adjusted according to different application scenes, the programmable detector is suitable for different application scenes, and the problem of inaccurate distance measurement effect is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a programmable detector according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a programmable detector method according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of a programmable detector method according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a programmable detector method according to an embodiment of the present application;
fig. 5 is a schematic flow chart of a receiving end detection block diagram according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of a programmable detector method according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a programmable detector device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a programmable detector device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
Fig. 1 is a schematic structural diagram of a programmable detector according to an embodiment of the present application, and as shown in fig. 1, a programmable detector 100 includes: a processor 110, a programmable array light source 120, a controller 130, and a photodetector 140, wherein:
the controller 130 is electrically connected to the programmable array light source 120, and is configured to generate a control command and control the programmable array light source 120 to emit the probe light corresponding to the control command according to the control command.
Optionally, during operation, not all array light source elements 121 on the programmable array light source 120 are in an operating state, but the controller 130 controls, according to a control instruction sent by the processor, part of the array light source elements 121 on the programmable array light source 120 to operate, part of the array light source elements 121 do not operate (or are in an idle state), or all of the array light source elements 121 operate, and all of the array light source elements 121 do not operate, and the specific operating mode is determined according to the control instruction.
Optionally, in an embodiment of the present application, the control instruction is used to control an operating parameter of each array light source element in the programmable light source 120, where the operating parameter may include: emission power P of each array light source element 121TEmission time ti(i ═ 1,2, …), pulse duration T, modulation signal angular frequency ωm(m-1, 2, … denotes discrete frequency modulation, and m-l denotes continuous frequency modulation), initial phase of the modulated signal
Figure BDA0002393593550000071
(M-1, 2, … represents discrete phase modulation, and M-l represents continuous phase modulation), and coding scheme Mk(k is a number indicating a different encoding method, 1,2, …), and the like, specifically set according to the user's needs, or the operating parameters of the programmable light source include target distance, environmental parameters (air quality PM2.5, humidity, dust amount, and the like); or automatically selecting according to a preset mode self-adaptive adjusting mode and other methods, without limiting the working parameters given by the above embodiments, the changes of the parameters also adapt to the influence of the environment or other factors, and the adjustment enhances the identifiability of the system on one hand, and on the other hand, stronger light can be obtained in a key area through coding, thereby realizing more reliable distance data.
The programmable array light source 120, the controller 130 and the photodetector 140 are electrically connected to the processor 110; the photodetector 140 includes a plurality of detection modules; at least part array light source element 121 selectivity of programmable array light source 120 makes the light of two at least light source element emissions superpose in the specific region in space at a certain time with controller 130 signal connection, can be at least two sets of coherent enhancement light, in the regional coherent enhancement of target surveyed, and then can obtain stronger reflected light signal, guarantee to survey with signal influence factors such as environment to the minimum, also can be in one section distance coherent enhancement behind the light-emitting, obtain stronger projection light, and then realize stronger penetrability.
Optionally, in some application scenarios, the controller 130 may simultaneously control the plurality of array light source elements 121, so that at the same time in a specific area of the space, the light beams emitted by the plurality of array light source elements 121 are accumulated to obtain a combined light beam with an intensity meeting a preset requirement, and thus, the emission power of each array light source element 121 may be reduced compared with the conventional technology, and under the condition that the generated light beam meets the preset requirement, the heat dissipation time of each array light source element 121 is shortened, and the detection efficiency is improved, thereby avoiding the problem that a large-power array light source generates heat seriously, cannot generate light signals continuously for a long time, and thus in the using process, a long time needs to be waited for heat dissipation between two detections, and the detection efficiency is low.
By adopting the programmable detector provided by the application, the programmable array light source is controlled by the controller, and the programmable array light source can be controlled to emit corresponding detection light according to the emitted control instruction, and the programmable array light source has at least part of array light source elements and is selectively connected with the controller through signals, so that the light emitted by at least two light source elements in at least part of the array light source is overlapped in a specific space area at a certain time, thereby not only the detection light emitted by the programmable array can be adjusted according to the control instruction, but also the light emitted by a plurality of light source elements can be overlapped, the problem of insufficient optical power is solved, the detection light emitted by the array light source can be adjusted according to different application scenes, the programmable detector is suitable for different application scenes, and the problem of inaccurate distance measurement effect is solved.
Optionally, in an embodiment of the present application, the programmable array light source 120 may be a programmable laser array light source, and the geometrical arrangement of the programmable array light source 120 is as follows: the light sources may be rectangular, circular, or triangular or a combination thereof, and the specific light source type and arrangement manner between the light sources may be designed according to the needs of the user, which is not limited herein.
Optionally, the controller 130 is in selective signal communication with a programmable array, at least some of the light source elements of which vary the emission angle of the light source.
The emission angle of the light source can be adjusted according to an application scene and use requirements, so that the light source can be converged at different positions of a three-dimensional space to realize detection; furthermore, in an embodiment of the application, can divide into different array tuple with whole programmable array through the controller to control different array tuple to survey different target location in the three-dimensional space, thereby realize multizone, multi-target detection, make can the angle of light source adapt to different application scenes better in the application process, improve the degree of accuracy of range finding effect.
For example, the following steps are carried out: for example, in one embodiment of the present application, for a short detection position, the controller 130 may use a small number of array elements to perform optical signal transmission at low power for detection; for a long-distance detection position, the controller 130 may use more array elements to perform optical signal transmission with high power for detection, thereby meeting the requirements of different detection distances. The controller 130 can also modulate different frequency signals of different array elements to realize multi-frequency ranging.
Optionally, in an embodiment of the present application, the controller 130 is electrically connected to at least a part of the array light source elements 121, at least a part of the array light source elements 121 emit the first light signal to the space, at least a part of the detection module receives at least a part of the returned first light signal and is electrically connected to the controller 130, and the controller 130 is again electrically connected to at least a part of the array light source elements 121, so that the light emitted again by at least two light source elements of the at least a part of the array light source elements 121 are overlapped in a specific region of the space.
The controller 130 controls the light re-emitted by at least two light source elements in the partial array light source elements 121 to be superimposed in a specific area, so as to obtain a pulse with larger amplitude (i.e. higher power), so that the light intensity of the key projection object is superimposed and projected, thereby ensuring the accuracy of distance measurement.
By adopting the self-adaptive distance measuring method provided by the application, the programmable array light source is controlled by the controller, so that the controller can control the programmable array light source to emit corresponding detection light according to a control instruction, and at least part of array light source elements exist in the programmable array light source and are selectively connected with the controller through signals, so that the light emitted by at least two light source elements in at least part of the array light source is overlapped in a specific space area at a certain time, and thus, not only the detection light emitted by the programmable array can be adjusted according to the control instruction, but also the light emitted by a plurality of light source elements can be overlapped; meanwhile, the emission angle of the light source with the changed light source elements can be adjusted according to application scenes and using requirements, so that the light sources are converged at different positions of a three-dimensional space, the problem of insufficient light power is solved, the detection light emitted by the array light source can be adjusted according to different application scenes, different application scenes are adapted, and the problem of inaccurate distance measurement effect is solved.
Fig. 2 is a schematic flowchart of an adaptive ranging method according to an embodiment of the present application, where the method is applied to the programmable detector shown in fig. 1, and an execution subject is a processor in the programmable detector, as shown in fig. 2, the method includes:
s201: and determining a target detection module from the plurality of detection modules according to the control instruction.
Optionally, the programmable array light source is divided into a plurality of detection modules, and during the operation process, not every detection module is in an operating state, but at least one detection module is determined from the plurality of detection modules as a target detection module according to a control instruction.
Optionally, the control instruction is a control instruction generated by a controller in the programmable detector.
Optionally, in an embodiment of the present application, the control instruction may be a control instruction corresponding to a target scene that is automatically generated by the controller after the user selects the target scene according to a current application scene, for example: in an embodiment, multiple modes such as fog, rainy days, sunny days, haze, sunny days and the like can be provided through a display screen or a button (the display screen or the button is electrically connected with the processor), a user can select a target scene through touching or pressing, the controller generates a corresponding control instruction according to a selection instruction of the user, the programmable array light source is controlled to perform corresponding operation, distance and environment quality information can be calculated through parameters such as emitted light intensity and received light intensity or time according to a self-adaptive mode, and working parameters of the programmable array light source are selected by using the environment quality information and the distance information, but a specific generation mode of the control instruction is not limited by the above embodiments, and can be adjusted according to needs of the user.
S202: and ranging the detected object according to the detection light and the signal light reflected by the detected object received by the target detection module.
According to different application scenes, different target detection modules are adopted to receive signal light reflected by the detection object, so that the target detection modules can be correspondingly adjusted according to different scenes, and the distance measurement result is more accurate.
By adopting the self-adaptive distance measuring method provided by the application, the processor determines the target detection module according to the control command generated by the controller, and measures the distance of the detected object according to the signal light reflected by the detected object received by the target detection module.
Optionally, in an embodiment of the present application, the processor performs ranging on the probe according to at least one of the following methods: time-of-flight algorithm, matching, correlation, peak detection. The specific distance measurement method may be adjusted according to the user's requirement, and is not limited to the method provided in the above embodiment.
Optionally, the operating parameters of the programmable array light source include at least one of: the method comprises the steps of transmitting power, transmitting time sequence, pulse duration, a modulation signal, an initial phase of the modulation signal and a coding mode.
Fig. 3 is a flowchart illustrating a method for adaptive ranging according to another embodiment of the present disclosure, and as shown in fig. 3, S201 may include:
s203: and determining the type of the detection light according to the control instruction.
Optionally, in an embodiment of the present application, the control instruction is a parameter adjustment instruction, and the parameter adjustment instruction is used to adjust an operating parameter of the programmable array light source.
Alternatively, in an embodiment of the present application, the type of the probe light may be classified as a continuous sweep signal or a pulse signal according to whether the waveform of the probe light is continuous; the pulse number of the detection light is divided, the type of the detection light can comprise a single pulse or a pulse sequence, and when the type is the pulse sequence, different coding modes can be adopted for the pulse sequence; the type of the probe light includes a single frequency or multiple frequencies from the frequency division of the probe light modulation signal used, and the specific type is designed according to the user's needs, and is not limited to the type given in the above embodiments.
Optionally, in an embodiment of the present application, the controller may adjust one or more of the operating parameters, so as to adjust the operating parameters of one array light source element or multiple array light source elements, and the specific operating parameters may include parameters that are set according to a user requirement, which is not limited to the parameters given in the foregoing embodiments.
Wherein, the controller can change the field intensity amplitude A of the output optical signal by programming and controlling the transmitting powerc。
The controller can load modulation signals with different frequencies onto the optical carrier wave for ranging by programming and controlling the angular frequency of the modulation signals; for example, the following steps are carried out: assuming the field strength of the optical carrier
Figure BDA0002393593550000121
Wherein A iscRepresenting the amplitude, ωcRepresenting carrier angular frequency, carrier frequency fc＝ωcAnd/2 pi. In one embodiment of the present application, the carrier initial phase
Figure BDA0002393593550000131
For example, with amplitude modulation, the controller selects a frequency of ωmSingle frequency signal (ω)m＜＜ωc，ωmShould be within the frequency response range of the detector),
Figure BDA0002393593550000132
amplitude modulating the optical carrier, wherein AmRepresenting the amplitude, omega, of the modulated signalmRepresenting angular frequency of modulated signal, frequency f of modulated signalm＝ωmA/2 pi, a modulated output optical signal Eo (t) ═ E can be obtainedm(t)Ec(t)。
The controller can load the modulated signals with different initial phases onto the optical carrier for ranging by programming the initial phases of the modulated signals, such as: for example, with amplitude modulation, the controller selects a frequency of ωm(ωm＜＜ωc，ωmShould be within the frequency response range of the detector), the initial phase is
Figure BDA0002393593550000133
The single-frequency signal of (a) is,
Figure BDA0002393593550000134
amplitude modulation is carried out on the optical carrier wave to obtain a modulated output optical signal Eo(t)＝Em(t)Ec(t)。
The controller generates a control signal s (t) sigma by programming the transmitting timenpng (t-nT); by programming the pulse duration, a control signal g is generatedn(t); wherein p isnE {0,1}, g (T) denotes a pulse of amplitude 1 and width T, which can be realized by a switching circuit, pn0 means that the nth pulse is not transmitted, pnThe nth pulse transmission time is denoted by 1.
The controller generates the control signal g by programming the pulse durationn(t)，gn(T) denotes an amplitude of 1 and a width of TnCan be realized by a switch circuit, and can obtain an output optical pulse signal Eo(t)＝gn(t)Ec(t) of (d). The controller generates control signals by programming the pulse duration and the firing time
Figure BDA0002393593550000135
Wherein p isn∈{0,1}，pn0 means that the nth pulse is not transmitted, TnIndicating the length of time during which no transmission is taking place, pn1 denotes the nth pulse transmission instant, TnIndicating the length of time of transmission. An output optical signal E can be obtainedo(t)＝s(t)Ec(t)。
S204: the target detection module is determined from the plurality of detection modules according to the type of the probe light.
The different detection modules correspond to different detection modules, the different distance measurement methods also have respective advantages and applicable environments, the types of the detection light are determined according to the control instruction, and the corresponding control instruction can be sent through the current environment, so that the subsequent distance measurement algorithm is an algorithm applicable to the current environment, and the distance measurement precision is improved.
Fig. 4 is a flowchart illustrating an adaptive ranging method according to another embodiment of the present application, and as shown in fig. 4, before S202, the method may include:
s205: and determining a distance measurement algorithm corresponding to the detection light according to the control command.
Optionally, in an embodiment of the present application, the distance measurement algorithm corresponding to the detected light may be directly determined according to the control instruction, or the type of the detected light may be determined according to the control instruction, and then the corresponding distance measurement algorithm is determined according to the type of the detected light, where a determination manner of the specific distance measurement algorithm may be designed according to a user requirement, and the present application is not limited herein.
The distance measurement algorithm for detecting the light pair is determined according to the control command, and different distance measurement methods can be adaptively selected according to different application environments, so that different application scenes and use requirements are met.
Correspondingly, S202 may include:
s206: and (4) ranging the detected object by adopting a ranging algorithm according to the detection light and the signal light.
Optionally, in an embodiment of the present application, different detection modules correspond to different ranging algorithms, and after determining the detection module corresponding to the probe light according to the control instruction, the corresponding ranging algorithm is used for ranging, for example: for example, for the case of single pulse light detection, TOF may be used for ranging. For the detection case of pulse train light, matching, correlation, peak detection may be used for ranging.
Fig. 5 is a schematic flow chart of a receiving end detection block diagram provided in an embodiment of the present application, which is illustrated by taking pulse sequence detection obtained by amplitude modulation and pseudorandom sequence coding as an example, and the receiving end detection block diagram is as shown in fig. 5, assuming that it is transmittedThe field strength of the incident optical carrier being
Figure BDA0002393593550000151
Wherein A iscRepresenting the amplitude, ωcRepresenting carrier angular frequency, carrier frequency fc＝ωc/2π。
The specific calculation flow of the distance between the detection target and the radar is as follows: setting its initial phase
Figure BDA0002393593550000152
First using a frequency of omegamSingle frequency signal (ω)m＜＜ωc，ωmShould be within the frequency response range of the detector),
Figure BDA0002393593550000153
amplitude modulation is carried out on the optical carrier to obtain an amplitude modulated signal EAM(t)＝Em(t)Ec(t) of (d). Wherein A ismRepresenting the amplitude, omega, of the modulated signalmRepresenting angular frequency of modulated signal, frequency f of modulated signalm＝ωmAnd/2 pi. Subsequently modulating the amplitude of the signal EAM(t) using a pulse sequence of length N (comprising N symbol symbols) having a pseudo-random nature,
Figure BDA0002393593550000154
coding to obtain a coded signal EPM(t)＝EAM(t)P(t)＝Em(t)Ec(t) P (t), wherein pnE {0,1}, g (T) denotes a pulse of amplitude 1 and width T, which can be implemented by a switching circuit. Or performing serial-parallel conversion from 1 path of input to Q path of output on the pseudo-random sequence to obtain Q path of sub-pseudo-random sequence, and using p1(t),…,pQ(t) then using the Q paths of sub-pseudo-random sequences to respectively carry out sub-pseudo-random coding on the Q laser array elements, realizing pseudo-random sequence coding by synthesizing the Q laser array elements, and coding a signal E by pseudo-randomPMAnd (t) the reflected target reaches the radar photoelectric detector. According to the intensity E of the signal light input to the detectorPM(t) when pseudo random can be obtainedWhen symbol p (t) in the machine sequence is 1, the photocurrent of the signal light (light signal which is received by the detector and transmitted from the radar laser and reflected by the detection object) is:
Figure BDA0002393593550000155
where α is the photoelectric conversion factor of the detector, ω is the non-response of the photodetector to high frequency componentsm＜＜ωcAnd ω ismIn the frequency response range of the detector, equation (1) becomes (average current of signal light):
Figure BDA0002393593550000161
the current signal represented by the formula (2) is subjected to low-pass filtering after a DC blocking circuit removes a DC component, and then the current signal is obtained:
Figure BDA0002393593550000162
that is, when p (t) is 1, the photocurrent generated by the signal light has an amplitude of
Figure BDA0002393593550000163
An electrical pulse of time width T. When p (t) is 0, the photocurrent of the signal light is 0.
That is, the photodetector converts the received light signal reflected by the detected object into a pseudo-random pulse sequence
Figure BDA0002393593550000164
Figure BDA0002393593550000165
Is determined by a pseudo-random sequence p (t).
The radar will P (t) and
Figure BDA0002393593550000166
in a time interval[0,NT]Go inAnd performing line correlation operation, wherein Δ t represents the time delay between the received pseudo-randomly coded sequence and the sequence transmitted by the transmitting end, and a correlation peak value K can be obtained when Δ t is 0.
If the starting time of the laser pulse sequence sent by the transmitting terminal is recorded as tILet t denote the time at which the detector observed the correlation peakIIThe time period of the pseudo-random sequence is TNIf the round trip delay τ is tII-tI-TNThe distance relationship between the detection target and the radar is
Figure BDA0002393593550000167
Wherein c represents the speed of light, d is the distance between the detection target and the radar, and the distance between the detection target and the radar is calculated.
Fig. 6 is a flowchart illustrating an adaptive ranging method according to another embodiment of the present application, and as shown in fig. 6, S205 may include:
and determining the type of the detection light according to the control instruction. The specific determination method is the same as that mentioned in the method of fig. 3, and is not described herein again.
S207: and determining a distance measurement algorithm corresponding to the detection light according to the type of the detection light.
Optionally, if there are a plurality of detectors, the control instruction controls the plurality of programmable array light sources to emit the programmable light signals to more than two detectors at least partially at the same time. The programmable optical signals can be emitted to more than two detectors at different moments, and the problem that the projection light source has higher temperature and larger heat dissipation requirement due to overhigh power at a certain moment is solved.
By adopting the self-adaptive distance measuring method provided by the application, the processor determines the detection light and the target detection module according to the control command generated by the controller, controls the programmable array light source to emit the detection light corresponding to the control command according to the control command, and measures the distance of the detected object according to the signal light reflected by the detected object received by the target detection module.
Fig. 7 provides an adaptive ranging apparatus according to an embodiment of the present application, as shown in fig. 7, the apparatus includes: a determining module 301 and a ranging module 302, wherein:
a determining module 301, configured to determine a target detection module from the multiple detection modules according to the control instruction; the control instruction is a control instruction sent by the controller to the programmable array light source by the programmable detector.
The distance measurement module 302 is configured to measure a distance of the object to be detected according to the detection light and the signal light reflected by the object to be detected and received by the target detection module.
Optionally, the determining module 301 is further configured to determine the type of the probe light according to the control instruction; the target detection module is determined from the plurality of detection modules according to the type of the probe light.
Optionally, the determining module 301 is further configured to determine, by the processor, a ranging algorithm corresponding to the detected light according to the control instruction.
The distance measurement module 302 is further configured to perform distance measurement on the detected object by using a distance measurement algorithm according to the detection light and the signal light.
Optionally, the determining module 301 is further configured to determine, by the processor, a ranging algorithm corresponding to the detected light according to the type of the detected light.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 8 is a schematic structural diagram of an adaptive ranging device according to an embodiment of the present disclosure, where the adaptive ranging device may be integrated in a terminal device or a chip of the terminal device.
The adaptive ranging apparatus includes: a processor 501, a storage medium 502, and a bus 503.
The processor 501 is used for storing a program, and the processor 501 calls the program stored in the storage medium 502 to execute the method embodiments corresponding to fig. 2-6. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application also provides a program product, such as a storage medium, on which a computer program is stored, including a program, which, when executed by a processor, performs embodiments corresponding to the above-described method.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to perform some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Claims (13)

1. A programmable detector, characterized in that it comprises: a processor, a programmable array light source, a controller, and a photodetector, wherein:
the controller is electrically connected with the programmable array light source and used for generating a control instruction and controlling the programmable array light source to emit the detection light corresponding to the control instruction according to the control instruction;
the programmable array light source, the controller and the photoelectric detector are respectively electrically connected with the processor; the photodetector comprises a plurality of detection modules;
the programmable array light source at least part of the array light source elements are selectively connected with the controller through signals, so that the light emitted by at least two light source elements in at least part of the array light source is overlapped in a specific space area at a certain time.
2. The programmable detector of claim 1, wherein the programmable array light source is geometrically arranged as: rectangular, circular or triangular or a combination thereof.
3. The programmable detector of claim 1, wherein the programmable array light source is a programmable laser array light source.
4. The programmable detector of claim 1, wherein the controller is in selective signal communication with the programmable array, at least some of the light source elements of the programmable array varying the emission angle of the light source.
5. The programmable detector of claim 1, wherein the controller is electrically coupled to the at least some of the array of light source elements, the at least some of the array of light source elements emitting a first light signal into space, the at least some of the detection modules receiving at least some of the first light signal back and being electrically coupled to the controller, the controller being again electrically coupled to the at least some of the array of light source elements such that light re-emitted by at least two of the at least some of the array of light source elements overlaps in a particular region of space.
6. An adaptive ranging method applied to the programmable detector of any one of claims 1 to 4, wherein the method comprises:
the processor determines a target detection module from the plurality of detection modules according to a control instruction; the control instruction is a control instruction sent by the controller in the programmable detector to the programmable array light source;
and the processor measures the distance of the detected object according to the detected light and the signal light reflected by the detected object and received by the target detection module.
7. The method of claim 6, wherein the processor performs ranging on the probe according to at least one of:
time-of-flight algorithm, matching, correlation, peak detection.
8. The method of claim 6, wherein the control command is a parameter adjustment command, and the parameter adjustment command is used to adjust an operating parameter of the programmable array light source.
9. The method of claim 6, wherein the operating parameters of the programmable array light source comprise at least one of: the method comprises the steps of transmitting power, transmitting time sequence, pulse duration, a modulation signal, an initial phase of the modulation signal and a coding mode.
10. The method of claim 6, wherein the processor determines a target detection module from the plurality of detection modules according to the control instructions, comprising:
the processor determines the type of the detection light according to the control instruction;
the processor determines the target detection module from a plurality of the detection modules according to the type of the probe light.
11. The method of claim 10, wherein before the processor performs ranging on the object according to the signal light reflected by the object received by the object detection module, the method further comprises:
the processor determines a distance measurement algorithm corresponding to the detection light according to the control instruction;
the processor measures the distance of the detection object according to the signal light reflected by the detection object received by the target detection module, and the method comprises the following steps:
and the processor adopts a distance measurement algorithm to measure the distance of the detected object according to the detection light and the signal light.
12. The method of claim 11, wherein the processor determines a ranging algorithm corresponding to the probe light according to the control command, and the determining includes:
and the processor determines a distance measurement algorithm corresponding to the detection light according to the type of the detection light.
13. The method of claim 11, wherein the plurality of detectors is a plurality, and the control instructions control the plurality of programmable array light sources to emit the programmable light signals to the two or more detectors at least partially at the same time.
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