CN114063043A - Control method and device of photoelectric detection array, photoelectric power supply switching circuit and photoelectric detection array - Google Patents
Control method and device of photoelectric detection array, photoelectric power supply switching circuit and photoelectric detection array Download PDFInfo
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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
- 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
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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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
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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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
- 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
- G01S7/486—Receivers
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/51—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the components used
- H03K17/56—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the components used by the use, as active elements, of semiconductor devices
- H03K17/687—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the components used by the use, as active elements, of semiconductor devices the devices being field-effect transistors
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L27/00—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate
- H01L27/14—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate including semiconductor components sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation
- H01L27/144—Devices controlled by radiation
- H01L27/146—Imager structures
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Abstract
The embodiment of the application discloses a control method and a control device of a photoelectric detection array, a power switch circuit of a photoelectric channel unit and the photoelectric detection array. The control method comprises the following steps: and opening the photoelectric channel unit group corresponding to the working area of the photoelectric detection array, and closing the photoelectric channel unit group corresponding to the non-working area of the photoelectric detection array. The photoelectric channel units in the photoelectric detection array are selected to be closed or opened, and the closed photoelectric channel units can prevent ambient light and interference laser from forming photocurrent on the photoelectricity, so that the laser radar system cannot be influenced. In addition, after part of photoelectric channel units in the photoelectric detection array are closed, the photoelectric power consumption can be reduced, and the heat generation can be reduced.
Description
Technical Field
The embodiment of the application relates to a switch control technology of a photoelectric detection array in a laser radar, in particular to a control method and a control device of the photoelectric detection array, a power switch circuit of a photoelectric channel unit and the photoelectric detection array.
Background
An Avalanche Photo Diode (APD) array scanning laser radar mainly uses laser beams emitted by a laser emission system to be collimated and then irradiate a target detection area, and the angle of emergent laser is changed by scanning equipment such as a galvanometer to cover the field range. Each pixel in the APD array receiving system array is an independent and complete receiving and processing channel, the target distance corresponding to each pixel is obtained by measuring the time interval between the pulse in the pixel channel and the target and the imaging system, and the 3D distance image of the target can be obtained by processing the output results of all the pixels of the array through a signal processing system visualization algorithm.
At present, in order to obtain data of a single scanning point in a scanning type laser radar, data of a corresponding photoelectric channel unit group is generally read out only, and data of other photoelectric channel unit groups are not read out.
Disclosure of Invention
In view of the above, embodiments of the present application provide a method and an apparatus for controlling a photo detection array, a power switch circuit of a photo channel unit, and a photo detection array.
According to a first aspect of embodiments of the present application, there is provided a control method for a photodetection array, including:
and opening the photoelectric channel unit group corresponding to the working area of the photoelectric detection array, and closing the photoelectric channel unit group corresponding to the non-working area of the photoelectric detection array.
In one embodiment, the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array includes:
determining a first detection area of the photoelectric detection array to which a reflected laser beam is incident according to a scanning angle of a scanning unit of the photoelectric detection array during working;
determining a first photoelectric channel unit group covered by the first detection area;
and turning on a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group or conducting a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA to sense the reflected laser beam.
In one embodiment, the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array includes:
when the scanning angle of the scanning unit during working is changed, the second detection area of the photoelectric detection array, where the reflected laser beam is incident, is determined again;
determining a second photoelectric channel unit group covered by the second detection area;
and turning off a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group or turning off a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA, and turning on a bias working power supply of the photoelectric channel unit in the second photoelectric channel unit group or turning on a path between the photoelectric channel unit in the second photoelectric channel unit group and the TIA.
In one embodiment, the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array includes:
when the scanning angle of the scanning unit during working is changed, the second detection area of the photoelectric detection array, where the reflected laser beam is incident, is determined again;
determining a second photoelectric channel unit group covered by the second detection area;
determining a third photoelectric channel unit group which is coincident in the second photoelectric channel unit group and the first photoelectric channel unit group;
turning on a bias operating power supply of the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group or turning on a path between the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group and the TIA, and turning off the bias operating power supply of the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group or turning off the path between the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group and the TIA.
In one embodiment, the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array includes:
determining a first corresponding relation between each scanning angle of a scanning unit of the laser radar and each detection area of the photoelectric detection array on which the reflected laser beam is incident;
determining a photoelectric channel unit group corresponding to each detection area;
recording a second corresponding relation between each scanning angle of the scanning unit and each photoelectric channel unit group;
when the scanning unit works, determining a first photoelectric channel unit group corresponding to the working scanning angle according to the working scanning angle of the scanning unit and the second corresponding relation;
turning on a bias operating power supply of the photoelectric channel unit in the first photoelectric channel unit group or conducting a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA to sense
The laser beam is reflected.
In one embodiment, the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array includes:
when the scanning angle of the scanning unit during working is changed, determining a second photoelectric channel unit group corresponding to the changed scanning angle according to the changed scanning angle and the second corresponding relation;
and turning off a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group or turning off a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA, and turning on a bias working power supply of the photoelectric channel unit in the second photoelectric channel unit group or turning on a path between the photoelectric channel unit in the second photoelectric channel unit group and the TIA.
In one embodiment, the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array includes:
when the scanning angle of the scanning unit during working is changed, determining a second photoelectric channel unit group corresponding to the changed scanning angle according to the changed scanning angle and the second corresponding relation;
determining a third photoelectric channel unit group which is coincident in the second photoelectric channel unit group and the first photoelectric channel unit group;
turning on a bias operating power supply of the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group or turning on a path between the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group and the TIA, and turning off the bias operating power supply of the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group or turning off the path between the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group and the TIA.
According to a second aspect of the embodiments of the present application, there is provided a control apparatus for a photodetecting array, comprising:
the starting unit is used for starting the photoelectric channel unit group corresponding to the working area of the photoelectric detection array;
and the closing unit is used for closing the photoelectric channel unit group corresponding to the non-working area of the photoelectric detection array.
In one embodiment, the control device further comprises:
the first determining unit is used for determining a first detection area of the photoelectric detection array to which the reflected laser beam is incident according to the scanning angle of the laser radar when the scanning unit works;
a second determination unit, configured to determine a first photoelectric channel unit group covered by the first detection region;
the starting unit is further configured to start a bias operating power supply of the photo-electric channel unit in the first photo-electric channel unit group or conduct a path between the photo-electric channel unit in the first photo-electric channel unit group and the TIA, so as to sense a reflected laser beam.
In one embodiment, the first determining unit is further configured to re-determine that the reflected laser beam is incident on the second detection area of the photodetecting array when the scanning angle of the scanning unit during operation is changed;
the second determining unit is further configured to determine a second photoelectric channel unit group covered by the second detection region;
the turn-off unit is further configured to turn off a bias operating power supply of the photo-electric channel unit in the first photo-electric channel unit group or turn off a path between the photo-electric channel unit in the first photo-electric channel unit group and the TIA, and the turn-on unit is further configured to turn on the bias operating power supply of the photo-electric channel unit in the second photo-electric channel unit group or turn on a path between the photo-electric channel unit in the second photo-electric channel unit group and the TIA.
In one embodiment, the first determining unit is further configured to re-determine that the reflected laser beam is incident on the second detection area of the photodetecting array when the scanning angle of the scanning unit during operation is changed;
the second determining unit is further configured to determine a second photoelectric channel unit group covered by the second detection region; and determining a third photoelectric channel unit group which is coincident in the second photoelectric channel unit group and the first photoelectric channel unit group;
the turn-on unit is further configured to turn on a bias operating power supply of a photo-channel unit in the second photo-channel unit group except the third photo-channel unit group or turn on a path between a photo-channel unit in the second photo-channel unit group except the third photo-channel unit group and the TIA, and the turn-off unit is further configured to turn off the bias operating power supply of the photo-channel unit in the first photo-channel unit group except the third photo-channel unit group or turn off a path between the photo-channel unit in the first photo-channel unit group except the third photo-channel unit group and the TIA.
In one embodiment, the control device comprises:
a third determining unit, configured to determine a first corresponding relationship between each scanning angle of a scanning unit of the laser radar and each detection area where the reflected laser beam is incident on the photodetection array;
a fourth determining unit, configured to determine a photoelectric channel unit group corresponding to each detection region;
the recording unit is used for recording a second corresponding relation between each scanning angle of the scanning unit and each photoelectric channel unit group;
a fifth determining unit, configured to determine, when the scanning unit operates, a first photoelectric channel unit group corresponding to a working scanning angle of the scanning unit according to the working scanning angle and the second correspondence relationship;
the starting unit is further configured to start a bias operating power supply of the photo-electric channel unit in the first photo-electric channel unit group or conduct a path between the photo-electric channel unit in the first photo-electric channel unit group and the TIA, so as to sense a reflected laser beam.
In an embodiment, the fifth determining unit is further configured to determine, when a scanning angle of the scanning unit during operation is changed, a second photo channel unit group corresponding to the changed scanning angle according to the changed scanning angle and the second corresponding relationship;
the turn-off unit is further configured to turn off a bias operating power supply of the photo-electric channel unit in the first photo-electric channel unit group or turn off a path between the photo-electric channel unit in the first photo-electric channel unit group and the TIA, and the turn-on unit is further configured to turn on the bias operating power supply of the photo-electric channel unit in the second photo-electric channel unit group or turn on a path between the photo-electric channel unit in the second photo-electric channel unit group and the TIA.
In an embodiment, the fifth determining unit is further configured to determine, when a scanning angle of the scanning unit during operation is changed, a second photo channel unit group corresponding to the changed scanning angle according to the changed scanning angle and the second corresponding relationship; and determining a third photoelectric channel unit group which is overlapped in the second photoelectric channel unit group and the first photoelectric channel unit group;
the turn-on unit is further configured to turn on a bias operating power supply of a photo-channel unit in the second photo-channel unit group except the third photo-channel unit group or turn on a path between a photo-channel unit in the second photo-channel unit group except the third photo-channel unit group and the TIA, and the turn-off unit is further configured to turn off the bias operating power supply of the photo-channel unit in the first photo-channel unit group except the third photo-channel unit group or turn off a path between the photo-channel unit in the first photo-channel unit group except the third photo-channel unit group and the TIA.
According to a third aspect of the embodiments of the present application, there is provided a power switching circuit of a photo channel unit, including: first field effect transistor, second field effect transistor and zener diode, wherein:
the source electrode of the first field effect tube is grounded, the drain electrode of the first field effect tube is connected with the grid electrode of the second field effect tube through a first resistor, the drain electrode of the second field effect tube is connected with the power supply input end of the photoelectric channel unit, and the source electrode of the second field effect tube is connected with a bias power supply; the voltage stabilizing diode and the second resistor are connected in parallel to form a parallel circuit, the first end of the parallel circuit is connected between the bias power supply and the source electrode of the second field effect transistor, and the second end of the parallel circuit is connected between the grid electrode of the second field effect transistor and the first resistor.
In one embodiment, when the gate of the first field effect transistor is at a high level, the bias power supply generates a voltage difference across the second resistor in the parallel circuit, the drain and the source of the second field effect transistor are conducted, and the bias power supply is conducted with the power input terminal of the photo-channel unit.
According to a fourth aspect of the embodiments of the present application, there is provided a photodetection array, the photodetection array comprising the aforementioned power switching circuit of the photodetection channel unit and at least two photodetection channel units; each of the at least two photoelectric channel units is connected with the power switch circuit.
The embodiment of the application, set up the switch circuit of offset voltage for each photoelectric channel unit in the photoelectric detection array, thus, to each photoelectric channel unit in the photoelectric detection array, all can be through the switch circuit of control its offset voltage or the opening and shutting of the route between control photoelectric channel unit and the TIA, select closing or opening of each photoelectric channel unit in the photoelectric detection array, and the photoelectric channel unit after being closed, the electric field can't be established in the photoelectric barrier district, and then can't form avalanche multiplication effect, restrain light sensing ability, the photoelectric channel unit after closing can avoid ambient light and interference laser to incide to this photoelectricity and form the photocurrent, can not lead to the fact the influence to the laser radar system. In addition, after part of photoelectric channel units in the photoelectric detection array are closed, the photoelectric power consumption can be reduced, and the heat generation can be reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic flowchart of a control method of a photodetection array according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating a method for controlling a photodetection array according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a control device of a photodetection array according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a power switch circuit of a photoelectric channel unit according to an embodiment of the present application.
Detailed Description
The essence of the technical solution of the embodiments of the present application is explained in detail below with reference to the accompanying drawings.
In the embodiment of the present application, an APD and a transimpedance Amplifier (TIA) are widely used in a receiving front end of a scanning LIDAR laser system. A large number of APD arrays and TIAs are required in lidar. Unlike the area array lidar, the scanning lidar point cloud is obtained by scanning point by point, which means that only one APD and TIA operate in a single point in the APD array, and the other APDs and TIA are in an idle state. According to the embodiment of the application, the circuit switch of the bias voltage power supply is arranged for the photoelectric channel unit in the APD detector, or the quick-reading switch or the relay is arranged between the photoelectric channel unit in the APD detector and the TIA, so that in the working process of the laser radar, only the photoelectric channel unit in a photosensitive detection area is started, and the idle photoelectric channel unit in the photoelectric detection array is closed. The closed idle photoelectric channel unit can prevent interference laser from entering the idle photoelectric channel unit, cannot form crosstalk to a normal receiving photoelectric channel, can also prevent environment light from generating large photocurrent on the idle photoelectric channel to generate heat loss, and can reduce system power consumption.
In an embodiment of the present application, a method for controlling a photodetection array is provided, where a photodetection channel unit group corresponding to a working area of the photodetection array is turned on, and a photodetection channel unit group corresponding to a non-working area of the photodetection array is turned off. That is, only the photoelectric channel unit group in the effective working area of the photoelectric detection array is turned on, and the photoelectric channel unit group outside the effective working area of the photoelectric detection array is turned off. In the embodiment of the present application, the photodetector includes an APD detector, a Single Photon Avalanche Diode (SPAD) detector, a Silicon photomultiplier (SIPM), and the like, and since the control principles thereof are basically similar, the APD detector is mainly used as an example in the embodiment of the present application for explanation. The following further explains the implementation of the technical solution of the embodiment of the present application by a specific example.
Fig. 1 is a schematic flow chart of a control method of a photodetection array according to an embodiment of the present application, and as shown in fig. 1, the control method of the photodetection array according to the embodiment of the present application includes the following steps:
In the embodiment of the present application, the photo detection array may include a plurality of photo detectors, and the plurality of photo detectors may form a one-dimensional or two-dimensional array. The method includes the steps that firstly, an effective use area in a photoelectric detection array needs to be determined, namely, when a scanning unit of a laser radar works, the scanning unit emits laser beams incident to the scanning unit to a target object, the target object reflects the light to the photoelectric detection array, and only a photoelectric channel unit in a laser beam reflection area in the photoelectric detection array senses the reflected laser beams.
And determining a first photoelectric channel unit group corresponding to the first detection area through the first detection area. The first photoelectric channel unit group comprises at least one photoelectric channel unit. Each photo-channel cell includes at least one photodetector.
In the embodiment of the present application, each of the photoelectric channel units in the photoelectric detection array can be activated or deactivated by controlling the on/off of the bias operating power supply of the photoelectric channel unit. Or a fast switch or a relay is arranged between the photoelectric channel unit in the photoelectric detection array and the TIA, and by controlling the fast switch or the relay, the passage between each photoelectric channel unit in the photoelectric detection array and the TIA can be switched on or off, so that each photoelectric channel unit in the photoelectric detection array is started to work or is switched off.
In the embodiment of the application, after the first photoelectric channel unit group corresponding to the first detection region is determined, a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group is turned on or a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA is conducted, so as to sense the reflected laser beam.
When the scanning angle of the scanning unit during working is changed, the reflected laser beam is redetermined to be incident to the second detection area of the photoelectric detection array; determining a second photoelectric channel unit group covered by the second detection area; and turning off a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group or turning off a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA, and turning on a bias working power supply of the photoelectric channel unit in the second photoelectric channel unit group or turning on a path between the photoelectric channel unit in the second photoelectric channel unit group and the TIA.
In the embodiment of the application, only the photoelectric channel units in the effective area for receiving the reflected laser beams in the photoelectric detection array are started, and the rest photoelectric channel units in the photoelectric detection array are closed and do not have the light sensing capability any more. Therefore, the closed photoelectric channel unit can not form an interference photocurrent signal, can not form crosstalk, and can also reduce the power consumption of the photoelectric detection array.
As another implementation manner, when the scanning angle of the scanning unit during operation is changed, the reflected laser beam is re-determined to be incident on the second detection area of the photodetecting array; determining a second photoelectric channel unit group covered by the second detection area; determining a third photoelectric channel unit group which is coincident in the second photoelectric channel unit group and the first photoelectric channel unit group; turning on a bias operating power supply of the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group or turning on a path between the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group and the TIA, and turning off the bias operating power supply of the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group or turning off the path between the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group and the TIA. In this example, when the second photoelectric channel unit group and the first photoelectric channel unit group have overlapping photoelectric channel unit groups, in this case, when the first photoelectric channel unit group is closed, the overlapping photoelectric channel unit group may be left in an operating state without being closed, and only the second photoelectric channel unit group in which the second photoelectric channel unit group and the third photoelectric channel unit group do not overlap may be turned on.
In the embodiments, the second photo channel unit group and the first photo channel unit group include at least one same photo channel unit. Alternatively, the second photoelectric channel unit group and the first photoelectric channel unit group are different in photoelectric channel unit.
That is to say, in the embodiment of the present application, when the scanning unit operates, the scanning angle changes, the angle of the reflected light reflected to the photodetecting array also changes, the photodetecting array senses the reflected laser beam, the output of the sensing pixel is performed based on the sensing signal, and the applications such as distance measurement are performed. When the scanning unit changes the scanning angle, it is highly likely that the second photoelectric channel unit group partially or completely coincides with the photoelectric channel unit in the first photoelectric channel unit group. The full overlap may be the case when the scanning unit is adjusted back by moving to the extreme position.
In the embodiment of the present application, the scanning unit may include a MEMS mirror, a prism, a mechanical mirror, a polarization grating, an Optical Phased Array (OPA), and the like. For MEMS mirrors, the mirror surface is rotated or translated in one or two dimensions under electrostatic/piezoelectric/electromagnetic actuation.
Fig. 2 is a schematic flowchart of a control method of a photodetection array according to an embodiment of the present application, and as shown in fig. 2, the control method of the photodetection array according to the embodiment of the present application includes the following steps:
In the embodiment of the application, each scanning angle of the scanning unit of the laser radar and the incidence of the reflected laser beam are determined in advance to correspond to each detection area of the photoelectric detection array, namely, the corresponding relationship between the scanning angle of the scanning unit and the effective photoelectric channel unit is determined in advance, so that the photoelectric channel unit capable of effectively sensing the reflected laser beam can be opened, and other photoelectric channel units in the photoelectric detection array can be closed.
And determining a photoelectric channel unit group corresponding to the detection area through the detection area, wherein the photoelectric channel unit group comprises at least one photoelectric channel unit.
And recording a second corresponding relation between each scanning angle of the scanning unit and each photoelectric channel unit group so as to determine an effective photoelectric channel unit group according to the second corresponding relation after determining the working angle of the scanning unit.
And 204, when the scanning unit works, determining a first photoelectric channel unit group corresponding to the working scanning angle according to the working scanning angle of the scanning unit and the second corresponding relation.
And determining a first photoelectric channel unit group corresponding to the working scanning angle according to the current working scanning angle of the scanning unit, and starting a bias working power supply of a photoelectric channel unit in the first photoelectric channel unit group to sense the laser beam reflected by the scanning unit.
In the embodiment of the application, a fast reading switch or a relay is arranged between the photoelectric channel unit and the TIA in the photoelectric detection array, and the fast reading switch or the relay is controlled to enable the passage between each photoelectric channel unit and the TIA in the photoelectric detection array to be switched on or off, so that each photoelectric channel unit in the photoelectric detection array is started to work or is switched off.
When the scanning angle of the scanning unit during working is changed, the second detection area of the photoelectric detection array, where the reflected laser beam is incident, is determined again; determining a second photoelectric channel unit group covered by the second detection area; and turning off a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group or turning off a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA, and turning on a bias working power supply of the photoelectric channel unit in the second photoelectric channel unit group or turning on a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA.
In the embodiment of the application, only the photoelectric channel units in the effective area for receiving the reflected laser beams in the photoelectric detection array are started, and the rest photoelectric channel units in the photoelectric detection array are closed and do not have the light sensing capability any more. Therefore, the closed photoelectric channel unit can not form an interference photocurrent signal, can not form crosstalk, and can also reduce the power consumption of the photoelectric detection array.
As another implementation manner, when a scanning angle of the scanning unit during operation is changed, determining a second photoelectric channel unit group corresponding to the changed scanning angle according to the changed scanning angle and the second corresponding relationship; determining a third photoelectric channel unit group which is coincident in the second photoelectric channel unit group and the first photoelectric channel unit group; turning on a bias operating power supply of the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group or turning on a path between the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group and the TIA, and turning off the bias operating power supply of the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group or turning off the path between the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group and the TIA. In this example, when the second photoelectric channel unit group and the first photoelectric channel unit group have overlapping photoelectric channel unit groups, in this case, when the first photoelectric channel unit group is closed, the overlapping photoelectric channel unit group may be left in an operating state without being closed, and only the second photoelectric channel unit group in which the second photoelectric channel unit group and the third photoelectric channel unit group do not overlap may be turned on.
In the embodiments, the second photo channel unit group and the first photo channel unit group include at least one same photo channel unit. Alternatively, the second photoelectric channel unit group and the first photoelectric channel unit group are different in photoelectric channel unit.
That is, in the embodiment of the present application, when the scanning unit operates, the scanning angle is generated by the table, the angle of the reflected light reflected to the photodetecting array is changed accordingly, the photodetecting array senses the reflected laser beam, the output of the sensing pixel is performed based on the sensing signal, and the applications such as ranging are performed. When the scanning unit changes the scanning angle, it is highly likely that the second photoelectric channel unit group partially or completely coincides with the photoelectric channel unit in the first photoelectric channel unit group. The full overlap may be the case when the scanning unit is adjusted back by moving to the extreme position.
Fig. 3 is a schematic structural diagram of a control device of a photodetection array according to an embodiment of the present application, and as shown in fig. 3, the control device of the photodetection array according to the embodiment of the present application includes:
the starting unit 30 is used for starting the photoelectric channel unit group corresponding to the working area of the photoelectric detection array;
and the closing unit 31 is used for closing the photoelectric channel unit group corresponding to the non-working area of the photoelectric detection array.
On the basis of the control device of the photodetection array shown in fig. 3, the control device of the photodetection array according to the embodiment of the present application further includes:
a first determining unit (not shown in fig. 3) for determining a first detection area of the photodetecting array to which the reflected laser beam is incident according to a scanning angle at which a scanning unit of the lidar operates;
a second determining unit (not shown in fig. 3) for determining a first set of photo-channel cells covered by the first detection area;
the turning-on unit 30 is further configured to turn on a bias operating power supply of the photo channel unit in the first photo channel unit group or turn on a path between the photo channel unit in the first photo channel unit group and the TIA, so as to sense a reflected laser beam.
The first determining unit is further used for re-determining that the reflected laser beam is incident to the second detection area of the photoelectric detection array when the scanning angle of the scanning unit during operation is changed;
the second determining unit is further configured to determine a second photoelectric channel unit group covered by the second detection region;
the turn-off unit 31 is further configured to turn off a bias operating power supply of the photo-channel unit in the first photo-channel unit group or turn off a path between the photo-channel unit in the first photo-channel unit group and the TIA, and the turn-on unit 30 is further configured to turn on a bias operating power supply of the photo-channel unit in the second photo-channel unit group or turn on a path between the photo-channel unit in the second photo-channel unit group and the TIA.
The first determining unit is further used for re-determining that the reflected laser beam is incident to the second detection area of the photoelectric detection array when the scanning angle of the scanning unit during operation is changed;
the second determining unit is further configured to determine a second photoelectric channel unit group covered by the second detection region; and determining a third photoelectric channel unit group which is coincident in the second photoelectric channel unit group and the first photoelectric channel unit group;
the turning-on unit 30 is further configured to turn on a bias operating power supply of a photo-channel unit in the second photo-channel unit group except the third photo-channel unit group or turn on a path between a photo-channel unit in the second photo-channel unit group except the third photo-channel unit group and the TIA, and the turning-off unit 31 is further configured to turn off a bias operating power supply of a photo-channel unit in the first photo-channel unit group except the third photo-channel unit group or turn off a path between a photo-channel unit in the first photo-channel unit group except the third photo-channel unit group and the TIA.
On the basis of the control device of the photodetection array shown in fig. 3, the control device of the photodetection array according to the embodiment of the present application further includes:
a third determination unit (not shown in fig. 3) for determining a first corresponding relationship between each scanning angle of the scanning unit of the lidar and each detection area where the reflected laser beam is incident to the photodetection array;
a fourth determining unit (not shown in fig. 3) for determining the photoelectric channel unit group corresponding to each detection region;
a recording unit (not shown in fig. 3) for recording a second correspondence between each scanning angle of the scanning unit and each photoelectric channel unit group;
a fifth determining unit (not shown in fig. 3), configured to determine, when the scanning unit operates, a first photoelectric channel unit group corresponding to a working scanning angle of the scanning unit according to the working scanning angle and the second corresponding relationship;
the starting unit is further configured to start a bias operating power supply of the photo-electric channel unit in the first photo-electric channel unit group or conduct a path between the photo-electric channel unit in the first photo-electric channel unit group and the TIA, so as to sense a reflected laser beam.
The fifth determining unit is further configured to determine, when a scanning angle of the scanning unit during operation is changed, a second photoelectric channel unit group corresponding to the changed scanning angle according to the changed scanning angle and the second correspondence relationship;
the turn-off unit 31 is further configured to turn off a bias operating power supply of the photo-channel unit in the first photo-channel unit group or turn off a path between the photo-channel unit in the first photo-channel unit group and the TIA, and the turn-on unit 30 is further configured to turn on the bias operating power supply of the photo-channel unit in the second photo-channel unit group or turn on the path between the photo-channel unit in the first photo-channel unit group and the TIA.
The fifth determining unit is further configured to determine, when a scanning angle of the scanning unit during operation is changed, a second photoelectric channel unit group corresponding to the changed scanning angle according to the changed scanning angle and the second correspondence relationship; and determining a third photoelectric channel unit group which is overlapped in the second photoelectric channel unit group and the first photoelectric channel unit group;
the turning-on unit 30 is further configured to turn on a bias operating power supply of a photo-channel unit in the second photo-channel unit group except the third photo-channel unit group or turn on a path between a photo-channel unit in the second photo-channel unit group except the third photo-channel unit group and the TIA, and the turning-off unit 31 is further configured to turn off a bias operating power supply of a photo-channel unit in the first photo-channel unit group except the third photo-channel unit group or turn off a path between a photo-channel unit in the second photo-channel unit group except the third photo-channel unit group and the TIA.
In the embodiment of the present application, the second photoelectric channel unit group and the first photoelectric channel unit group include at least one same photoelectric channel unit; or
The second photoelectric channel unit group and the first photoelectric channel unit group are different in photoelectric channel unit.
In an exemplary embodiment, the turning-on Unit 30, the turning-off Unit 31, the first determining Unit, the second determining Unit, the third determining Unit, the fourth determining Unit, the fifth determining Unit, the recording Unit, and the like may be implemented by one or more Central Processing Units (CPUs), Graphics Processing Units (GPUs), Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic elements.
In the embodiment of the present disclosure, the specific manner in which each unit in the control device of the photodetecting array shown in fig. 3 performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 4 is a schematic diagram of a composition structure of a power switch circuit of a photoelectric channel unit according to an embodiment of the present application, and as shown in fig. 4, the power switch circuit of the photoelectric channel unit according to the embodiment of the present application includes:
a first field effect transistor Q1, a second field effect transistor Q2, and a zener diode D1, wherein:
the source of the first field effect transistor Q1 is grounded, the drain of the first field effect transistor Q1 is connected with the gate of the second field effect transistor Q2 through a first resistor R1, the drain of the second field effect transistor Q2 is connected with the power input end of the photoelectric channel unit, and the source of the second field effect transistor Q2 is connected with a bias power supply; the zener diode D1 and the second resistor R2 are connected in parallel to form a parallel circuit, a first end of the parallel circuit is connected between the bias power supply and the source of the second fet Q2, and a second end of the parallel circuit is connected between the gate of the second fet Q2 and the first resistor R1.
In the embodiment of the present application, when the gate of the first fet Q1 is turned on to a high level, the bias power supply generates a voltage difference across the second resistor R2 in the parallel circuit, the drain and the source of the second fet Q2 are turned on, and the bias power supply is turned on with the power input terminal of the photo channel unit.
In the embodiment of the application, a primary switch circuit (a dotted line frame part in the figure) is added to each photoelectric channel unit bias power supply in the photoelectric detection array, and the switch circuit can be realized only by two MOS (metal oxide semiconductor) tubes, one voltage stabilizing diode and a few resistor capacitors; for example, the switch circuit may be implemented by an ASIC circuit, which facilitates miniaturization of the photodetector, and in the embodiment of the present application, by providing a switch circuit for each photo channel unit, power consumption is not substantially increased, and cost is low. By controlling the grid of the first field-effect tube Q1 to be at a high level, the source and the drain of the first field-effect tube Q1 are conducted, so that the input voltage generates voltage drop at two sides of the R2 resistor, the second field-effect tube Q2 can be opened, the bias voltage is output to the photoelectric channel unit, and the photoelectric channel unit is started; by controlling the gate of the first fet Q1 to be at a low level, the source and drain of the first fet Q1 are turned off, so that the voltage difference across the R2 resistor is 0, thereby achieving disconnection of the path between the bias voltage and the photo-channel unit, which is turned off.
In the embodiment of the present application, the zener diode D1 may clamp the maximum voltage drop across the gate and the source of the second fet Q2, so as to prevent the gate and the source of the second fet Q2 from being burnt due to the excessively high voltage. When rated bias voltage is provided for photoelectricity, the photoelectricity can keep high-sensitivity light sensing capability and can receive echo laser, interference laser and ambient light; when the photoelectric bias voltage is controlled to be 0, the photoelectric sensor has no light sensing capability, so that a photocurrent signal can not be formed, crosstalk can not be formed, and power can not be consumed. The switching circuit is arranged for each photoelectric channel unit in the photoelectric detection array, and the switching circuit can dynamically switch the switching-off or switching-on of the photoelectric channel units in the photoelectric area corresponding to the scanning angle according to the scanning angle and the scanning direction of the actual scanning unit, so that the photoelectric channel units in the photoelectric detection array work in a time-sharing mode. Different photoelectric channel units are switched according to the actual scanning working angle, time-sharing working is achieved, on one hand, anti-crosstalk processing can be achieved, the situation that other lasers are incident on a photoelectric switch which does not need to receive echoes is avoided, and on the other hand, power consumption of a receiving module of the photoelectric detection array is reduced.
When the photoelectric bias power supply is conducted and input to the photoelectric channel unit, the photoelectric work is close to the avalanche region, the electric field in the photoelectric barrier region is very strong, and the avalanche multiplication effect is formed by the movement, acceleration, collision and ionization of electrons and holes in the potential barrier region, so that high-sensitivity induction light is kept. When the bias power supply is turned off to the photoelectric channel unit, the photoelectric barrier region cannot establish an electric field, so that an avalanche multiplication effect cannot be formed, and the light sensing capability is inhibited. Therefore, the influence of ambient light and interference laser on the system due to the photocurrent formed on the photoelectric element can be avoided.
Or, by setting a fast reading switch or a relay between the photoelectric channel unit in the photoelectric detection array and the TIA, and by controlling the on or off of the fast reading switch or the relay, the path between each photoelectric channel unit in the photoelectric detection array and the TIA can be switched on or off, and each photoelectric channel unit in the photoelectric detection array is controlled to start to work or be switched off.
The embodiment of the present application further describes a photodetection array, which includes the power switch circuit of the photoelectric channel unit of the foregoing embodiment and at least two photoelectric channel units; each of the at least two photo-channel units is connected to the power switch circuit of the foregoing embodiment. The power switching circuit can be understood with reference to the description of the foregoing embodiments.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present invention, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
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. The above-described device embodiments are only illustrative, for example, the division of the unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not present.
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; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method of controlling a photodetection array, the method comprising:
and opening the photoelectric channel unit group corresponding to the working area of the photoelectric detection array, and closing the photoelectric channel unit group corresponding to the non-working area of the photoelectric detection array.
2. The control method according to claim 1, wherein the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array comprises:
determining a first detection area of the photoelectric detection array to which a reflected laser beam is incident according to a scanning angle of a scanning unit of the laser radar during working;
determining a first photoelectric channel unit group covered by the first detection area;
and turning on a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group or conducting a channel between the photoelectric channel unit in the first photoelectric channel unit group and the TIA (transimpedance amplifier) to sense the reflected laser beam.
3. The control method according to claim 2, wherein the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array comprises:
when the scanning angle of the scanning unit during working is changed, the second detection area of the photoelectric detection array, where the reflected laser beam is incident, is determined again;
determining a second photoelectric channel unit group covered by the second detection area;
and turning off a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group or turning off a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA, and turning on a bias working power supply of the photoelectric channel unit in the second photoelectric channel unit group or turning on a path between the photoelectric channel unit in the second photoelectric channel unit group and the TIA.
4. The control method according to claim 2, wherein the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array comprises:
when the scanning angle of the scanning unit during working is changed, the second detection area of the photoelectric detection array, where the reflected laser beam is incident, is determined again;
determining a second photoelectric channel unit group covered by the second detection area;
determining a third photoelectric channel unit group which is coincident in the second photoelectric channel unit group and the first photoelectric channel unit group;
turning on a bias operating power supply of the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group or turning on a path between the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group and the TIA, and turning off the bias operating power supply of the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group or turning off the path between the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group and the TIA.
5. The control method according to claim 1, wherein the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array comprises:
determining a first corresponding relation between each scanning angle of a scanning unit of the laser radar and each detection area of the photoelectric detection array on which the reflected laser beam is incident;
determining a photoelectric channel unit group corresponding to each detection area;
recording a second corresponding relation between each scanning angle of the scanning unit and each photoelectric channel unit group;
when the scanning unit works, determining a first photoelectric channel unit group corresponding to the working scanning angle according to the working scanning angle of the scanning unit and the second corresponding relation;
and turning on a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group or conducting a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA to sense the reflected laser beam.
6. The control method according to claim 5, wherein the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array comprises:
when the scanning angle of the scanning unit during working is changed, determining a second photoelectric channel unit group corresponding to the changed scanning angle according to the changed scanning angle and the second corresponding relation;
and turning off a bias working power supply of the photoelectric channel unit in the first photoelectric channel unit group or turning off a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA, and turning on a bias working power supply of the photoelectric channel unit in the second photoelectric channel unit group or turning on a path between the photoelectric channel unit in the first photoelectric channel unit group and the TIA.
7. The control method according to claim 5, wherein the turning on of the photoelectric channel unit group corresponding to the working area of the photoelectric detection array comprises:
when the scanning angle of the scanning unit during working is changed, determining a second photoelectric channel unit group corresponding to the changed scanning angle according to the changed scanning angle and the second corresponding relation;
determining a third photoelectric channel unit group which is coincident in the second photoelectric channel unit group and the first photoelectric channel unit group;
turning on a bias operating power supply of the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group or turning on a path between the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group and the TIA, and turning off the bias operating power supply of the photoelectric channel units in the first photoelectric channel unit group except the third photoelectric channel unit group or turning off the path between the photoelectric channel units in the second photoelectric channel unit group except the third photoelectric channel unit group and the TIA.
8. A control device for a photodetecting array, characterized in that the control device comprises:
the starting unit is used for starting the photoelectric channel unit group corresponding to the working area of the photoelectric detection array;
and the closing unit is used for closing the photoelectric channel unit group corresponding to the non-working area of the photoelectric detection array.
9. A power switching circuit for a photo-channel cell, the switching circuit comprising: first field effect transistor, second field effect transistor and zener diode, wherein:
the source electrode of the first field effect tube is grounded, the drain electrode of the first field effect tube is connected with the grid electrode of the second field effect tube through a first resistor, the drain electrode of the second field effect tube is connected with the power supply input end of the photoelectric channel unit, and the source electrode of the second field effect tube is connected with a bias power supply; the voltage stabilizing diode and the second resistor are connected in parallel to form a parallel circuit, the first end of the parallel circuit is connected between the bias power supply and the source electrode of the second field effect transistor, and the second end of the parallel circuit is connected between the grid electrode of the second field effect transistor and the first resistor.
10. A photodetection array comprising at least two of the photo-channel cells and the power switching circuitry of the photo-channel cell of claim 15; wherein each of the at least two photo channel units is connected to the power switch circuit.
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| CN202010753482.3A CN114063043A (en) | 2020-07-30 | 2020-07-30 | Control method and device of photoelectric detection array, photoelectric power supply switching circuit and photoelectric detection array |
| PCT/CN2021/108717 WO2022022523A1 (en) | 2020-07-30 | 2021-07-27 | Method and device for controlling photoelectric detection array, photoelectric power switch circuit, and photoelectric detection array |
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