CN116660868B

CN116660868B - Electronic equipment

Info

Publication number: CN116660868B
Application number: CN202310250003.XA
Authority: CN
Inventors: 李佳鹏; 莫良华; 吕晨晋; 陈艺章; 张耿立; 汪浩
Original assignee: Shenzhen Fushi Technology Co Ltd
Current assignee: Shenzhen Fushi Technology Co Ltd
Priority date: 2022-04-18
Filing date: 2022-04-18
Publication date: 2024-03-01
Anticipated expiration: 2042-04-18
Also published as: CN116660868A; CN114966620B; CN114966620A

Abstract

The application provides an electronic device comprising a photo detection means configured to perform distance detection of an object located within a preset detection range. The photoelectric detection device comprises a transmitting module, a receiving module, a processing module and a control module. The emission module is configured to respectively project corresponding sensing light beams to different detection areas in the detection range. The receiving module is configured to correspondingly sense the optical signals transmitted back from different detection areas and output corresponding optical sensing signals. The processing module is configured to analyze and process the light sensing signal to enable distance detection. The control module is configured to set the emission parameters of the emission module for irradiating the corresponding detection area and the sensing parameters of the corresponding detection area according to the distance detection extremum required to be met by different detection areas.

Description

Electronic equipment

The present application is a divisional application of patent application with application number 202210415593.2, entitled "photodetector device and electronic device", whose application date is 2022, 4, 18.

Technical Field

The application belongs to the field of photoelectric detection, and particularly relates to electronic equipment.

Background

A Time of Flight (ToF) measurement principle calculates three-dimensional information such as a distance of an object from a Time of Flight of detected light reflected by the object in a measurement scene. The ToF measurement has the advantages of long sensing distance, high precision, low energy consumption and the like, and is widely applied to the fields of consumer electronics, intelligent driving, AR/VR and the like.

The intensity of the detection light to be emitted when ranging is performed by using the ToF measurement principle is generally in positive correlation with the distance of the required ranging range, that is, the farther the distance is to be measured, the higher the intensity of the detection light to be emitted. Typical detection devices generally set the emitted power of the detection light uniformly with the furthest ranging requirement, however in many measurement scenarios the ranging requirements in different directions are often different, such as: the distance measurement range required along the horizontal direction of the measurement scene is far and the distance measurement range required along the horizontal direction is close, so that if the whole detection device is uniformly provided with the furthest distance measurement requirement, the power waste is easy to be caused, and the Pile-Up Effect (pipe-Up Effect) is easy to be caused because the reflected detection light intensity is too high, so that the accuracy of distance measurement is further influenced.

Disclosure of Invention

In view of the above, the present application provides an electronic device capable of improving the problems of the prior art.

The application provides electronic equipment, which comprises the photoelectric detection device, and further comprises an application module, wherein the application module is configured to realize corresponding functions according to the detection result of the photoelectric detection device;

the photoelectric detection device is configured to detect the distance of an object positioned in a preset detection range; the photoelectric detection device comprises a transmitting module, a receiving module, a processing module and a control module. The emission module is configured to respectively project corresponding sensing light beams to different detection areas in the detection range; the receiving module is configured to correspondingly sense the optical signals transmitted back from different detection areas and output corresponding optical sensing signals; the processing module is configured to analyze and process the light sensing signal to enable distance detection. The control module is configured to set the emission parameters of the emission module for irradiating the corresponding detection area and the sensing parameters of the corresponding detection area according to the distance detection extremum required to be met by different detection areas.

The beneficial effects of this application:

The transmitting parameters of the transmitting module and the sensing parameters of the receiving module for executing the distance detection are correspondingly set according to the distance detection extremum required to be met by the detection areas at different positions, so that the overall power consumption of the photoelectric detection device can be effectively reduced, the Pile-Up effect caused by the too high intensity of the reflected sensing light beam can be reduced, and the detection accuracy of the photoelectric detection device is improved.

Drawings

Features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 is a schematic diagram of a functional module of an electronic device according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a functional module of an embodiment of the photodetection device shown in FIG. 1;

FIG. 3 is a schematic diagram of a statistical histogram obtained by the processing module shown in FIG. 2;

FIG. 4 is a schematic diagram illustrating a defining manner of the emitting direction of the sensing beam emitted by the emitting module shown in FIG. 2;

FIG. 5 is a schematic side view of the distance detection extremum and corresponding optical power of the sensing beam emitted by the photodetector in the detection range of FIG. 1 according to the change of the emission direction;

FIG. 6 is a schematic view of a detection light path of an embodiment of the transmitting module and the receiving module shown in FIG. 2;

FIG. 7 is a schematic view of a detection light path of another embodiment of the transmitting module and the receiving module shown in FIG. 2;

FIGS. 8-11 are schematic diagrams of detection light paths of another embodiment of the transmitting module and the receiving module shown in FIG. 2;

FIG. 12 is a signal timing diagram of the photo-detection device according to an embodiment of the present disclosure;

FIG. 13 is a schematic diagram of a photo-detection device according to an embodiment of the present disclosure when sending signals of sensing pulse beams with different pulse emission times;

fig. 14 is a schematic diagram of a detection range of an automotive lidar according to an embodiment of the present application.

Fig. 15 is a schematic view of a detection range of an automotive lidar according to another embodiment of the present application.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implicitly indicating the number or order of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present application, it should be noted that, unless explicitly specified or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically connected, electrically connected or communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements or interaction relationship between the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

The following disclosure provides many different embodiments, or examples, for implementing different structures of the application. In order to simplify the disclosure of this application, only the components and settings of a particular example are described below. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the use of reference numerals and/or letters in the various examples is repeated herein for the purpose of simplicity and clarity of presentation and is not in itself an indication of a particular relationship between the various embodiments and/or settings discussed. In addition, the various specific processes and materials provided in the following description of the present application are merely examples of implementing the technical solutions of the present application, but one of ordinary skill in the art should recognize that the technical solutions of the present application may also be implemented by other processes and/or other materials not described below.

Further, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the present application. It will be appreciated, however, by one skilled in the art that the subject matter of the present application may be practiced without one or more of the specific details, or with other structures, components, etc. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the application.

Embodiments of the present application provide a photodetection device configured to perform distance detection of an object located within a preset detection range. The photoelectric detection device comprises a transmitting module, a receiving module, a processing module and a control module. The emission module is configured to respectively project corresponding sensing light beams to different detection areas in the detection range. The receiving module is configured to correspondingly sense the optical signals transmitted back from different detection areas and output corresponding optical sensing signals. The processing module is configured to analyze and process the light sensing signal to enable distance detection. The control module is configured to set the emission parameters of the emission module for irradiating the corresponding detection area and the sensing parameters of the corresponding detection area according to the distance detection extremum required to be met by different detection areas.

Optionally, in some embodiments, the emission parameter includes an optical power of the emission module emitting a corresponding sensing beam, and a relation between the optical power of the sensing beam and a distance detection extremum required for the corresponding illuminated detection region satisfies a second-order positive correlation.

Optionally, in some embodiments, the second order positive correlation relationship is as follows: p=a×l ² ×α ² The system is shown, wherein A is a coefficient related to the emission module, alpha is a divergence angle of the sensing beam, P is optical power of the sensing beam, and L is a distance detection extremum along the emission direction.

Optionally, in some embodiments, the sensing light beam is a sensing pulse light beam periodically emitted according to a preset frequency, a time period between emission moments of two adjacent sensing pulse light beams is defined as an emission period, the emission parameters include an emission period length of the sensing pulse light beam, an emission frequency and a pulse emission number in a detection frame, the emission period length and a distance detection extremum to be met by the irradiated detection area are in positive correlation, the emission frequency and the distance detection extremum to be met by the irradiated detection area are in negative correlation, and the pulse emission number of the sensing pulse light beam in one detection frame is in positive correlation with the distance detection extremum to be met by the irradiated detection area.

The embodiment of the application also provides electronic equipment, which comprises the photoelectric detection device. The electronic equipment realizes corresponding functions according to the three-dimensional information obtained by the photoelectric detection device. The electronic device is, for example: cell phones, automobiles, robots, access control/monitoring systems, intelligent door locks, unmanned aerial vehicles, etc. The three-dimensional information is, for example: proximity information, depth information, distance information, coordinate information, and the like of an object within the detection range. The three-dimensional information may be used in fields such as 3D modeling, face recognition, automatic driving, machine vision, monitoring, unmanned aerial vehicle control, augmented Reality (Augmented Reality, AR)/Virtual Reality (VR), instant positioning and map construction (Simultaneous Localization and Mapping, SLAM), object proximity determination, etc., which are not limited in this application.

The photoelectric detection device can be, for example, a laser radar and can be used for obtaining three-dimensional information of an object in a detection range. The laser radar is applied to the fields of intelligent driving vehicles, intelligent driving aircrafts, 3D printing, VR, AR, service robots and the like. Taking an intelligent driving vehicle as an example, a laser radar is arranged in the intelligent driving vehicle, and the laser radar can scan the surrounding environment by rapidly and repeatedly emitting laser beams so as to obtain point cloud data reflecting the morphology, the position and the movement condition of one or more objects in the surrounding environment. Specifically, the lidar emits a laser beam to the surrounding environment, receives an echo beam of the laser beam reflected by each object in the surrounding environment, and determines distance/depth information of each object by calculating a time delay (i.e., time of flight) between the emission time of the laser beam and the return time of the echo beam. Meanwhile, the laser radar can also determine angle information describing the orientation of the detection range of the laser beam, combine the distance/depth information of each object with the angle information of the laser beam to generate a three-dimensional map comprising each object in the scanned surrounding environment, and guide the intelligent driving of the unmanned vehicle by using the three-dimensional map.

Hereinafter, an embodiment of a photodetection device applied to an electronic apparatus will be described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of a functional module of a photodetection device applied to an electronic device according to an embodiment of the present application. Fig. 2 is a schematic functional block diagram of a photodetection device according to an embodiment of the present application.

Referring to fig. 1 and 2, the electronic device 1 comprises a photo detection means 10. The photodetection device 10 may detect the object 2 within a detection range, which may be defined as a stereoscopic space range in which the photodetection device 10 can effectively perform three-dimensional detection, to obtain three-dimensional information of the object 2. Such as, but not limited to, one or more of proximity information of the object 2, depth information of the surface of the object 2, distance information of the object, and spatial coordinate information of the object 2.

The electronic device 1 may further comprise an application module 20, the application module 20 being configured to implement a corresponding function according to the detection result of the photo detection means 10, such as but not limited to: whether the object 2 appears in a detection range preset in front of the electronic equipment 1 can be judged according to the proximity information of the object 2; or, the electronic device 1 can be controlled to avoid the obstacle according to the distance information of the object 2; alternatively, 3D modeling, face recognition, machine vision, etc. may be implemented based on depth information of the surface of the object 2. The electronic device 1 may further comprise a storage medium 30, which storage medium 30 may provide support for the storage requirements of the photo detection means 10 during operation.

Alternatively, in some embodiments, the photodetection device 10 may be, for example, a dtofmeasurement device that performs three-dimensional information sensing based on the direct time of flight (direct Time of Flight, dtofl) principle. The dtofe measuring device 10 can emit a sensing beam in a detection range and receive the sensing beam reflected by the object 2 in the detection range, the time difference between the emitting time and the receiving time of the reflected sensing beam is called as the time of flight t of the sensing beam, and the distance information of the object 2 can be obtained by calculating half the distance of the sensing beam in the time of flight tWherein c is the speed of light.

Alternatively, in other embodiments, the photodetection device 10 may be an iToF measurement device 10 that performs three-dimensional information sensing based on an indirect time-of-flight (indirect Time of Flight, iToF) measurement principle. The iToF measuring device 10 obtains three-dimensional information of the object 2 by comparing the phase difference between the emitted sensing beam and the received reflected sensing beam.

In the following examples of the present application, the photodetection device 10 is mainly described as a dtif measuring device.

Optionally, as shown in fig. 2, the photodetection device 10 includes a transmitting module 12, a receiving module 14, and a processing module 15. The transmitting module 12 is configured to transmit a sensing beam within a detection range to detect three-dimensional information of the object 2 within the detection range, wherein a part of the sensing beam is reflected by the object 2 and returns, the reflected sensing beam carries the three-dimensional information of the object 2, and a part of the reflected sensing beam can be sensed by the receiving module 14 to obtain the three-dimensional information of the object 2. The receiving module 14 is configured to sense the optical signal from the detection range and output a corresponding optical sensing signal, and by analyzing the optical sensing signal, the distance detection of the object 2 in the detection range can be realized. It is understood that the optical signal sensed by the receiving module 14 may be a photon, for example, a photon including a sensing beam reflected by the object 2 in the detection range and a photon of ambient light in the detection range. The processing module 15 is configured to analyze and process the light sensing signal to obtain a time when the sensing beam is sensed by the receiving module 14, and obtain three-dimensional information of the object 2 according to a time difference between an emission time of the sensing beam and a reflected sensed time.

The processing module 15 may be provided on the photo detection device 10. Alternatively, in other embodiments, all or part of the functional units of the processing module 15 may be provided on the electronic device 1.

Alternatively, the sensing beam may be a laser pulse having a preset frequency. The emission module 12 is configured to periodically emit the laser pulse as a sensing beam at a preset frequency within a detection frame.

Alternatively, the sensing beam is, for example, visible, infrared or near infrared light, and the wavelength range is, for example, 390 nanometers (nm) -780nm, 700nm-1400nm, 800nm-1000nm.

Referring to fig. 2 and fig. 3 together, fig. 3 is a schematic diagram of a statistical histogram obtained by the processing module 15 shown in fig. 2. Optionally, in some embodiments, the processing module 15 may include a counting unit 152, a statistics unit 154, a time-of-flight acquisition unit 156, and a distance acquisition unit 158. The counting unit 152 is configured to accumulate counts in corresponding time bins according to the time when the receiving module 14 senses the optical signal and outputs the corresponding optical sensing signal, where the time bins are time units Δt of the optical sensing signal generating time recorded by the counting unit 152, which can reflect the accuracy of time recording of the optical sensing signal by the counting unit 152, and the finer the time bins, the higher the accuracy of recording time.

Optionally, in some embodiments, the counting unit 152 may include a Time-to-Digital Converter (TDC) 1521 and a count memory 1522, where the count memory 1522 has a count storage space allocated correspondingly according to a Time bin, and each Time the TDC1521 records a generation Time of a photo-sensing signal is added by one in the count storage space of the corresponding Time bin.

Optionally, in some embodiments, the statistics unit 154 may be configured to count the light-induced signal counts accumulated in each corresponding time bin to generate a corresponding statistical histogram. The abscissa of the statistical histogram represents the time stamp of each corresponding time bin, and the ordinate of the statistical histogram represents the accumulated light sensing signal count value in each corresponding time bin. Alternatively, the statistics unit 154 may be a histogram circuit. It should be understood that the statistics unit 154 performs a statistical analysis on the counts of the light sensing signals corresponding to the accumulated counts of the sensing light beams emitted multiple times in one detection frame, so that the counts have a mathematical statistical significance, and the number of the emissions of the sensing light beams in one detection frame can be as high as tens of thousands, hundreds of thousands, or even millions.

During the sensing process, a large amount of photons of the ambient light are also sensed by the receiving module 14 to generate corresponding photo-sensing signal counts. The probability that photons of these ambient light are sensed while leaving counts in the corresponding time bins tends to be the same, constituting Noise floors (Noise levels) within the detection range, which are measured relatively high in scenes with higher ambient light intensities and relatively low in scenes with lower ambient light intensities. On the basis, the sensing light beam reflected from the object 2 is sensed and the corresponding generated photo-sensing signal count is superposed on the noise back, so that the photo-sensing signal count in the time bin corresponding to the sensed time of the sensing light beam is obviously higher than the photo-sensing signal count of other time bins, and further a prominent signal peak is formed. It will be appreciated that the count value of the signal peak may be affected by factors such as the optical power of the sensing beam, the reflectivity of the object 2, the detection range of the photodetection device 10, and the width of the signal peak may be affected by factors such as the pulse width of the emitted sensing beam, the time jitter of the photoelectric conversion element of the receiving module 14 and the TDC. Thus, the time-of-flight acquisition unit 156 can obtain the time-of-flight of the relevant sensing beam reflected back by the object 2 from the time difference between the time stamp t1 of the time bin corresponding to the signal peak and the emission time t0 (not shown) of the relevant sensing beam generating the signal peak. The distance acquisition unit 158 may be configured to obtain distance information between the object 2 reflecting the sensing light beam and the photodetection device 10 from the time of flight of the sensing light beam determined by the statistical histogram, for example: the distance of the line between the object 2 and the photo-detecting means 10 in the detection range.

It should be understood that the transmitting module 12 and the receiving module 14 are disposed adjacent to each other side by side, the light emitting surface of the transmitting module 12 and the light entering surface of the receiving module 14 face the same side of the photodetecting device 10, and the distance between the transmitting module 12 and the receiving module 14 may be, for example, 2 millimeters (mm) to 20mm. Because the transmitting module 12 and the receiving module 14 are relatively close to each other, the transmitting path of the sensing beam from the transmitting module 12 to the object 2 and the returning path from the object 2 to the receiving module 14 after reflection are not completely equal, but are far greater than the distance between the transmitting module 12 and the receiving module 14, which can be regarded as approximately equal. Thereby, the distance information between the object 2 and the photo detection means 10 can be calculated from the product of half the time of flight t of the sensing beam reflected back by the object 2 and the speed of light c.

Fig. 4 is a schematic diagram illustrating a defining manner of the emitting direction of the sensing beam emitted by the emitting module 12 in fig. 2. As shown in fig. 4, the sensing beam emitted by the emitting module 12 along the preset emitting direction irradiates the detection area 20 (see fig. 6-11) located at a corresponding position in the detection range, so as to perform distance detection on the object 2 located in the detection area 20. Optionally, in some embodiments, the direction perpendicular to the light-emitting surface of the emission module 12 is the positive direction of the z-axis, and the x-axis and the y-axis are located on the light-emitting surface of the emission module 12 The method establishes a rectangular coordinate system xyz of the transmitting module. The emitting direction of the sensing beam can be defined by the parameter value of the rectangular coordinate system xyz of the emitting module, for example: the included angle between the emitting direction of the sensing light beam and the positive direction of the z axis of the emitting module rectangular coordinate system xyz is the polar angle phi of the emitting direction, and the included angle between the projection of the emitting direction of the sensing light beam on the xy plane of the emitting module rectangular coordinate system xyz and the positive direction of the x axis is the azimuth angle of the emitting directionThereby, the emitting direction of the sensing beam can pass through the polar angle phi and the azimuth angle +_ of the sensing beam in the rectangular coordinate system xyz of the emitting module>Definition is performed. It is to be understood that the origin of the rectangular coordinate system xyz of the emission module may be the center of the light emitting surface of the emission module 12, or any point in the light emitting surface of the emission module 12, which is not specifically limited in this application.

Alternatively, the emission direction of the sensing beam may be defined in other suitable manners, so long as the emission direction of the sensing beam can be quantitatively and accurately described, which is not specifically limited in the present application. For example, in other embodiments, the emitting direction of the sensing beam may be defined by the angles between the sensing beam and the x, y, and z axes of the rectangular coordinate system xyz of the emitting module, respectively.

Optionally, in some embodiments, the detection limits of the distance to be satisfied by the photo-detection device 10 for the detection regions 20 at different positions within the detection range are different. That is, the photodetector 10 may be required to measure a distance for some locations and a near point for other locations within the detection range. It should be appreciated that the location of the detection region 20 may be represented by the direction of emission of the sensing beam illuminating the detection region 20. That is, the distance detection extremum to be satisfied by the sensing beam is the distance detection extremum to be satisfied by the photo-detection device 20 along the detection area 20 correspondingly irradiated along the emission direction of the sensing beam.

Fig. 5 is a schematic side view of the distance detection extremum to be satisfied by the sensing beam emitted from the photodetection device 10 in the detection range and the corresponding optical power change with the emission direction. As shown in fig. 5, with the photodetection device 10 as a starting point, the lengths of the line segments along different emission directions of the sensing beam are positively correlated with the magnitude of the distance detection extremum to be satisfied along the emission direction, and the end points of the line segments can be combined to form a first envelope surface 102 indicating the condition that the distance detection extremum to be satisfied by the sensing beam changes along the emission direction within the detection range. For example: The center of the photoelectric detection device 10 is along the water The sensing beam emitted in the horizontal direction needs to meet the maximum distance detection extremum, and the sensing beam is required to be full in the direction deviating from the horizontal direction to the periphery The distance detection extremum of the foot gradually decreases, and the distance detection required to be satisfied in the edge direction of the detection range farthest from the horizontal direction Minimum extremumThe first envelope surface 102 correspondingly formed is a curved surface with a middle protruding outwards with respect to the periphery, as shown by the dotted line in fig. 5.

In order to achieve a sufficient signal-to-noise ratio, it is necessary to set a relationship between the optical power P of the sensing beam and the distance detection extremum L that the sensing beam needs to satisfy along its emission direction, which satisfies a second-order positive correlation, as shown in the following equation (1):

P＝A×L ² ×α ² (1)

where a is a coefficient related to the emission module 12 of the photodetector 10, and α is a divergence angle of the sensing beam. Accordingly, the length of the line segment along a certain emission direction is used to represent the optical power of the sensing beam along the emission direction, and the end points of the line segments can be combined to form the second envelope surface 104, which is a curved surface that changes more steeply compared to the first envelope surface 102, as shown by the dash-dot line in fig. 5. The second coating surface 104 can reflect the change condition of the optical power of the sensing light beam along different emission directions within the detection range. It can be seen that, in the case that the photodetection device 10 has a difference between the distance detection extremum to be satisfied by the detection regions 20 at different positions, the optical power of the sensing beam correspondingly changes with the emission direction, and the optical power of the sensing beam and the distance detection extremum to be satisfied in the corresponding emission direction form a preset relationship, for example: in a second-order positive correlation relationship with each other.

It should be understood that the optical power of the sensing beam is used to represent the energy level of the sensing beam. Optionally, in some embodiments, the sensing beam is a pulsed beam, and the optical power of the sensing beam may refer to a peak optical power or an average optical power of the pulsed beam.

It should be understood that, herein, the extreme value of the distance detection that needs to be satisfied by the sensing beam along a certain emission direction refers to the end value of the distance detection range of the photodetection device 10 along the emission direction, that is, the farthest distance that can effectively perform the distance detection with the photodetection device 10 as the starting point.

The emitting module 12 is configured to emit at least one sensing light beam to a detection range, wherein the sensing light beam has a preset emitting direction. Optionally, in some embodiments, the emitting module 12 emits a plurality of the sensing beams toward the detection range, where each of the sensing beams has a different emitting direction from the other sensing beams, so as to correspondingly irradiate the detection areas located in different directions within the detection range, so as to improve the spatial resolution of the three-dimensional information detection performed by the photoelectric detection device 10. It will be appreciated that the emitting module 12 may emit a plurality of sensing light beams along different emitting directions at the same time, or may emit a plurality of sensing light beams having different emitting directions in different time periods, and the number of sensing light beams emitted in different time periods may be the same or different.

Specifically, as shown in fig. 6, the emission module 12 includes a light source 120 and an emission optical device 124, where the light source 120 is configured to emit a light beam, and the emission optical device 124 is configured to emit the light beam from the light source 120 along a preset emission direction to form the sensing light beam, so as to correspondingly irradiate the detection area 20 located at a preset position within the detection range. Since the distance detection extremum to be satisfied by the photoelectric detection device 10 along different emission directions is different in the detection range, the optical power of the sensing light beam projected along different preset emission directions is correspondingly different.

Optionally, in some embodiments, the light source 120 includes a first light emitting unit 1221 and a second light emitting unit 1222. The first light emitting unit 1221 and the second light emitting unit 1222 are configured to emit light beams independently of each other. The detection range of the photodetection device 10 includes a first detection region 201 and a second detection region 202, which are respectively located at different positions, and the emission optical device 124 is configured to form the light beam emitted by the first light emitting unit 1221 into a first sensing light beam emitted along a first emission direction so as to correspondingly irradiate the first detection region 201. The emission optics 124 is configured to form the light beam emitted by the second light emitting unit 1222 into a second sensing light beam emitted in a second emission direction to correspondingly illuminate the second detection area 201. The first emission direction and the second emission direction are respectively two different emission directions. The photodetector 10 has different distance detection extremum requirements for the first detection region 201 and the second detection region 202, respectively. Correspondingly, the distance detection extremum to be met by the first sensing beam is also different from the distance detection extremum to be met by the second sensing beam. Since the optical power of the sensing beam and the distance detection extremum that the sensing beam needs to satisfy along the emitting direction thereof form a positive correlation, for example: the second order positive correlation, the optical power of the first sensing beam is also different from the optical power of the second sensing beam. In addition, since the emission power of the light emitting unit 122 and the light power of the corresponding formed sensing beam are also in positive correlation, the emission power of the first light emitting unit 1221 is also different from the emission power of the second light emitting unit 1222, and corresponds to a positive correlation with the distance detection extremum that the first sensing beam and the second sensing beam respectively need to satisfy.

Optionally, in some embodiments, the light source 120 includes a plurality of light emitting units 122, the light emitting units 122 being configured to correspondingly emit light beams. The detection range of the photoelectric detection device 10 includes a plurality of detection areas 20 respectively located at different positions, and the light beams emitted by the light emitting units 122 are modulated by the emission optical device 124 to form sensing light beams respectively emitted along a preset specific emission direction, so as to respectively irradiate the detection areas 20 located at different corresponding positions in the detection range. That is, each light emitting unit 122 has a one-to-one correspondence relationship with the emission direction of the formed sensing beam and the detection region 20 irradiated within the detection range, respectively. Thus, if the photodetection device 10 has different requirements for the detection regions 20 along different emission directions, the optical power of the sensing beam emitted along each preset emission direction can be correspondingly determined according to the specific value of the distance detection extremum to be satisfied along the emission direction, so as to set the emission power of the light emitting unit 122 forming the corresponding sensing beam. That is, at least two of the plurality of light emitting units 122 have different emission powers, respectively, and the emission power of each light emitting unit 122 may be determined according to the distance between the formed sensing beam and the detection extremum to be satisfied in the self-emission direction.

Alternatively, in some embodiments, the plurality of light emitting units 122 may be arranged in an array. In other embodiments, the plurality of light emitting units 122 may be arranged in other suitable manners, for example: in a straight line arrangement or irregularly randomly arranged, etc., which is not particularly limited in this application.

Alternatively, the light emitting unit 122 may be a light source 120 in the form of a vertical cavity surface emitting Laser (Vertical Cavity Surface Emitting Laser, VCSEL for short, or vertical cavity surface emitting Laser for short), an edge emitting Laser (Edge Emitting Laser, EEL), a light emitting Diode (Light Emitting Diode, LED), a Laser Diode (LD), or the like. The edge emitting laser may be a Fabry Perot (FP) laser, a distributed feedback (Distribute Feedback, DFB) laser, an Electro-absorption modulated laser (Electro-absorption Modulated, EML), or the like, which is not limited in the embodiments of the present application.

Optionally, the light emitting unit 122 has a preset emission power, and the emission power is in positive correlation with a distance detection extremum that needs to be met by a sensing light beam formed by the light emitting unit. The emission power value may be set by the magnitude of a driving signal applied to the light emitting unit 122. Alternatively, the light emitting unit 122 may include a plurality of light emitting sub-units (not shown), and the emission power of the light emitting unit 122 may be set correspondingly by setting the number of the light emitting sub-units to be lit.

Optionally, in some embodiments, the emission optics 124 of the emission module 12 includes a projection lens, which may include a lens or lenses. The projection lens is configured to emit the light beams emitted by the light emitting units 122 along different preset emitting directions to form the sensing light beams, so as to correspondingly irradiate the detection areas 20 located at different positions within the detection range. As shown in fig. 6, the light source 120 of the emission module 12 may include, for example, 16 light emitting units 122, where the light emitting units 122 are arranged in a 4×4 array, and are labeled 1-16 respectively. The light beams emitted by each light emitting unit 122 form sensing light beams emitted along the preset emitting direction through the projection lens respectively, and correspondingly irradiate the detection area 20 at a preset position in the detection range. Specifically, the light beams emitted by the 16 light emitting units 122 respectively form sensing light beams emitted along the corresponding 16 different preset emitting directions through the projection lens, and the corresponding 16 detection areas 20 located at different positions within the irradiation detection range are respectively marked as the I-XVI. The photoelectric detection device 10 is farthest from the distance detection extremum required by the VI, VII, X, XI detection area 20 located at the center of the detection range, the distance detection extremum required by the II, III, V, IX, VIII, XII, XIV, XV detection area 20 located at the edge of the detection range is the next smallest, and the distance detection extremum required by the I, IV, XIII, XVI detection area 20 located at the corner position of the detection range is the smallest. Correspondingly, the No. 6, 7, 10, 11 light emitting units 122 forming the sensing light beam irradiating the No. VI, VII, X, XI detection area 20 have the highest emission power, the No. 2, 3, 5, 9, 8, 12, 14, 15 light emitting units 122 forming the sensing light beam irradiating the No. II, III, V, IX, VIII, XII, XIV, XV detection area 20 have the next emission powers, and the No. 1, 4, 13, 16 light emitting units 122 forming the sensing light beam irradiating the No. I, IV, XIII, XVI detection area 20 have the lowest emission powers.

Optionally, in some embodiments, the emission optics 124 of the emission module 12 may include a beam splitter, and the light source 120 includes at least one light emitting unit 122. The beam splitter is configured to split the light beam to divide one light beam emitted by the light emitting unit 122 into two or more sensing light beams with different emitting directions, and the two or more sensing light beams are corresponding to detection areas located at different positions within the irradiation detection range. The emission power of the light emitting unit 122 is determined according to the distance detection extremum that the formed sensing light beam needs to satisfy along the respective emission directions. Such as a cylindrical lens, a grating, a microlens array, a diffractive optical element (Diffractive Optical Element, DOE), etc. The plurality of sensing light beams split by the beam splitter may be distributed along one dimension or may be distributed on a two-dimensional plane, which is not particularly limited in this application. Alternatively, the beam splitter may be made of a resin material or a glass material, or may be made of both a resin material and a glass material. The beam splitter can increase the number of sensing light beams with different emission directions, thereby improving the spatial resolution of three-dimensional detection.

As shown in fig. 7, the light source 120 of the emission module 12 includes, for example, 4 light emitting units 122, where the light emitting units 122 are arranged in a 2×2 array, and are respectively labeled 1-4. The light beam emitted by each light emitting unit 122 is divided into 4 sensing light beams with different preset emission directions by the beam splitter, and the light beams emitted by the 4 light emitting units 122 are divided into 16 sensing light beams with different preset emission directions by the beam splitter, and the 16 detection areas 20 in the corresponding irradiation detection range are respectively marked as No. I-XVI. Specifically, the light beam emitted by the light emitting unit No. 1 122 is divided into 4 sensing light beams with different preset emission directions by the beam splitter, and the sensing light beams respectively and correspondingly irradiate the detection area No. I, II, III, IV 20 in the detection range; the beam emitted by the No. 2 light emitting unit 122 is divided into 4 sensing beams with different preset emitting directions through the beam splitter, and the sensing beams respectively and correspondingly irradiate a No. V, VI, VII, VIII detection area 20 in the detection range; the beam emitted by the No. 3 light emitting unit 122 is divided into 4 sensing beams with different preset emitting directions through the beam splitter, and the sensing beams respectively and correspondingly irradiate a No. IX, X, XI, XII detection area 20 in the detection range; the light beam emitted by the light emitting unit No. 4 122 is divided into 4 sensing light beams with different preset emitting directions by the beam splitter, and the sensing light beams respectively and correspondingly irradiate the detection area No. XIII, XIV, XV, XVI in the detection range. Wherein the photodetection device 10 is closer to the detection extremum required for the detection region No. I, II, III, IV, V, VI, VII, VIII located in the upper half of the detection range, and is farther from the detection extremum required for the detection region No. IX, X, XIII, XIV, XI, XII, XV, XVI located in the lower half of the detection range. Correspondingly, the emission power of the emission sensing light beam irradiating the No. 1, no. 2 light emitting units 122 of the No. I, II, III, IV, V, VI, VII, VIII detection area 20 is higher, and the emission power of the emission sensing light beam irradiating the No. 3, no. 4 light emitting units 122 of the No. IX, X, XIII, XIV, XI, XII, XV, XVI detection area 20 is lower.

Optionally, in some embodiments, the beam splitter is configured to split one light beam emitted by one light emitting unit 122 into at least two sensing light beams with different optical powers along different emission directions. That is, the beam splitter redistributes the energy of the original beam during the beam splitting process, the specific distribution situation of the beam energy may be set according to the actual requirement of the sensing beam formed after the beam splitting, the sensing beams after the beam splitting may be evenly distributed so that each sensing beam after the beam splitting has the same optical power, or the sensing beams after the beam splitting may be unevenly distributed so that some sensing beams of the beam splitting have higher optical power and some other sensing beams have lower optical power. Thus, two or more sensing beams formed by the beam splitter from the same light emitting unit 122 can correspondingly detect two or more detection regions with different distance detection extremum requirements. For example: at least two of the 4 sensing light beams divided by the beam splitter by the light emitting unit No. 1 122 in fig. 7 may have different optical powers, respectively, and are applied to detection areas having different distance detection extremum requirements. It should be understood that in other embodiments, one beam emitted by the same light emitting unit 122 may have the same optical power in two or more sensing beams formed by the beam splitter along different emission directions.

Alternatively, in some embodiments, the light emitting unit 122 may have a fixed emission power, and may be set according to a distance detection extremum that needs to be met by the sensing light beam formed by the light emitting unit 122. It is understood that the light emitting unit 122 having a fixed emission power may be used in a scenario where the formed sensing beam has a fixed preset emission direction and the distance detection extremum to be satisfied along the emission direction is stable and unchanged.

Optionally, in some embodiments, the emission optical device 124 of the emission module 12 includes a scanner, where the light source 120 includes at least one light emitting unit 122, and the scanner is configured to change the light beams emitted by the same light emitting unit 122 into the sensing light beams emitted along different emission directions respectively in different periods of time, so as to irradiate the detection areas 20 located at different positions within the detection range in the corresponding different periods of time, thereby improving the spatial resolution of the distance detection performed by the photodetection device 10. The scanner 128 is, for example, a Micro-Electro-Mechanical System (MEMS) galvanometer, which can reflect the light beam emitted by the light source 120 to different emission directions by deflecting the micromirror. Alternatively, the scanner 128 is, for example, an optical phased array (Optical Phased Array, OPA) that adjusts the direction of emission of the sensing beam by modulating the orientation of the equiphase plane of the sensing beam. Correspondingly, if the distance detection extremum to be satisfied by the sensing beam after the emission direction of the sensing beam is changed by the scanner is changed compared with the distance detection extremum to be satisfied before the emission direction is changed, the emission power of the light emitting unit 122 forming the sensing beam is changed in proportion to the distance detection extremum to be satisfied by the sensing beam. That is, if the distance detection extremum becomes far, the optical power requirement of the sensing beam is correspondingly high, and the emission power of the light emitting unit 122 forming the sensing beam is correspondingly increased; if the distance detection limit value is closer, the optical power requirement of the sensing beam is correspondingly lower, and the emission power of the light emitting unit 122 forming the sensing beam is correspondingly lower.

As shown in fig. 8-11, in some embodiments, the light source 120 of the emission module 12 includes, for example, 4 light emitting units 122, where the light emitting units 122 are arranged in a 2×2 array, and are labeled 1-4 respectively. The light beams emitted by each light emitting unit 122 are redirected by the scanner to form sensing light beams respectively scanning along 4 different preset emitting directions, and the light beams emitted by the 4 light emitting units 122 are redirected by the scanner to form sensing light beams respectively scanning along 16 different preset emitting directions, wherein the 16 sensing areas 20 respectively irradiating the sensing range in different time periods T1-T4 are respectively marked as No. I-XVI. Specifically, the light beam emitted by the light emitting unit No. 1 122 is redirected by the scanner to form sensing light beams scanning along 4 different preset emitting directions, and the detection area No. I, II, III, IV within the detection range is correspondingly irradiated in different periods T1-T4; the direction of the light beam emitted by the No. 2 light emitting unit 122 is changed by the scanner to form sensing light beams which are scanned along 4 different preset emitting directions, and the No. V, VI, VII, VIII detection area 20 in the detection range is correspondingly irradiated in different time periods T1-T4 respectively; the direction of the light beam emitted by the light emitting unit No. 3 122 is changed by the scanner to form sensing light beams scanning along 4 different preset emitting directions, and the light beams respectively irradiate the detection area No. IX, X, XI, XII in the detection range correspondingly in different time periods T1-T4; the light beam emitted by the light emitting unit No. 4 122 is redirected by the scanner to form sensing light beams scanning along 4 different preset emitting directions, and the detection area No. XIII, XIV, XV, XVI within the detection range is correspondingly irradiated in different time periods T1-T4 respectively. If the photodetection device 10 is closer to the detection limit value of the distance required for the detection region 20 of No. I, IV, IX, XII, V, VIII, XIII, XVI, and is farther from the detection limit value of the distance required for the detection region 20 of No. II, III, X, XI, VI, VII, XIV, XV. Correspondingly, the light emitting unit No. 1 122 needs to increase the light power when the sensing light beam formed by the scanner scans from the detection area No. 20 to the detection area No. 20, the emission power of the light emitting unit No. 1 122 is correspondingly increased, the light power needs to be reduced when the sensing light beam scans from the detection area No. 20 to the detection area No. 20, and the emission power of the light emitting unit No. 1 is correspondingly reduced; the light beam formed by the scanner of the light emitting unit No. 2 122 is required to increase the light power when scanning from the detection area No. 20 to the detection area No. 20, the emission power of the light emitting unit No. 2 is correspondingly increased, the light power when scanning from the detection area No. 20 to the detection area No. 20 is required to decrease, and the emission power of the light emitting unit No. 2 is correspondingly decreased; the light emission power of the light emission unit No. 3 122 needs to be increased when the sensing light beam formed by the scanner passes through the detection area No. 3 from the detection area No. IX 20 to the detection area No. X20, the light emission power of the light emission unit No. 3 also correspondingly increases, and the light emission power needs to be reduced when the light emission power of the light emission unit No. 3 from the detection area No. XI 20 to the detection area No. XII also correspondingly decreases; the light emitting unit No. 4 122 needs to increase the light power when the sensing beam formed by the scanner scans from the detection area No. XIII 20 to the detection area No. XIV 20, the emission power of the light emitting unit No. 4 is correspondingly increased, and the light power needs to decrease when the sensing beam scans from the detection area No. XV 20 to the detection area No. XVI 20, the emission power of the light emitting unit No. 4 is correspondingly decreased.

Optionally, the emitting direction of the sensing beam can pass through the polar angle phi and the azimuth angle of the sensing beam in the rectangular coordinate system xyz of the emitting moduleDefinition is performed. Alternatively, the emission direction of the sensing beam may be defined in other suitable manners, so long as the emission direction of the sensing beam can be quantitatively and accurately described, which is not specifically limited in the present application.

Referring to fig. 2 together, in some embodiments, the setting module 18 may further include an emission parameter setting unit 184, where the emission parameter setting unit 184 is configured to set the emission parameters of the corresponding light emitting units 122 according to the distance detection extremum to be satisfied by the detection area 20 to be irradiated. Optionally, the emission parameters of the light emitting unit 122 include an emission power, an emission frequency, a pulse emission frequency, an emission period length, and the like. Wherein, the emission power of the light emitting unit 122 is positively correlated with the distance detection extremum to be satisfied by the irradiated detection area 20, and the emission power of the light emitting unit 122 is correspondingly greater as the distance detection extremum of the irradiated detection area 20 is farther, so that the formed sensing light beam has enough energy to irradiate to the distance detection extremum and return; the closer the illuminated detection area 20 needs to meet the distance detection extremum, the smaller the emission power of the light emitting unit 122 is correspondingly, so as to reduce the overall power consumption of the emission module 12. The emission period length of the light emitting unit 122 for emitting a sensing pulse beam is in positive correlation with the distance detection extremum to be satisfied by the irradiated detection area 20, the further the irradiated detection area 20 is to be satisfied, the longer the emission period of the light emitting unit 122 for emitting a sensing pulse beam is correspondingly, so that photons of the emitted sensing pulse beam have enough flight time to be emitted to the position of the distance detection extremum corresponding to the detection area 20 and return; the closer the illuminated detection region 20 needs to satisfy the distance detection extremum, the shorter the emission period of the light emitting unit 122 emitting one sensing pulse beam is correspondingly, meaning that the light emitting unit 122 and the photosensitive pixel 142 performing the corresponding distance detection can complete the corresponding distance detection once more quickly, the power consumption of the corresponding light emitting unit 122 and photosensitive pixel 142 can be reduced.

It will be appreciated that the position of the detection area 20 illuminated by the sensing beam may be expressed in terms of the direction of emission of the sensing beam, for example: the polar angle phi and azimuth angle of the emitting direction of the sensing light beam in the rectangular coordinate system xyz of the emitting module can be usedTo define the location of the detection area 20 illuminated by the sensing beam. Accordingly, a correspondence between the emission direction of the sensing beam and the distance detection extremum to be satisfied by the corresponding irradiated detection region 20 can be established.

It can be understood that, if the number of times the light emitting unit 122 emits the sensing pulse beam is unchanged within one detection frame, the shorter the emission period of the light emitting unit 122 means the higher the emission frequency, and the longer the emission period of the light emitting unit 122 means the lower the emission frequency. In this case, the light emitting unit 122 emits a relationship in which the emission frequency of the sensing pulse beam and the distance detection extremum required for the corresponding irradiated detection region 20 are inversely related.

Optionally, in some embodiments, the sensing beam is a sensing pulse beam with a preset frequency, and the number of times the light source 120 emits the sensing pulse beam in a detection frame is in positive correlation with a distance detection extremum required in an emission direction of the sensing pulse beam. For example, as shown in fig. 6 and 13, the light source 120 emits a first sensing pulse beam along a first emission direction, corresponding to the first detection region 201 within the detection range. The light source 120 emits a second sensing pulse beam along a second emission direction, which corresponds to the second detection area 202 within the detection range. The first emission direction and the second emission direction are different emission directions, and correspondingly, the first detection area 201 and the second detection area 202 are respectively located at different positions within the detection range. The distance detection extremum to be met by the first detection area 201 irradiated along the first emission direction is a first distance detection extremum, and the distance detection extremum to be met by the second detection area 202 irradiated along the second emission direction is a second distance detection extremum, wherein the first distance detection extremum is different from the second distance detection extremum. Correspondingly, the number of times the light source 120 emits the first sensing pulse beam is different from the number of times the second sensing pulse beam is emitted within one detection frame. The pulse emission times of the sensing pulse beam in one detection frame are in positive correlation with the distance detection extremum which needs to be met by the corresponding irradiated detection area 20 when the sensing pulse beam performs the distance detection, and if the first distance detection extremum is larger than the second distance detection extremum, the pulse emission times of the first sensing pulse beam in one detection frame are correspondingly larger than the pulse emission times of the second sensing pulse beam in one detection frame; if the first distance detection extremum is smaller than the second distance detection extremum, the pulse emission times of the first sensing pulse beam in one detection frame are correspondingly smaller than the pulse emission times of the second sensing pulse beam in one detection frame. Optionally, the light source 120 includes a first light emitting unit 1221 and a second light emitting unit 1222, the emission optical device 124 is configured to form the pulse beam emitted by the first light emitting unit 1221 into the first sensing pulse beam emitted in a first emission direction, and the emission optical device 124 is configured to form the pulse beam emitted by the second light emitting unit 1222 into the second sensing pulse beam emitted in a second emission direction. Alternatively, the optical power of the first sensing pulse beam may be the same as that of the second sensing pulse beam, and correspondingly, the emission power of the first light emitting unit 1221 may be the same as that of the second light emitting unit 1222. That is, the first and second sensing pulse beams having the same optical power and different pulse emission times may perform distance detection on the first and second detection regions 201 and 202, respectively, having different distance detection extremum requirements, the pulse emission times of the sensing pulse beam within one detection frame being in positive correlation with the distance detection extremum to be satisfied by the sensing pulse beam for performing distance detection.

Alternatively, as shown in fig. 6 and 13, in some embodiments, the first and second sensing pulse beams emitted from the light source 120 in different emission directions may have the same emission frequency, emission period length, and detection frame length. The distance detection extremum required to be met by the first sensing pulse beam to perform detection along the first emission direction is smaller than the distance detection extremum required to be met by the second sensing pulse beam to perform detection along the second emission direction, and the pulse emission times of the first sensing pulse beam in one detection frame are correspondingly smaller than the pulse emission times of the second sensing pulse light speed in one detection frame. The length of the detection frame needs to enable the light source 120 to emit all the sensing pulse beams with the largest preset pulse emission times, and for other sensing pulse beams with smaller preset pulse emission times, the light source 120 stops emitting after the preset pulse emission times are emitted until the end of the current detection frame. For example, in some embodiments, the light source 120 may start emitting the first sensing pulse beam and the second sensing pulse beam simultaneously within one detection frame, and after the first sensing pulse beam with the required fewer pulse emissions is completely emitted, the light source 120 stops emitting the first sensing pulse beam and waits for other sensing pulse beams with the greater pulse emissions, for example: and the second sensing pulse beam finishes the emission of one detection frame after all the sensing pulse beams are emitted. It will be appreciated that in other embodiments, the light source 120 may also start emitting the first sensing pulse and the second sensing pulse light beam at different times within a detection frame, for example: the second sensing pulse beam with more pulse emission times can be emitted first, and the first sensing pulse beam with less pulse emission times can be emitted after the second sensing pulse beam with a certain number of times is emitted. Alternatively, the sensing pulse beam may be discontinuously emitted within a detection frame for a desired number of pulse emissions, for example: the number of pulse emission times required by the first sensing pulse beam in one detection frame is N, the N times can be divided into preset M groups for emission, n=n1+n2+ … … +nm, the light source 120 continuously emits N1 first sensing pulse beams in one detection frame, emits N2 first sensing pulse beams after a preset period, and so on until NM first sensing pulse beams are emitted finally. That is, the light source 120 only needs to emit each sensing pulse beam at a preset frequency within one detection frame according to the required pulse emission times, where the types of the sensing pulse beams may be divided according to the required pulse emission times, and the required pulse emission times of each sensing pulse beam and the distance detection extremum required to be met when each sensing pulse beam performs the distance detection are in positive correlation.

It should be understood that, for the sensing pulse beam with the same optical power, the number of photons of the sensing pulse beam reflected by the object 2 when detecting the object 2 closer to the object is greater, the sensing pulse beam is sensed and counted by the receiving module 14 with a higher probability, the statistical histogram meeting the signal-to-noise ratio requirement can be obtained only by requiring fewer pulse emission times, and the number of photons of the sensing pulse beam reflected by the object 2 when detecting the object farther from the object is smaller, the probability that the sensing pulse beam can be sensed and counted by the receiving module 14 is correspondingly lower, and the statistical histogram meeting the signal-to-noise ratio requirement can be obtained only by requiring more pulse emission times. Accordingly, the number of pulse emission times of the sensing pulse beam in a detection frame can be set correspondingly according to the distance detection extremum requirement that the sensing pulse beam needs to meet correspondingly, so that the emission power consumption of the light source 120 can be reduced reasonably.

Alternatively, in some embodiments, the emission parameter setting unit 184 may set the emission parameter of the light source 120 according to a predetermined correspondence between the emission parameter of the sensing light beam and a distance detection extremum to be satisfied by the detection area 20 irradiated by the sensing light beam, for example: an emission setting map may be established, which is used to record the correspondence between the positional information of each detection area 20 in the detection range, the distance detection extremum that each detection area 20 needs to satisfy, and the emission parameters of the sensing beam that irradiates the corresponding detection area 20. The emission parameter setting unit 184 may control the emission parameter of the sensing beam emitted from the light source 120 according to an emission setting comparison table. The emission setting map may be stored in the storage medium of the photodetection device 10 or the electronic apparatus 1. Optionally, the emission setting comparison table may be preset before the product leaves the factory, or may be set by the user according to the actual scenario during the use process.

Alternatively, in some embodiments, the multiple emission parameters of the sensing beam may be set simultaneously according to the distance detection extremum to be satisfied. For example, the sensing pulse beam for performing distance detection on the detection area 20 with the required distance detection extremum being closer may be correspondingly set to have lower optical power, shorter pulse emission period and fewer pulse emission times in one detection frame; the sensing pulse beam for performing distance detection on the detection area 20 with the required distance detection extremum can be correspondingly set to have higher optical power, longer pulse emission period and more pulse emission times in one detection frame. That is, the light source 120 has a plurality of emission parameters of different light emitting units 122, such as: the transmitting power, the transmitting frequency, the pulse transmitting times and the like are set according to the distance detection extremum which is required to be met by the correspondingly formed sensing light beam, so that the overall transmitting power consumption during detection of the transmitting module is reduced as much as possible. It should be understood that the number of terms of the emission parameter of the sensing beam that can be set according to the distance detection extremum to be satisfied by the irradiated detection area 20 is not particularly limited, and may be any one or a combination of any two or more of them.

Referring to fig. 6-11, the receiving module 14 may include a photosensor 140 and receiving optics 144. The receiving optics 144 is disposed on the light-in side of the photosensor 140 and is configured to propagate an optical signal from a detection range to the photosensor 140 for sensing. For example, in some embodiments, the receiving optics 144 includes a receiving lens. Alternatively, the receiving lens 144 may include one lens or a plurality of lenses. The photosensor 140 is configured to sense optical signals propagating from the detection range via the receiving optics 144 and output corresponding photo-sensing signals.

Optionally, in some embodiments, the receiving module 14 may further include a peripheral circuit (not shown) formed by one or more of a signal amplifier, an Analog-to-Digital Converter (ADC), and the like, and the peripheral circuit may be partially or fully integrated in the photosensor 140.

Alternatively, in some embodiments, the photosensor 140 includes a single photosensitive pixel 142 or includes a plurality of photosensitive pixels 142 to form a photosensitive pixel array, for example. The detection range of the photoelectric detection device 10 includes a plurality of detection areas 20 respectively located at different positions, the photosensitive pixels 142 of the photoelectric sensor 140 have corresponding detection areas 20 in the detection range, and the optical signals returned from the detection areas 20 propagate to the corresponding photosensitive pixels 142 via the receiving optical devices 144 for sensing. It should be understood that the detection area 20 corresponding to the photosensitive pixel 142 can be regarded as a spatial range covered by the field angle formed by the photosensitive pixel 142 via the receiving optical device 144. It will be appreciated that the optical signal returned from the detection region 20 comprises a sensing beam projected onto the detection region 20 and reflected back by the object 2 located within the detection region 20, as well as photons of ambient light returned from the detection region 20. Alternatively, one of the photosensitive pixels 142 may include a single photoelectric conversion device or include a plurality of photoelectric conversion devices. The photoelectric conversion device is configured to sense a received optical signal and convert the received optical signal into a corresponding electrical signal to be output as the photo-sensing signal. Such as single photon avalanche diodes (Single Photon Avalanche Diode, SPADs), avalanche photodiodes (Avalanche Photon Diode, APDs), silicon photomultiplier tubes (Silicon Photomultiplier, sipms) arranged in parallel by a plurality of SPADs, and/or other suitable photoelectric conversion elements.

The photosensitive pixels 142 have sensing periods of different lengths corresponding to the optical signals returned from the detection regions 20 at different positions within the detection range, and the specific length of the sensing period can be determined according to the distance detection extremum required by the corresponding detection region 20. As shown in fig. 12, in some embodiments, the light emitting unit 122 periodically emits laser pulses at a preset frequency, and the laser pulses form the sensing beam to be projected toward the detection range through the emitting optical device 124, that is, the sensing beam may be a periodic pulse beam having a preset frequency. The light emitting unit 122 may emit a plurality of laser pulses within one detection frame, and a period between emission timings of two adjacent laser pulses may be defined as one emission period of the laser pulses. The photosensitive pixels 142 have a sensing period corresponding to the emission period. For example, the photosensitive pixels 142 periodically perform sensing at the same preset frequency as the emission period, the sensing period having a start time and an end time coincident with the emission period. The photosensitive pixel 142 starts sensing photons returned from the detection range at the same time as each laser pulse is emitted, and the counting unit 152 counts the photo-sensing signals generated by the sensed photons. The statistics unit 154 counts accumulated in the corresponding time bins due to the sensing of the light sensing signals in the plurality of sensing periods of one detection frame by the receiving module 14 to generate corresponding statistical histograms. The length of the sensing period is at least greater than the time of flight required for photons to traverse the distance detection extremum required for the corresponding detection zone 20 to ensure that photons reflected back from the distance detection extremum can be sensed and counted. The length of the sensing period may be set correspondingly according to the distance detection extremum required by the detection area 20. Optionally, the sensing period length of the photosensitive pixel 142 is in positive correlation with the distance detection extremum to be satisfied by the corresponding detected detection area 20, for example: for the detection region 20 with a longer detection extremum, the sensing period of the photosensitive pixel 142 for performing the corresponding detection is longer; for the detection region 20 closer to the detection extremum, the sensing period of the photosensitive pixel 142 implementing the corresponding detection is shorter.

Optionally, in some embodiments, the receiving module 14 may further include a counting unit 152. Referring to fig. 2 together, the counting unit 152 includes a TDC1521 and a count memory 1522, where the count memory 1522 has count storage spaces allocated correspondingly according to time bins. The TDC1521 is correspondingly connected to the photosensitive pixel 142, and is configured to record the time when the photosensitive pixel 142 generates the photosensitive signal and accumulate the count in the count storage space corresponding to the time bin.

The photo detection device 10 may further comprise a setting module 18, the setting module 18 comprising a sensing parameter setting unit 186, the sensing parameter setting unit 186 being configured to set the sensing parameter of the photosensitive pixel 142 correspondingly according to the distance detection extremum required by the detection area 20 where the photosensitive pixel 142 detects correspondingly. Optionally, the sensing parameters of the photosensitive pixels 142 include a sensing period length and a count storage space correspondingly configured.

Alternatively, the sensing parameter setting unit 186 can set the sensing period length of the corresponding pixel 142 by controlling the operation state of the TDC1521, for example, by sending a timing end signal to the TDC1521 connected to the corresponding pixel 142 to stop the timing of the TDC1521, thereby setting the sensing period length of the corresponding pixel 142.

Optionally, in some embodiments, the photoelectric conversion element in the photosensitive pixel 142 is SPAD, which needs to be reset before each sensing period ends to continue to perform sensing in the next sensing period. The sensing parameter setting unit 186 can also set the sensing period length of the corresponding photosensitive pixel 142 by sending a sensing end signal to the SPAD to end the sensing of the SPAD. Alternatively, the SPAD ends the sensing period by performing a reset after receiving the sensing end signal. It should be appreciated that the same SPAD can be quenched and reset multiple times during one sensing period to increase the probability of sensing the returned light signal, but no matter how many times SPAD is quenched and reset during one sensing period, a reset is required before ending the sensing period to be in a state where photons can be sensed at the beginning of the next sensing period. Thus, for the detection region 20 having a relatively close detection extremum, the sensing period of the photosensitive pixel 142 for which the corresponding detection is performed is relatively shortened, and the detection frame rate for the detection region 20 can be increased, thereby reducing the operation power consumption of the photosensitive pixel 142.

Alternatively, in some embodiments, the timing end signal and the sensing end signal may be clock control signals, respectively, issued by the sensing parameter setting unit 186.

It should be understood that, for the TDC1521 having the same time recording accuracy, the longer the sensing period of the photosensitive pixel 142 for one sensing pulse beam, the more the time-division number of the TDC1521 for recording the time of the photosensitive signal generated by the photosensitive pixel 142 in the sensing period is, the number of photons sensed and counted during the sensing process will also increase correspondingly, and further the more counting storage space needs to be allocated to the count memory 1522 correspondingly. Therefore, for the detection region 20 whose distance detection extremum is closer, the photosensitive pixel 142 performing the distance detection can be correspondingly provided with a shorter sensing period and a smaller count storage space; for the detection region 20 with a longer distance detection extremum, the photosensitive pixels 142 performing the distance detection may be correspondingly disposed with a longer sensing period and more count storage space configured. That is, the length of the sensing period for performing distance detection by the photosensitive pixel 142 is in positive correlation with the distance detection extremum to be satisfied by the detection area 20 to be detected, and the size of the count storage space configured corresponding to the photosensitive pixel 142 in the count storage 1522 is in positive correlation with the distance detection extremum to be satisfied by the detection area 20 to be detected corresponding to the photosensitive pixel 142. Therefore, setting the sensing parameters of the relevant photosensitive pixels 142 for performing the corresponding distance detection according to the distance detection extremum to be satisfied by the detection regions 20 located at different positions can effectively reduce the overall power consumption of the receiving module 14, and can reduce the storage space of the counting memory 1522 to be configured, thereby saving the device cost of the receiving module 14.

Alternatively, in some embodiments, the sensing parameter setting unit 186 may set or adjust according to a predetermined correspondence between the distance detection extremum of the detection region 20 and the sensing period length, for example: a sensing device comparison table may be established, where the sensing device comparison table is used to record the positional information of each detection area 20 in the detection range, the distance detection extremum that each detection area 20 needs to satisfy, the photosensitive pixel number for performing the distance detection, and the corresponding relationship between the sensing parameter values related to the distance detection extremum. The sensing parameter setting unit 186 may set or adjust the sensing parameters of the photosensitive pixels 142 according to a sensing setting lookup table. The sensing arrangement lookup table may be stored in the storage medium of the photo detection means 10 or the electronic device 1. Optionally, the sensing setting comparison table may be preset before the product leaves the factory, or may be adjusted by the user according to the actual scenario during the use process.

As shown in fig. 6, in some embodiments, the photosensor 140 includes a first photosensitive pixel 1421 and a second photosensitive pixel 1422. The first photosensitive pixel 1421 is configured to correspond to the first detection region 201 within the sensing detection range. The second photosensitive pixel 1422 is configured to correspond to the second detection region 202 within the sensing detection range. The first detection region 201 and the second detection region 202 are respectively located at different positions within the detection range. The photo-detector 10 needs to satisfy a first distance detection extremum far from the first detection region 201 and a second distance detection extremum near from the second detection region 202. The first photosensitive pixel 1421 has a first sensing period that is periodic to the first detection region 201, and the second photosensitive pixel 1422 has a second sensing period that is periodic to the second detection region 202. Accordingly, the length of the first sensing period in which the first photosensitive pixel 1421 performs distance detection is longer than the length of the second sensing period in which the second photosensitive pixel 1422 performs distance detection, and the first count storage space configured by the first photosensitive pixel 1421 is larger than the second count storage space configured by the second photosensitive pixel 1422.

Optionally, in some embodiments, the photosensor 140 includes a plurality of photosensitive pixels 142, each photosensitive pixel 142 configured to correspondingly sense a light signal returned from one of the detection regions 20 within the detection range. For example, the number of the photosensitive pixels 142 is the same as the number of the detection regions 20 in the detection range, the receiving optical device 144 is configured to correspondingly transmit the optical signal returned from each detection region 20 in the detection range to one photosensitive pixel 142 for sensing, and each of the plurality of photosensitive pixels 142 has a one-to-one correspondence with one detection region 20 located at a preset position in the detection range. Optionally, each light emitting unit 122 of the emitting module 12 also irradiates one detection area 20 located at a preset position in the detection range in a one-to-one correspondence manner, and in this case, the optical design of the photodetection device 10 may enable the plurality of light emitting units 122 of the emitting module 12 and the plurality of photosensitive pixels 142 of the receiving module 14 to establish a preset one-to-one correspondence relationship with the plurality of detection areas 20 located at different positions in the detection range. As shown in fig. 6, the light source 120 of the emission module 12 includes 16 light emitting units 122 arranged in a 4×4 array, which are labeled 1-16. The 16 light emitting units 122 emit sensing light beams along the corresponding 16 different preset emitting directions through the emitting optical devices 124, and the corresponding 16 detection areas 20 located at different positions within the irradiation detection range are respectively marked as the numbers I-XVI. The photosensor 140 of the receiving module 14 includes, for example, 16 photosensitive pixels 142 arranged in a 4×4 array, and are labeled 1-16 respectively. The plurality of sensing beams reflected back from the 16 detection areas 20 propagate through the receiving optics 144 to the 16 photosensitive pixels 142 for sensing in a one-to-one correspondence. For example, the sensing light beam emitted from the light emitting unit No. 1 122 along the preset emitting direction by the emitting optical device 124 corresponds to the detection area No. 20 within the detection range, and the sensing light beam reflected from the detection area No. 20 propagates to the photosensitive pixel No. 1 142 for sensing by the receiving optical device 144. The one-to-one correspondence between the other light emitting units 122 and the photosensitive pixels 142 and the other detection areas 20 may be the same as each other, and will not be described herein. Thus, if the distance detection extremum to be satisfied by the photodetection device 10 for the detection regions 20 at different positions is different, the sensing parameters of the photosensitive pixels 142 performing the corresponding detection can be set according to the distance detection extremum to be satisfied by each detection region 20, for example: sensing period length and count storage space, etc. For the detection region 20 where the remote detection extremum is to be satisfied, the photosensitive pixel 142 performing the corresponding detection may be provided with a relatively long sensing period length and a large count storage space. For the detection region 20 where the detection extremum is required to be satisfied at a shorter distance, the photosensitive pixel 142 performing the corresponding detection may be provided with a relatively shorter sensing period length and a smaller count storage space.

Optionally, in some embodiments, the photosensor 140 includes at least one photosensitive pixel 142, the photosensitive pixel 142 configured to sense light signals returned from two or more detection regions 20 within a detection range. That is, the number of the photosensitive pixels 142 may be less than the number of the detection regions 20 in the detection range, the receiving optics 144 may be configured to correspondingly propagate the optical signals returned from two or more detection regions 20 in the detection range to the same one of the photosensitive pixels 142 for sensing, and one of the photosensitive pixels 142 may be configured to correspondingly detect the distance information of two or more of the detection regions 20 in the detection range.

As shown in fig. 8-11, the light source 120 of the emission module 12 includes, for example, 4 light emitting units 122 arranged in a 2×2 array, which are labeled 1-4. The light beams emitted by each light emitting unit 122 are redirected by the scanner to form sensing light beams respectively scanning along 4 different preset emitting directions, and the light beams emitted by the 4 light emitting units 122 are redirected by the scanner to form sensing light beams respectively scanning along 16 different preset emitting directions, which correspond to 16 detection areas 20 in the irradiation detection range and are respectively marked as No. I-XVI. The photosensor 140 of the receiving module 14 includes, for example, 4 photosensitive pixels 142 arranged in a 2×2 array, and are labeled 1-4 respectively. The sensing light beams reflected from the adjacent 4 detection areas 20 along different directions respectively propagate to the corresponding one of the photosensitive pixels 142 for sensing through the receiving optical device 144, and the sensing light beams reflected from the 16 detection areas 20 can correspondingly propagate to the 4 photosensitive pixels 142 for sensing through the receiving optical device 144.

It will be appreciated that in this case, the photosensitive pixels 142 that detect two or more detection regions 20 each perform distance detection for each corresponding detection region 20 at different periods. Accordingly, the light source 120 of the emitting module 12 is also matched to emit the sensing light beam to the corresponding detection area 20 at the different time periods. For example, the light beam emitted by the light emitting unit No. 1 122 is redirected by the scanner to form 4 sensing light beams along different emitting directions, so that the I-IV detection areas 20 in the detection range are respectively irradiated in different periods T1-T4, and the sensing light beams reflected from the I-IV detection areas 20 are transmitted to the photosensitive pixel No. 1 142 for sensing by the receiving optical device 144. For the case that one photosensitive pixel 142 is configured to correspondingly detect two or more detection regions 20 having different distance detection extremum, the sensing parameter setting unit 186 may further set the size of the count storage space allocated by the count memory 1522 to the photosensitive pixel 142 according to the furthest distance detection extremum to be satisfied in the detection region 20 to be sensed by the photosensitive pixel 142. For example, the photosensitive pixels 142 are configured to correspond to the first detection region 201 whose sensing distance detection extremum is farther and the second detection region 202 whose sensing distance detection extremum is closer, respectively, in different periods of time, and the sensing parameter setting unit 186 sets the count storage space allocated to the photosensitive pixels 142 by the count memory 1522 according to the farther distance detection extremum that the first detection region 201 needs to satisfy.

Thus, setting the emission parameters of the related light emitting units 122 and the sensing parameters of the photosensitive pixels 142 for performing distance detection according to the distance detection extremum to be satisfied by the detection regions 20 at different positions can effectively reduce the overall power consumption of the photodetection device 10, and can reduce the storage space of the count memory 1522 to be configured, thereby saving the device cost of the photodetection device 10.

Alternatively, in some embodiments, all or a portion of the functional elements of the setup module 18 and/or the processing module 15 may be firmware that is solidified within the storage medium 30 or computer software code that is stored within the storage medium 30 and executed by the corresponding one or more processors 40 to control the relevant components to implement the corresponding functions. Such as, but not limited to, an application processor (Application Processor, AP), a central processing unit (Central Processing Unit, CPU), a microcontroller (Micro Controller Unit, MCU), etc. The storage medium 30 includes, but is not limited to, flash Memory (Flash Memory), charged erasable programmable read-only storage medium (Electrically Erasable Programmable read only Memory, EEPROM), programmable read-only storage medium (Programmable read only Memory, PROM), hard disk, and the like.

Alternatively, in some embodiments, the processor 40 and/or the storage medium 30 may be disposed within the photodetection device 10, such as: is integrated on the same circuit board as the transmitting module 12 or the receiving module 14. Alternatively, in other embodiments, the processor 40 and/or the storage medium 30 may be located elsewhere in the electronic device 1, such as: on the main circuit board of the electronic device 1.

Alternatively, in some embodiments, some or all of the functional units of the setting module 18 and/or the processing module 15 may be implemented by hardware, for example, by any one or a combination of the following technologies: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like. It will be appreciated that the hardware described above for implementing the functions of the setup module 18 and/or the processing module 15 may be provided within the photodetection device 10. The hardware described above for implementing the functions of the setting module 18 and/or the processing module 15 may also be arranged in other locations of the electronic device 1, such as: is provided on a main circuit board of the electronic device 1.

It will be appreciated that in some embodiments the photo detection means 10 is for example a lidar and the electronic device 1 is for example an automobile. The laser radar can be arranged at a plurality of different positions on the automobile to detect the distance information of objects in the peripheral range of the automobile and realize driving control according to the distance information.

Alternatively, the automobile 1 may include a first lidar 101, where the first lidar 101 is disposed at the head of the automobile, for example: the area between the two front lights. The first lidar 101 is configured to perform distance detection for an area directly in front of the vehicle in the forward direction. The distance detection extremum of the first lidar 101 along each direction within the detection range is not the same.

Fig. 14 shows a schematic lateral view of the range detection extremum distribution with direction in the detection range of the first lidar 101 on the vehicle 1. Referring to fig. 6-11 and fig. 14, optionally, the detection range of the first lidar 101 has an elevation range from the horizontal direction to the top and a depression range from the horizontal direction to the bottom, wherein the elevation range is mainly used for detecting an obstacle in a space above the forward direction of the automobile 1, and the depression range is mainly used for detecting an obstacle on the road surface in the forward direction of the automobile 1. Alternatively, the maximum elevation angle ω of the upper boundary of the elevation angle range may be smaller than the maximum depression angle β of the lower boundary of the depression angle range. In order to ensure the safety of the automobile 1 during the high-speed traveling, the detection area 20 of the detection range of the first lidar 101 has the largest first distance detection extremum L1, and the distance detection extremum required for the detection area from the horizontal upward and downward gradually decreases. Alternatively, the second distance detection extremum L2 along the maximum elevation angle ω may be greater than the third distance detection extremum L3 along the maximum depression angle β. Correspondingly, the sensing beam emitted by the emitting module 12 of the first laser radar 101 along the horizontal direction in front may have the maximum emitting power, and the emitting period of emitting one sensing pulse beam may be correspondingly longest, and the emitting power of the sensing beam gradually decreases as the emitting period of emitting one sensing pulse beam deviates from the horizontal direction upwards and downwards, and the emitting period of emitting one sensing pulse beam also gradually decreases. The receiving module 14 of the first lidar 101 may have the longest sensing period and may be configured with the largest count storage space correspondingly for the photosensitive pixel 142 performing the distance detection on the detection area 20 in the horizontal direction. For the photosensitive pixels 142 that perform distance detection for the detection area 20 in the elevation angle range from the horizontal direction up and the depression angle range down, the sensing period thereof correspondingly shortens as the distance detection extremum becomes smaller, and the count storage space correspondingly configured correspondingly reduces as the distance detection extremum becomes smaller.

Alternatively, the automobile 1 may include a second lidar 102, where the second lidar 102 is disposed at a side of the automobile, for example: the lower edge of the outer rearview mirror, a vehicle door or a vehicle door handle and other areas. The second lidar 102 is configured to detect distance from a side region of the vehicle and may also be referred to as a blind-supplement lidar.

Fig. 15 shows a schematic side view of the range detection extremum distribution with direction in the detection range of the second lidar 102 on the vehicle 1. Referring to fig. 6-11 and fig. 15, alternatively, the detection range of the second lidar 102 is located below the detection range in the horizontal direction, and is mainly used for detecting the ground condition beside the automobile 1. With reference to the horizontal direction, the detection range of the second lidar 102 includes an upper boundary and a lower boundary, where the upper boundary is deviated downward from the horizontal direction by a first depression angle θ, and the lower boundary is deviated downward from the horizontal direction by a second depression angle δ, and the second depression angle δ is greater than the first depression angle θ. The second lidar 102 has a maximum fourth distance detection extremum L4 along the detection area 20 in the direction of the upper boundary of the detection range, the fourth distance detection extremum L4 is kept unchanged when the required distance detection extremum of the detection area 20 deviates downward from the direction of the upper boundary of the detection range, and the fourth distance detection extremum L becomes gradually smaller when deviating to the direction intersecting with the ground, and the fifth distance detection extremum L5 is the smallest when finally deviating to the direction of the lower boundary of the detection range. Correspondingly, the sensing beam emitted by the emitting module 12 of the second laser radar 102 along the upper boundary of the detection range may have the maximum emitting power, the emitting period of emitting a sensing pulse beam may be correspondingly longest, the sensing beam emitted along the lower boundary of the detection range may have the minimum emitting power, and the emitting period of emitting a sensing pulse beam may be correspondingly shortest. The transmitting power of the sensing light beam along other directions in the detection range changes in a positive correlation way along with the change of the direction of the distance detection extremum, and the transmitting period of transmitting one sensing pulse light beam also changes in a positive correlation way along with the change of the direction of the distance detection extremum. The receiving module 14 of the second lidar 102 may have the longest sensing period and may be configured with the largest count storage space for the photosensitive pixels 142 that perform the distance detection on the detection area 20 along the upper boundary direction of the detection range, and may have the shortest sensing period and may be configured with the smallest count storage space for the photosensitive pixels 142 that perform the distance detection on the detection area 20 along the lower boundary direction of the detection range. The receiving module 14 of the second lidar 102 performs a positive correlation change with the direction change of the distance detection extremum for the sensing period of the distance detection on the detection area 20 along other directions within the detection range, and the correspondingly configured count storage space also changes with the direction change of the distance detection extremum.

Therefore, the laser radar 10 of the automobile 1 can adjust the working parameters of the related light emitting unit 122 and the photosensitive pixel 142 for performing the distance detection according to the distance detection extremum along different directions in the detection range, so that the overall power consumption of the laser radar 10 can be effectively reduced, the storage space of the counting memory 1522 required to be configured can be reduced, and the device cost of the laser radar 10 can be reduced.

It should be noted that, the technical solution to be protected in the present application may only satisfy one of the embodiments described above or simultaneously satisfy the embodiments described above, that is, the embodiment formed by combining one or more embodiments described above also belongs to the protection scope of the present application.

In the description of the present specification, reference to the terms "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

It is to be understood that portions of embodiments of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the plurality of functional units may be implemented in software or firmware stored in a storage medium and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims

1. An electronic device, comprising a photoelectric detection device and an application module, wherein the application module is configured to realize corresponding functions according to a detection result of the photoelectric detection device;

The photoelectric detection device is a laser radar, the electronic equipment is an automobile, and the laser radar is arranged at a plurality of different positions on the automobile to detect distance information of objects in the peripheral range of the automobile and realize driving control according to the distance information; the photoelectric detection device is configured to perform distance detection on an object located within a preset detection range, and comprises:

the emission module is configured to respectively project corresponding sensing light beams to different detection areas in the detection range;

the receiving module is configured to correspondingly sense the optical signals transmitted back from different detection areas and output corresponding optical sensing signals;

a processing module configured to analyze and process the light sensing signal to achieve distance detection; and

The control module is configured to set the emission parameters of the emission module for irradiating the corresponding detection area and the sensing parameters of the corresponding detection area sensed by the receiving module according to the distance detection extremum required to be met by different detection areas;

the laser radar is arranged on the side edge of the automobile, the whole detection range of the laser radar is positioned below the horizontal direction, the horizontal direction is taken as a reference, the detection range of the laser radar comprises an upper boundary and a lower boundary, the upper boundary is downwards deviated from the horizontal direction by a first depression angle, the lower boundary is downwards deviated from the horizontal direction by a second depression angle, the second depression angle is larger than the first depression angle, the detection area of the laser radar along the upper boundary direction of the detection range has the largest distance detection extremum, the required distance detection extremum of the detection area is firstly kept unchanged from the direction of the upper boundary of the detection range to the lower direction, and gradually becomes smaller when deviating to the direction crossing the ground until the detection extremum of the minimum distance detection extremum is finally located along the direction of the lower boundary of the detection range.

2. The electronic device of claim 1, wherein the emission parameters include an optical power of the emission module to emit a corresponding sensing beam, the optical power of the sensing beam satisfying a second order positive correlation with a distance detection extremum required for the corresponding illuminated detection region.

3. The electronic device of claim 2, wherein the relationship of the second-order positive correlation is as follows: p=a×l ² ×α ² The system is shown, wherein A is a coefficient related to the emission module, alpha is a divergence angle of the sensing beam, P is optical power of the sensing beam, and L is a distance detection extremum along the emission direction.

4. The electronic device of claim 1, wherein the sensing beam is a sensing pulse beam periodically emitted according to a preset frequency, a time period between emission moments of two adjacent sensing pulse beams is defined as an emission period, the emission parameters include an emission period length of the sensing pulse beam, an emission frequency, and a pulse emission number in a detection frame, the emission period length and a distance detection extremum to be satisfied by the irradiated detection area are in a positive correlation, the emission frequency and the distance detection extremum to be satisfied by the irradiated detection area are in a negative correlation, and the pulse emission number of the sensing pulse beam in a detection frame is in a positive correlation with the distance detection extremum to be satisfied by the irradiated detection area.

5. The electronic device of claim 4, wherein the receiving module has a sensing period corresponding to the transmitting period, the sensing parameter comprises a sensing period length, and the sensing period length is in positive correlation with a distance detection extremum to be satisfied by a corresponding sensed detection area.

6. The electronic device of claim 1, wherein the processing module comprises a counting unit, the counting unit comprises a time-to-digital converter and a counting memory, the receiving module comprises at least one photosensitive pixel, the photosensitive pixel is configured to correspondingly sense the light signals returned from different detection areas and output corresponding light sensing signals, the time-to-digital converter is configured to record the moment when the photosensitive pixel generates the light sensing signals and accumulate counts in the counting memory correspondingly configured, the sensing parameters comprise the counting memory correspondingly configured, and the counting memory correspondingly configured, the distance detection extremum to be met by the detection area sensed by the photosensitive pixel is in positive correlation with the counting memory correspondingly configured, the distance detection extremum to be met by the photosensitive pixel.