CN108008402A - A kind of single photon avalanche diode detector array for laser ranging - Google Patents
A kind of single photon avalanche diode detector array for laser ranging Download PDFInfo
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- CN108008402A CN108008402A CN201711236516.6A CN201711236516A CN108008402A CN 108008402 A CN108008402 A CN 108008402A CN 201711236516 A CN201711236516 A CN 201711236516A CN 108008402 A CN108008402 A CN 108008402A
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- 238000000034 method Methods 0.000 claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 238000012360 testing method Methods 0.000 claims abstract description 13
- 238000007493 shaping process Methods 0.000 claims abstract description 12
- 238000010791 quenching Methods 0.000 claims abstract description 8
- 230000000171 quenching effect Effects 0.000 claims abstract description 8
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims 1
- 230000004313 glare Effects 0.000 abstract description 5
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- 101000860173 Myxococcus xanthus C-factor Proteins 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
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- 230000003287 optical effect Effects 0.000 description 2
- 230000000717 retained effect Effects 0.000 description 2
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of single photon avalanche diode detector array for laser ranging, including single-point test surface, shaping circuit, "AND" process circuit and "or" process circuit.Wherein, single-point test surface is arranged integrated by multiple detection single tubes in the form of n × n (n >=2), and detection single tube includes single-photon avalanche diode and quenching circuit；The output signal of each detection single tube is shaped to pulse square wave signal by respective shaping circuit respectively, it is one group of input "AND" process circuit per two-way pulse square wave signal, all signals crossed by "AND" processing circuit processes pass through "or" processing circuit processes again, produce final output signal.The present invention detector array can effectively reduce by dark counting and veiling glare grass come false triggering, can while detection efficient is ensured, guarantee range accuracy, it can be achieved that more highly sensitive laser ranging.
Description
Technical field
The present invention relates to a kind of integrated circuit fields based on single photon avalanche diode detector Array Design, are particularly
It is related to a kind of detector for being suitable for flight time (TOF) laser ranging field.
Background technology
In recent years, unmanned field aids in driving field to be in period of flourishing, and mobile lidar in other words
Technology is the ring to hold the balance in tackling key problem link.Exactly substantial amounts of demand, promotes the great development of laser radar, swashs both at home and abroad
Optical radar technology and associated companies emerge in multitude.
In existing laser ranging technique, detector uses common avalanche photodide (Avalanche Photon more
Diode, APD), but after APD detects optical signal, it is that the light intensity received with photosurface is proportionate that it, which exports signal,
One analog quantity, consistent on waveform in the case of different light intensity in order to ensure, rear end needs to make the circuit structure of a series of complex
Signal is handled.Its gain at the same time is limited, and detection range is subject to larger limitation in limited range of laser energy.
And Geiger mode angular position digitizer (APD), i.e. single-photon avalanche diode (Single Photon Avalanche Diode, SPAD),
It is based on interior photoelectric respone, has the characteristics that high-gain, the photoelectron that single photon produces can be quick under forceful electric power field action
(10ps or so) produces snowslide response.Therefore SPAD possesses single photon responding ability, be conducive in relatively low laser energy
Under the conditions of carry out longer-distance detection.Meanwhile its rear end circuit structure is simple, waveform after the avalanche signal after being quenched is shaped
It is fixed, measurement error can be reduced.
But SPAD is really for also there are certain limitation and deficiency in laser ranging technique.Most be difficult to exclude is
Noise problem, noise signal on waveform are indistinguishable with useful signal.The source of noise is mainly two classes：First, device
The dark counting that itself is produced by semiconductor defect characteristic；2nd, the veiling glare in environment fails complete by detector front end colour filter
Filter out.So these noises randomly generated may be taken as useful signal, turn as STOP signal false triggerings time figure
Circuit (TDC, Time-to-Digital Converter) is changed, so as to produce serious measurement error.
The content of the invention
The present invention is used for technical problem present in laser ranging for SPAD, it is proposed that one kind is based on single-photon avalanche two
The array structure of pole pipe detector.
The technical solution adopted by the present invention is：
A kind of single photon avalanche diode detector array for laser ranging, including single-point test surface, shaping circuit,
"AND" process circuit and "or" process circuit, single-point test surface are arranged in the form of n × n by multiple detection single tubes and integrated, wherein,
N >=2, detection single tube include single-photon avalanche diode and quenching circuit；The output signal of each detection single tube is respectively by respective
Shaping circuit be shaped to pulse square wave signal, per two-way pulse square wave signal be one group of input "AND" process circuit, process
All signals that "AND" processing circuit processes are crossed pass through "or" processing circuit processes again, produce final output signal.
Further, the quenching circuit uses and passively form is quenched or form is actively quenched.
Further, any two-way pulse square wave signal passes through "AND" processing circuit processes.
Further, the detector array is integrated into one dimensional linear array laser ranging detector according to column direction, or presses
Become two-dimensional array laser ranging detector according to the direction set of row and column.
Further, the final output signal is supplied to time-to-digital conversion circuit, as time-to-digital converter electricity
The beginning of road timing or end signal.
Compared with existing APD technologies, the present invention uses SPAD technologies, can be in phase in laser ranging field sensitivity higher
With detecting farther distance under laser energy, while detector back-end circuit structure and signal processing are relatively easy.With it is existing
SPAD technologies are compared, and the present invention, as single-point test surface, can be had using n × n (n >=2) arrays while detection efficient is ensured
Effect reduce by dark counting and veiling glare grass Lai false triggering, so as to ensure range accuracy.
Brief description of the drawings
Fig. 1 is SPAD array structures and the circuit diagram proposed in the embodiment of the present invention.
Fig. 2 is the sequential explanatory drawin of the SPAD single-point detecting modules proposed in the embodiment of the present invention.
Fig. 3 is the linear array detector structure chart of the SPAD single-points detecting module composition proposed in the embodiment of the present invention.
Fig. 4 is the planar array detector structure chart of the SPAD single-points detecting module composition proposed in the embodiment of the present invention.
Embodiment
Technical solution of the present invention is described in further detail below in conjunction with the drawings and specific embodiments, described tool
Body embodiment is only explained the present invention, is not used in the limitation present invention.
A kind of SPAD array structures for laser ranging of the present invention, including single tube is detected with n × n (n by multiple SPAD
>=2) at single-point test surface, the multiple shaping circuits in rear end, a series of "AND" process circuits and the "or" that form is arranged and integrated
Manage circuit.Each SPAD detection single tubes snowslide is quenched by quenching circuit after occurring and produces a pulse voltage in single-point test surface
Signal, further by shaping circuit shaping, forms pulse square wave signal.Multiplex pulse square-wave signal is at least divided into two groups, will
Two paths of signals makees "AND" processing on circuit in every group, and makees "or" processing as most to the output signal after the processing of all "AND"
Output signal eventually.
Making the benefit of "AND" processing above is：Only two SPAD detection single tubes 102 could conduct with caused signal
Useful signal, and from Probability, the probability very little that the random noise signal of two-way is produced in the same time, so "AND"
Processing can effectively exclude the noise that veiling glare is brought in the dark counting produced in itself by SPAD single tubes and environment.Afterwards by institute
There is the signal after "AND" processing to make "or" processing, because the true detection efficient of SPAD detection single tubes 102 is less than 100%, light intensity
Response can be produced per detection single tube all the way by not ensured that in the case of weaker, and "AND" processing may filter useful signal by mistake
Remove, the result handled all "AND", which makees "or" processing, can increase detection efficient.
Fig. 1 is the SPAD array structures and circuit diagram that the present embodiment is proposed, is in the small square frame shown in figure
SPAD detects single tube 102, and SPAD detection single tubes 102 include a single-photon avalanche diode and quenching circuit, the present embodiment with
Exemplified by simple passive quenching circuit, then be quenched in resistance block diagram be exactly a resistance to.Single-point test surface 101 is by four in figure
A SPAD detections single tube 102 forms, and densely arranged according to 2 × 2 form.Single-point test surface 101 is used to receive active pulse
Laser irradiation object back reflection is returned, and the hot spot formed after optics into focus.Each SPAD detects the defeated of single tube 102
Outlet is connected with shaping circuit 103, and 103 output terminal of shaping circuit is connected with "AND" process circuit 104, "AND" process circuit 104
Need to design 2~6 according to actual "AND" number of processes, all 104 output terminals of "AND" process circuit and "or" process circuit
105 connections.
In the present embodiment, four shaping circuits 103 are terminated after single-point test surface 101, are respectively used to receive four SPAD spies
The output signal of single tube 102 is surveyed, and output signal is made into Shape correction, the pulse square wave of generation rule.Four road pulse square waves by
"AND" process circuit 104 is handled, and specific connection mode is：Four road pulse square waves are at least divided into two groups, by two paths of signals in every group
Make "AND" processing；Most extreme situation is that any two paths of signals makees "AND" processing, i.e., synchronous to carry out six "AND" processing.This reality
Apply in example by taking 2 "AND" process circuits 104 as an example, the signal of generation is handled by a "or" process circuit 105, is produced final
STOP signals, there is provided to TDC circuits 106, the end signal as 106 timing of TDC circuits.
The array structure and method that the present invention is carried, can be used for the commencing signal of TDC circuits.For TDC circuits
START signal can have two ways offer：One is fully synchronized with the electric signal of control pulse laser transmitting laser pulse
Electric signal, two be by pulse laser transmitting pulse laser beam splitting go out arrive test surface all the way, multichannel SPAD detect single tube 102
Caused signal passes through circuit structure duplicate with foregoing STOP signals and processing procedure, after being handled by final "or"
Signal is as START signal.
Fig. 2 is the sequential explanatory drawin for the SPAD single-point detecting modules that the present embodiment is proposed.In the following, visited as one kind
Survey the advantages of example illustrates this single-point detecting module.Tu Zhong tetra- road signal SPAD1, SPAD2, SPAD3, SPAD4 are respectively
Response sequential caused by four SPAD detection single tubes 102, the solid line square wave signal START signal above to align, behind three tunnels
The solid line square wave of alignment is the useful signal that the light that real-world object reflects produces, i.e. STOP signals.Above-mentioned START and STOP
There is certain probability to produce some noise signals produced by dark counting and veiling glare between signal, dashed lines square wave institute
Show.With simplest situation, that is, be divided into two groups make "AND" processing in case of, a-signal is SPAD1 and SPAD2 signals in figure
Make that "AND" is handled as a result, B signal, which is SPAD3 and SPAD4 signals, makees the result that "AND" is handled.It can be seen that in a-signal, with
The noise that machine produces does not occur at the same time, is filtered out after "AND" processing, and to be retained at the same time there is signal is imitated；B believes
In number, noise is also filtered out, but this does not produce useful signal all the way because of SPAD3, so useful signal is not also retained.
So needing to make "or" processing to a-signal and B signal, C signal shown in figure is obtained, C signal is the final letter to TDC circuits
Number, it successfully filters out the noise signal of SPAD detection single tubes, remains useful signal.
SPAD array structures shown in Fig. 1 of the present invention act not only as single point detector, Er Qieke with circuit diagram
As single-point detecting module, to carry out array and integrate.Integrated design is carried out according to column direction, the detection of SPAD linear arrays can be obtained
Device, as shown in figure 3, the linear array detector structure chart for the SPAD single-points detecting structure composition that as the present embodiment is proposed.According to
Row, column direction carries out Integrated design respectively, can obtain SPAD planar array detectors, as shown in figure 4, as the present embodiment is proposed
SPAD single-points detecting structure composition face battle array detecting structure figure.Because TDC circuit layout areas occupied are larger, it is contemplated that face
The compact sex chromosome mosaicism of photosurface in battle array arrangement, can use exterior FPGA to realize the function of TDC circuits.
Claims (5)
1. a kind of single photon avalanche diode detector array for laser ranging, including single-point test surface, shaping circuit,
"AND" process circuit and "or" process circuit, it is characterised in that single-point test surface is arranged by multiple detection single tubes in the form of n × n
Cloth integrates, wherein, n >=2, detection single tube includes single-photon avalanche diode and quenching circuit；The output letter of each detection single tube
Number pulse square wave signal is shaped to by respective shaping circuit respectively, is handled per two-way pulse square wave signal for one group of input "AND"
Circuit, all signals crossed by "AND" processing circuit processes pass through "or" processing circuit processes again, produce final output letter
Number.
2. a kind of single photon avalanche diode detector array for laser ranging according to claim 1, its feature
It is, the quenching circuit uses and passively form is quenched or form is actively quenched.
3. a kind of single photon avalanche diode detector array for laser ranging according to claim 1, its feature
It is, any two-way pulse square wave signal passes through "AND" processing circuit processes.
4. a kind of single photon avalanche diode detector array for laser ranging according to claim 1, its feature
It is, the detector array is integrated into one dimensional linear array laser ranging detector, or the side according to row and column according to column direction
To being integrated into two-dimensional array laser ranging detector.
5. a kind of single photon avalanche diode detector array for laser ranging according to claim 1, its feature
It is, the final output signal is supplied to time-to-digital conversion circuit, the beginning as time-to-digital conversion circuit timing
Or end signal.
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| CN201711236516.6A CN108008402B (en) | 2017-11-30 | 2017-11-30 | Single photon avalanche diode detector array for laser ranging |
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| CN201711236516.6A CN108008402B (en) | 2017-11-30 | 2017-11-30 | Single photon avalanche diode detector array for laser ranging |
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| CN108008402B CN108008402B (en) | 2021-05-28 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109799496A (en) * | 2018-11-14 | 2019-05-24 | 深圳市光微科技有限公司 | Concurrency detection circuit, photon detector, pulsed TOF sensor and its implementation |
| CN109884612A (en) * | 2019-03-07 | 2019-06-14 | 南京大学 | A kind of burst length compression method of multi-channel single photon avalanche diode detector |
| CN110031094A (en) * | 2019-04-24 | 2019-07-19 | 中国科学院上海微系统与信息技术研究所 | Improve the system and method for the number of photons resolution capabilities of single-photon detector |
| CN110895336A (en) * | 2018-09-13 | 2020-03-20 | 原相科技股份有限公司 | Object detection device based on avalanche diode |
| CN111103592A (en) * | 2019-11-19 | 2020-05-05 | 北京空间机电研究所 | High-sensitivity point-element array correlation detection laser depth sounding system |
| CN111308487A (en) * | 2020-02-21 | 2020-06-19 | 南京大学 | SPAD array suitable for long-distance measurement |
| CN111781578A (en) * | 2020-06-09 | 2020-10-16 | 北京因泰立科技有限公司 | Two-dimensional scanning long-distance laser radar and working method thereof |
| WO2023133965A1 (en) * | 2022-01-13 | 2023-07-20 | 杭州宏景智驾科技有限公司 | Laser radar system and ambient light sensing method therefor |
| CN118363033A (en) * | 2023-03-15 | 2024-07-19 | 杭州宇称电子技术有限公司 | Channel addition-based environmental noise suppression circuit, method and application thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110895336A (en) * | 2018-09-13 | 2020-03-20 | 原相科技股份有限公司 | Object detection device based on avalanche diode |
| CN110895336B (en) * | 2018-09-13 | 2022-05-27 | 原相科技股份有限公司 | Object detection device based on avalanche diode |
| CN109799496A (en) * | 2018-11-14 | 2019-05-24 | 深圳市光微科技有限公司 | Concurrency detection circuit, photon detector, pulsed TOF sensor and its implementation |
| CN109884612A (en) * | 2019-03-07 | 2019-06-14 | 南京大学 | A kind of burst length compression method of multi-channel single photon avalanche diode detector |
| CN110031094A (en) * | 2019-04-24 | 2019-07-19 | 中国科学院上海微系统与信息技术研究所 | Improve the system and method for the number of photons resolution capabilities of single-photon detector |
| CN111103592A (en) * | 2019-11-19 | 2020-05-05 | 北京空间机电研究所 | High-sensitivity point-element array correlation detection laser depth sounding system |
| CN111103592B (en) * | 2019-11-19 | 2022-04-12 | 北京空间机电研究所 | High-sensitivity point-element array correlation detection laser depth sounding system |
| CN111308487A (en) * | 2020-02-21 | 2020-06-19 | 南京大学 | SPAD array suitable for long-distance measurement |
| CN111308487B (en) * | 2020-02-21 | 2022-03-15 | 南京大学 | SPAD array suitable for long-distance measurement |
| CN111781578A (en) * | 2020-06-09 | 2020-10-16 | 北京因泰立科技有限公司 | Two-dimensional scanning long-distance laser radar and working method thereof |
| WO2023133965A1 (en) * | 2022-01-13 | 2023-07-20 | 杭州宏景智驾科技有限公司 | Laser radar system and ambient light sensing method therefor |
| CN118363033A (en) * | 2023-03-15 | 2024-07-19 | 杭州宇称电子技术有限公司 | Channel addition-based environmental noise suppression circuit, method and application thereof |
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