CN111323787A - Detection device and method - Google Patents

Detection device and method Download PDF

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Publication number
CN111323787A
CN111323787A CN202010184409.9A CN202010184409A CN111323787A CN 111323787 A CN111323787 A CN 111323787A CN 202010184409 A CN202010184409 A CN 202010184409A CN 111323787 A CN111323787 A CN 111323787A
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China
Prior art keywords
emitting
light
emission
receiving
module
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Pending
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CN202010184409.9A
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Chinese (zh)
Inventor
雷述宇
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Ningbo Abax Sensing Electronic Technology Co Ltd
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Ningbo Abax Sensing Electronic Technology Co Ltd
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Priority to CN202010184409.9A priority Critical patent/CN111323787A/en
Publication of CN111323787A publication Critical patent/CN111323787A/en
Priority to US17/910,929 priority patent/US20230161035A1/en
Priority to PCT/CN2020/136582 priority patent/WO2021184855A1/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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 application provides a detection device and a detection method, and relates to the technical field of laser radars. In the detection device, a light emitting module comprises at least two emitting areas, a light receiving module comprises at least two receiving areas corresponding to the light emitting module, and a processing module is used for generating a transmitting sequence instruction; the light emitting module is used for enabling the at least two emitting areas to sequentially output the emitted light according to the emission sequence instruction generated by the processing module; the light receiving module is used for enabling at least two receiving areas to receive at least two times of reflected light of the emitted light reflected by the detection target according to the emission sequence instruction generated by the processing module; the processing module is used for sequentially obtaining data of at least two receiving areas according to the transmitting sequence instruction and calculating and obtaining detection target distance data containing at least twice reflected light information, so that the energy received by the unit area of the detection target and the number of received reflected light photons are increased, the power density is improved, and the detection distance of the detection device can be increased.

Description

Detection device and method
Technical Field
The present application relates to the field of detection technologies, and in particular, to a detection apparatus and a detection method.
Background
Time of flight (TOF) is a method of finding a distance to an object by continuously transmitting light pulses to the object, receiving light returning from the object with a sensor, and detecting the Time of flight (round trip) of the light pulses.
Direct Time of flight (DTOF) and Indirect Time of flight (ITOF) technologies are widely used for distance detection in the prior art, and have received attention due to their advantages of high sensitivity and high accuracy.
However, as the demand for the detection distance increases, the existing DTOF or ITOF technology has a problem that the detection distance is not far enough.
Disclosure of Invention
An object of the present application is to provide a detection device and a method for solving the technical problem of the existing detection device that the detection distance is not far enough.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a detection apparatus, including: the device comprises a light emitting module, a processing module and a light receiving module, wherein the light emitting module comprises at least two emitting areas, and the light receiving module comprises at least two receiving areas corresponding to the light emitting module;
the processing module is used for generating a transmitting sequence instruction;
the light emitting module is electrically connected with the processing module and used for enabling the at least two emitting areas to sequentially output emitting light according to the emitting sequence instructions generated by the processing module;
the light receiving module is electrically connected with the processing module and used for enabling the at least two receiving areas to receive at least two times of reflected light of the emitted light reflected by the detection target according to the emission sequence instruction generated by the processing module;
and the processing module is used for sequentially obtaining the data of the at least two receiving areas according to the transmitting sequence instruction and calculating and obtaining the detection target distance data containing at least twice reflected light information.
Optionally, the light emitting module comprises at least two emitting arrays, each as one of the emitting areas.
Optionally, the light emitting module comprises an emitting array, the emitting array is divided into at least two emitting modules, and each emitting module is used as one emitting area.
Optionally, the emission module comprises at least two emission units, at least part of the emission units of the same emission area outputting emission light at different time instants.
Optionally, the light emitting module comprises at least two emitting units, each of the emitting units being a constituent unit of one of the emitting areas.
Optionally, the processing module is specifically configured to generate the transmission sequence instruction according to at least one of a function, a list, a sequence, or a randomly generated sequence.
Optionally, the processing module is further configured to determine, according to the emission sequence instruction, that the receiving area corresponding to the reflected light each time is a target receiving area;
and acquiring at least part of target distance information according to the time information corresponding to the reflected light received by the target receiving area.
Optionally, the processing module is further configured to set, according to the target receiving area, receiving signals of receiving areas other than the target receiving area in the receiving area to a preset value.
Optionally, the processing module is specifically configured to generate a detection target map according to the emission sequence instruction and the receiving time corresponding to each reflected light; the detection target map includes all range data of the detection target.
Optionally, the emitting module is a monolithic vertical cavity surface laser chip.
Optionally, the light emitting module is further configured to output emitted light by one or more emitting areas at a time according to the emission sequence instruction.
In a second aspect, an embodiment of the present application provides a detection method, which is applied to the detection apparatus described in the first aspect, where the detection method includes:
generating a transmission sequence instruction;
according to the emission sequence instructions, the at least two emission regions sequentially output emission light;
according to the emission sequence instruction, the at least two receiving areas receive at least twice reflected light of the emitted light reflected by a detection target;
and sequentially obtaining data of the at least two receiving areas according to the transmitting sequence instruction, and calculating to obtain detection target distance data containing information of at least two reflected lights.
Optionally, the light emitting module comprises at least two emitting arrays, each as one of the emitting areas.
Optionally, the light emitting module comprises an emitting array, the emitting array is divided into at least two emitting modules, and each emitting module is used as one emitting area.
Optionally, the emission module comprises at least two emission units, at least part of the emission units of the same emission area outputting emission light at different time instants.
Optionally, the light emitting module comprises at least two emitting units, each of the emitting units being a constituent unit of one of the emitting areas.
Optionally, the generating a transmission sequence instruction includes: the transmit sequence instructions are generated in at least one of a function, a list, a sequence of numbers, or a randomly generated sequence.
Optionally, the method further comprises: determining the receiving area corresponding to the reflected light each time as a target receiving area according to the transmitting sequence instruction; and acquiring at least part of target distance information according to the time information corresponding to the reflected light received by the target receiving area.
Optionally, the method further comprises:
and setting the received signals of other receiving areas except the target receiving area in the receiving area as preset values according to the target receiving area.
Optionally, the sequentially obtaining data of the at least two receiving areas according to the transmission sequence instruction and calculating to obtain detection target distance data including information of at least two reflected lights includes:
generating a detection target image according to the emission sequence instruction and the receiving time corresponding to each reflected light; the detection target map includes all range data of the detection target.
Optionally, the emitting module is a monolithic vertical cavity surface laser chip.
Optionally, the sequentially outputting the emission lights by the at least two emission regions according to the emission sequence instructions includes:
and sequentially outputting the emitted light by one or more emitting areas at a time according to the emitting sequence instructions.
The beneficial effect of this application is:
the embodiment of the application provides a detection device and a method, wherein the detection device comprises: the device comprises a light emitting module, a processing module and a light receiving module, wherein the light emitting module comprises at least two emitting areas, the light receiving module comprises at least two receiving areas corresponding to the light emitting module, and the processing module is used for generating a transmitting sequence instruction; the light emitting module is electrically connected with the processing module and used for enabling the at least two emitting areas to sequentially output emitting light according to the emitting sequence instructions generated by the processing module; the light receiving module is electrically connected with the processing module and used for enabling the at least two receiving areas to receive at least two times of reflected light of the emitted light reflected by the detection target according to the emission sequence instruction generated by the processing module; the processing module is used for obtaining data of at least two receiving areas according to the transmitting sequence instruction sequence and calculating and obtaining detection target distance data containing at least twice reflected light information, so that the subarea transmitting of the light transmitting module is realized to concentrate energy originally occupying all field angles on a smaller field angle, the field angle corresponding to each transmitting area is reduced, the energy received by the unit area of the detection target and the number of received reflected light photons are increased, the energy concentration is realized, and the power density is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic functional block diagram of a detection apparatus according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a partitioned transmission provided in an embodiment of the present application;
fig. 3 is a schematic diagram of an emission area provided in an embodiment of the present application;
FIG. 4 is a schematic view of another emission area provided by embodiments of the present application;
FIG. 5 is a schematic view of another emission area provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of another zonal emission provided by an embodiment of the present application;
fig. 7 is a schematic flowchart of a detection method according to an embodiment of the present application;
fig. 8 is a schematic flowchart of another detection method according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic functional block diagram of a detection apparatus according to an embodiment of the present disclosure. As shown in fig. 1, the detecting device includes: the optical transmitter module 110, the processing module 120, and the optical receiver module 130, the optical transmitter module 110 includes at least two transmitting regions, and the optical receiver module 130 includes at least two receiving regions corresponding to the optical transmitter module 110.
The processing module 120 is configured to generate a transmission sequence instruction, where the transmission sequence instruction may be used to indicate a transmission sequence of at least two transmission regions in the light emitting module 110, and may include a transmission sequence of sequential transmission, random transmission, and the like.
The light emitting module 110, electrically connected to the processing module 120, is configured to sequentially output the emitted light from the at least two emitting areas according to the emission sequence command generated by the processing module 120; the light receiving module 130 may be electrically connected to the processing module 120, and configured to enable at least two receiving regions to receive at least two reflected lights of the emitted light reflected by the detection target 150 according to the emission sequence instruction generated by the processing module 120.
The light emitting module 110 may include a light source including, but not limited to, a semiconductor laser, a solid-state laser, and other types of lasers, and an emitting optical element including, but not limited to, a lens group, a fresnel lens, a zone plate, a reflector, and the like. The emission light output by the light source can be emitted to the detection target 150 through the emission optical element, and the light emission module 110 in the embodiment of the present application includes at least two emission regions, that is, the light source outputs the emission light in different regions; the light receiving module 130 may include a receiving array and a receiving optical element, where the receiving array includes but is not limited to a photodiode array, an avalanche photodiode array, a single photon avalanche photodiode array, and the like, that is, the reflected light reflected by the detection target 150 may be received by the receiving optical element through the receiving array, and in this embodiment, the light receiving module 130 includes at least two receiving areas, which means that the receiving array receives the reflected light reflected by the detection target 150 in different areas, where the two receiving areas may establish a one-to-one correspondence relationship with the at least two emitting areas.
The area of the probe target 150 may be divided according to the division of the transmitting area, and a transmitting area may form a mapping relation with an area on the probe target 150 and correspond to a receiving area. Alternatively, the number of the emitting areas may be the same as the number of the receiving areas, that is, one emitting area corresponds to one receiving area, and the receiving area is used for receiving the reflected light of the emitted light reflected by the detection target 150, so that the divisional emission of the light emitting module 110 and the divisional receiving of the light receiving module 130 are realized, the energy originally occupying the whole field angle is concentrated on the smaller field angle, the concentration of the energy is realized, the power density is improved, and the method can be applied to the farther detection distance.
And the processing module 120 is configured to sequentially obtain data of at least two receiving areas according to the transmission sequence instruction, and calculate and obtain detection target distance data including information of at least two reflected lights.
The light emitting module 110 sequentially outputs the emitted light from at least two emitting regions according to the emission sequence instruction generated by the processing module 120, and the light receiving module 130 sequentially receives at least two reflected lights of the emitted light reflected by the detection target 150 according to the emission sequence instruction generated by the processing module 120, so that the processing module 120 can sequentially obtain data of at least two receiving regions according to the emission sequence instruction during receiving, and splice the data of the at least two receiving regions according to the emission sequence instruction to synthesize a complete distance map, thereby calculating and obtaining detection target distance data including information of the at least two reflected lights, and outputting a detection distance for the detection target.
Fig. 2 is a schematic diagram of a partitioned transmission according to an embodiment of the present application. As shown in fig. 2, a certain mapping relationship may exist among the emitting region, the receiving region and the detection target region, for example, the light emitting module 110 may include 4 emitting regions a1, a2, A3 and a4, the light receiving module 130 may include 4 receiving regions B1, B2, B3 and B4, and correspondingly, the detection target 150 may also be divided into 4 detection regions C1, C2, C3 and C4, taking the emitting region a1 as an example, alternatively, the emitting region a1, the receiving region B1 and the detection region C1 may have a mapping relationship, that is, the emitting light output by the emitting region a1 is emitted to the detection region C1 through the emitting optical element 39111, the reflected light is generated after being reflected by the detection region C1, and the reflected light is received by the receiving region B1 through the receiving optical element 131, so as to realize the subarea emitting and subarea receiving. Of course, the number of the transmitting areas and the receiving areas is not limited in the present application, and the transmitting areas and the receiving areas may be set by themselves according to the actual application scenario, and the correspondence between the actual transmitting areas, the actual receiving areas, and the actual detection target areas is not limited to the manner shown in the figure.
To sum up, in the detection device provided in the embodiment of the present application, the detection device includes: the device comprises a light emitting module, a processing module and a light receiving module, wherein the light emitting module comprises at least two emitting areas, the light receiving module comprises at least two receiving areas corresponding to the light emitting module, and the processing module is used for generating a transmitting sequence instruction; the light emitting module is electrically connected with the processing module and used for enabling the at least two emitting areas to sequentially output emitting light according to the emitting sequence instructions generated by the processing module; the light receiving module is electrically connected with the processing module and used for enabling the at least two receiving areas to receive at least two times of reflected light of the emitted light reflected by the detection target according to the emission sequence instruction generated by the processing module; the processing module is used for obtaining data of at least two receiving areas according to the transmitting sequence instruction sequence and calculating and obtaining detection target distance data containing at least twice reflected light information, so that the subarea transmitting of the light transmitting module is realized to concentrate energy originally occupying all field angles on a smaller field angle, the field angle corresponding to each transmitting area is reduced, the energy received by the unit area of the detection target and the number of received reflected light photons are increased, the energy concentration is realized, and the power density is improved.
In addition, through the subregion transmission, can also reduce the increase of optical emission module pulse power to the pressure that the drive produced, instantaneous current maximum value that produces when reducing the transmission pulse for drive current is more gentle, can alleviate optical emission module's heat dissipation burden simultaneously, improves the radiating effect. In addition, because the processing module in the detection device provided by the embodiment of the application obtains the data of at least two receiving areas according to the sequence of the emission sequence instruction, and calculates and obtains the detection target distance data containing at least two times of reflected light information, the integrity of the detection target distance data can be ensured; in addition, the energy received by the unit area of the detection target and the number of received reflected light photons are increased, so that the energy concentration is realized, and the power density is improved, therefore, the influences of environmental factors (such as fog, haze and raindrops) on the detection distance can be reduced to a certain extent, and the detection distance can be improved under the condition of ensuring the detection accuracy.
Hereinafter, the embodiments of the present application describe the emission area with respect to various cases where the light emission module is included.
Alternatively, the light emitting module 110 may include at least two emitting arrays, each as one emitting region.
The emitting array may include a plurality of light sources, for example, a plurality of semiconductor lasers, but not limited thereto, and other types of lasers may be included according to an actual application scenario, so that the problem of limited power of a single light source may be solved, and a detection distance may be increased.
For a given DTOF lidar, such as a Vertical-cavity surface-Emitting laser (VCSEL), in the prior art, the corresponding Emitting field angle is a × b, i.e. the horizontal axis is a and the Vertical axis is bFor example, the emitting region in the embodiment of the present application may correspond to an n × n emitting array, where the emitting array may include n × n VCSELs, where the value of n may be 3, 4, 5, and the like, and may be selected by itself according to an actual application scenario, and each VCSEL is used to output emitted light to a different region on the detection target 150, then the angle of view corresponding to each VCSEL provided in the embodiment of the present application is a/n × b/n, and the area of each VCSEL on the detection target 150 is reduced to 1/n of the original area2The signal intensity received by the surface of the detection target is raised to n2Therefore, the energy originally occupying the whole field angle is concentrated on a smaller field angle, the field angle corresponding to each emission region is reduced, the energy received per unit area of the detection target 150 and the number of received reflected light photons are increased, the energy concentration is realized, and the power density is improved.
FIG. 3 is a schematic diagram of an emitting region according to an embodiment of the present invention, as shown in FIG. 3, the emitting array may include 3 × 3 models, one Model may correspond to one VCSEL, the field angle of each VCSEL is a/3 × b/3, and the area of each VCSEL on the detection target 150 is reduced to 1/32The signal strength received by the target surface of the detection target 150 is raised to 32And (4) doubling.
It should be noted that the number of the emitting arrays is not limited herein, and may be 3, 4, 6, etc. according to the practical application scenario, and of course, the size of each emitting array is not limited, and may be 3 × 3, 4 × 4, 5 × 5, etc. according to the practical application scenario.
Alternatively, the light emitting module 110 may include one emitting array, and the emitting array may be divided into at least two emitting modules, each as one emitting region.
For example, a VCSEL can be used as an emission array, and then the emission array can be divided into at least two emission modules, each emission module is used as an emission region and can include one or more emission pixels, so that two-level divisional emission is realized, and the same technical effects as those described above will also be achieved, which is not described herein again. According to the actual application scenario, the corresponding light emitting module 110 may be selected to output the emitted light.
Optionally, the light emitting module 110 comprises at least two emitting units, at least part of the emitting units of the same emitting area outputting emitted light at different moments in time.
The transmitting unit may be a transmitting pixel, and each transmitting module may include at least two transmitting pixels when serving as a transmitting area. Alternatively, each emission area may comprise a plurality of emission picture elements, and at least some of the emission picture elements may be selected to output emission light at different times when the same emission area is emitting. For example, at least a part of the emission pixels in an emission area may be selected to output the emission light at the first time according to a specific shape, such as a regular shape of a line, a zigzag, a triangle, a circle, etc., and the emission light may be output at the second time for other emission pixels in the emission area, or at least a part of the emission pixels may be selected to output the emission light at the first time in an irregular random manner, and the emission light may be output at the second time for other emission pixels in the emission area, which is not limited herein, so that the number of times of outputting the emission light in the same emission area may be increased, and the detection distance may be increased; correspondingly, the receiving area can also establish a corresponding receiving area according to the transmitting mode to realize receiving, and the receiving area is not limited, so that time-sharing transmitting can be realized on the basis of subarea transmitting, the pressure generated by the increase of the pulse power of the light emitting module on the driving can be reduced, the maximum value of instantaneous current generated during pulse transmitting is reduced, the driving current is more smooth, the heat dissipation burden of the light emitting module can be reduced, and the heat dissipation effect is improved.
In addition, it should be noted that, in the arrangement of all the emitting units in the light emitting module in the embodiment of the present application, the light emitting positions can be ensured to be in one plane, and stacking of different layers is avoided, so that there is almost no difference in the emitted light output by each emitting unit at each emitting position, and simplicity and convenience of the manufacturing process can also be ensured.
Fig. 4 is a schematic view of another emission region provided in an embodiment of the present application. As shown in fig. 4, one Model may correspond to one VCSEL, the emission array may be divided into 9 emission modules, each emission module includes 4 emission pixels, each emission pixel is numbered in each emission module according to the same marking manner to be distinguished, and optionally, when each emission area outputs emission light, the emission pixels with the same number in each emission module may be simultaneously emitted according to the number of the emission pixel in each emission module, and the emission light is output.
Of course, it should be noted that, in the embodiment of the present application, the transmission order and the transmission manner are not limited herein, and the specific transmission order and the transmission manner are determined according to the transmission sequence instruction. As shown in fig. 4, according to the transmission sequence command, when transmitting for the first time, the transmission pixels numbered 1 in each transmission module can transmit at the same time to output the first transmission light; during the second emission, the emission pixels numbered 2 in each emission module can be simultaneously emitted to output second emission light; according to this process, the third emitting light and the fourth emitting light are sequentially output, and the process is cycled to emit, but not limited thereto.
Alternatively, the light emitting module 110 may include at least two emitting units, each as a constituent unit of one emitting region.
The emitting unit may be an emitting pixel, that is, the light emitting module 110 may include at least two emitting pixels, each of which is a constituent unit of one emitting area. It should be noted that the number of the transmitting units in each transmitting area is not limited herein, and the transmitting area may include one or more transmitting units.
Fig. 5 is a schematic diagram of another emission area provided in an embodiment of the present application. As shown in fig. 5, one Model may correspond to one VCSEL, and based on one VCSEL, the VCSEL may be divided into 4 emission regions including PART1 to PART4 to realize the divisional emission, which will also have the same technical effects as the foregoing, and will not be described herein again. Compared with the prior art that each emitting array is used as one emitting area, the emitting area of the emitting array is more concentrated because of the partitioned emission based on the single VCSEL, and all IO interfaces of the VCSELs which are emitted by the single VCSEL can be arranged on the periphery of the chip, so that the problem that when a plurality of VCSELs are used, a certain distance is generated between light emitting points due to the fact that some isolation spaces need to be added between every two VCSELs, and all view fields cannot be covered is avoided.
The processing module 120 is specifically configured to generate the transmission sequence instruction according to at least one of a function, a list, a sequence, or a randomly generated sequence.
The method for generating the transmission sequence instruction is not limited herein, and the transmission sequence instruction may be generated in a functional manner, or generated selectively from a list or a sequence, or generated randomly, where the generated transmission sequence instruction may correspond to multiple transmission modes including sequential one-by-one transmission, sequential multi-region transmission, random single-region transmission, random multi-region transmission, and the like. Of course, it should be noted that, according to the actual application scenario, the transmission sequence instruction may also be generated in other manners, and the included transmission manner may also include more manners.
Optionally, the processing module 120 is further configured to determine, according to the emission sequence instruction, that the receiving area corresponding to each reflected light is a target receiving area; and obtaining at least part of target distance information according to the time information corresponding to the reflected light received by the target receiving area.
Of course, when the light emitting module 110 emits in a subarea, the light receiving module 130 may also implement subarea reception. Since the light emitting module 110 makes at least two emitting areas output the emitting light sequentially according to the emitting sequence command generated by the processing module 120, the processing module 120 can determine the receiving area corresponding to each reflected light as the target receiving area according to the emitting sequence command, and further receive the time information corresponding to the emitting light according to the target receiving area, so as to obtain at least part of the target distance information. According to the method, when the light emitting module 110 emits light in a subarea manner, the light receiving module 130 can receive light in a subarea manner, and finally, according to data of each receiving area, detection target distance data containing information of reflected light at least twice can be obtained through calculation, so that the detection distance of the detection device is increased, and the applicability of the detection device is improved.
Optionally, the processing module 120 is further configured to set, according to the target receiving area, a receiving signal of a receiving area other than the target receiving area to a preset value.
In addition, when performing the partitioned reception, in order to avoid the interference of the received signals in the non-target receiving area, the processing module 120 may set the received signals of other receiving areas in the receiving area except for the target receiving area to a preset value, for example, to set 0, so as to shield the non-target receiving area and only reserve the target receiving area.
Optionally, the processing module 120 is specifically configured to generate a detection target map according to the emission sequence instruction and the receiving time corresponding to each reflected light; the detection target map includes all range data of the detection target.
For the light emitting module 110, a partition emitting manner is adopted, the light receiving module 130 may receive each reflected light in a partition receiving manner, collect and receive time information corresponding to each reflected light, and send the time information to the processing module 120, and the processing module 120 may further splice the received time information according to the emission sequence instruction and the receiving time information corresponding to each reflected light to generate a detection target map, where the detection target map may include all distance data of the detection target 150, and obtain the detection distance for the detection target 150.
Fig. 6 is a schematic diagram of another partition transmission provided in the embodiment of the present application. As shown in fig. 6, the light emitting module 110 includes 4 emitting areas of PART1 to PART4, and the light receiving module 130 includes 4 receiving areas of PART1 to PART4, and the receiving areas correspond to each other one by one, that is, the PART1 of the receiving area is used to receive the reflected light of the emitted light output by the emitting area PART1 and reflected by the detection target 150. If the emission sequence command generated by the processing module 120 corresponds to the emission sequence command of 4 emission regions outputting the emission light according to the sequence of PART1 → PART2 → PART 3 → PART4, the processing module 120 first sends the emission sequence command to the light emitting module 110 and the light receiving module 130, for the light emitting module 110, that is, the emission region PART1 outputs the emission light first, then the emission region PART2 outputs the emission light, the emission region PART 3 outputs the emission light, and finally the emission region PART4 outputs the emission light; for the light receiving module 130, for example, when the emitting region PART1 emits, the receiving region PART1 receives the reflected light corresponding to the emitting region PART1, and collects the corresponding time information, the processing module 120 will shield the receiving regions PART2 to PART4, and set the receiving data of the receiving regions PART2 to PART4 to 0. According to the process, after a cycle is completed, the processing module 120 may obtain four time information corresponding to the receiving areas PART1 to PART4, and superimpose the four time information, so as to obtain a complete one-frame distance information image, and further calculate and obtain the detection target distance data, so as to obtain the detection distance for the detection target.
Optionally, the emitting module is a monolithic vertical cavity surface laser chip.
A vertical cavity surface laser chip, VCSEL, is a semiconductor, and its laser emits perpendicular to the top surface, which is different from the edge-emitting laser that emits from the edge in the general process of cutting an independent chip. Of course, it should be noted that the transmitting module may also be other types of lasers, and the application is not limited herein.
Optionally, the light emitting module 110 is further configured to output the emitted light at one or more emitting areas at a time according to the emission sequence instruction.
Where the light emitting module 110 includes a plurality of emitting regions, one or more emitting regions may output emitted light at a time. As shown in fig. 6, the light emitting module 110 includes 4 emitting regions of PART1 to PART4, and the emitting light can be output in sequence of one emitting region at a time, that is, the emitting light can be output in sequence of PART1 → PART2 → PART 3 → PART 4; in addition, the emitted light may be output by a plurality of emitting areas at a time, that is, the emitted light may be output in the sequence of PART1, PART2 → PART 3, and PART4, and of course, other output modes may also be included according to the actual application scenario, and the application is not limited herein.
Fig. 7 is a schematic flowchart of a detection method according to an embodiment of the present application. The method can be applied to the aforementioned detection device, the basic principle and the technical effect of the method are the same as those of the aforementioned corresponding device embodiment, and for the sake of brief description, no part is mentioned in this embodiment, and reference may be made to the corresponding content in the device embodiment. As shown in fig. 7, the detection method includes:
and S101, generating a transmitting sequence instruction.
And S102, sequentially outputting the emitted light by at least two emission areas according to the emission sequence instruction.
S103, receiving at least two times of reflected light of the emitted light reflected by the detection target by at least two receiving areas according to the emission sequence instruction.
And S104, sequentially obtaining data of at least two receiving areas according to the emission sequence instruction, and calculating to obtain detection target distance data containing information of at least two reflected lights.
Optionally, the light emitting module comprises at least two emitting arrays, each as one emitting area.
Optionally, the light emitting module comprises a transmitting array, the transmitting array being divided into at least two transmitting modules, each transmitting module being a transmitting area.
Optionally, the emission module comprises at least two emission units, at least part of the emission units of the same emission area outputting the emitted light at different moments in time.
Optionally, the light emitting module comprises at least two emitting units, each as a constituent unit of one emitting area.
Optionally, the generating a transmission sequence instruction includes: the transmit sequence instructions are generated in at least one of a function, a list, a sequence of numbers, or a randomly generated sequence.
Fig. 8 is a schematic flowchart of another detection method according to an embodiment of the present application. Optionally, as shown in fig. 8, the method further includes:
s201, determining a receiving area corresponding to each reflected light as a target receiving area according to the emission sequence instruction.
S202, obtaining at least partial target distance information according to the time information corresponding to the reflected light received by the target receiving area.
Optionally, the method further includes: and setting the received signals of other receiving areas except the target receiving area in the receiving area as preset values according to the target receiving area.
Optionally, the sequentially obtaining data of at least two receiving areas according to the transmission sequence instruction, and calculating to obtain the detected object distance data including information of at least two reflected lights includes: generating a detection target image according to the emission sequence instruction and the receiving time corresponding to each reflected light; the detection target map includes all range data of the detection target.
Optionally, the emitting module is a monolithic vertical cavity surface laser chip.
Optionally, the above sequentially outputting the emission light by at least two emission regions according to the emission sequence instruction includes: the emitted light is sequentially output by one or more of the emission regions at a time according to the emission sequence instructions.
The method is applied to the detection device provided in the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (22)

1. A probe apparatus, comprising: the device comprises a light emitting module, a processing module and a light receiving module, wherein the light emitting module comprises at least two emitting areas, and the light receiving module comprises at least two receiving areas corresponding to the light emitting module;
the processing module is used for generating a transmitting sequence instruction;
the light emitting module is electrically connected with the processing module and used for enabling the at least two emitting areas to sequentially output emitting light according to the emitting sequence instructions generated by the processing module;
the light receiving module is electrically connected with the processing module and used for enabling the at least two receiving areas to receive at least two times of reflected light of the emitted light reflected by the detection target according to the emission sequence instruction generated by the processing module;
and the processing module is used for sequentially obtaining the data of the at least two receiving areas according to the transmitting sequence instruction and calculating and obtaining the detection target distance data containing at least twice reflected light information.
2. The apparatus of claim 1, wherein the light emitting module comprises at least two emitting arrays, each as one of the emitting areas.
3. The apparatus of claim 1, wherein said light emitting module comprises an emitting array, said emitting array being divided into at least two emitting modules, each of said emitting modules serving as one of said emitting areas.
4. A detection device according to claim 3, wherein the emission module comprises at least two emission units, at least some of the emission units of the same emission area outputting emission light at different times.
5. The apparatus of claim 1, wherein the light emitting module comprises at least two emitting units, each of the emitting units being a constituent unit of one of the emitting areas.
6. The probe apparatus of claim 1, wherein the processing module is configured to generate the transmit sequence instructions in at least one of a function, a list, a sequence, or a randomly generated sequence.
7. The detection apparatus according to claim 6, wherein the processing module is further configured to determine, according to the emission sequence instruction, that the receiving area corresponding to each reflected light is a target receiving area;
and acquiring at least part of target distance information according to the time information corresponding to the reflected light received by the target receiving area.
8. The apparatus according to claim 7, wherein the processing module is further configured to set, according to the target receiving area, receiving signals of receiving areas other than the target receiving area to a preset value.
9. The detection apparatus according to claim 1, wherein the processing module is specifically configured to generate a detection target map according to the emission sequence instruction and a receiving time corresponding to each reflected light; the detection target map includes all range data of the detection target.
10. The apparatus of claim 3 or 4, wherein the emitting module is a monolithic vertical cavity surface laser chip.
11. The apparatus of claim 1, wherein the light emitting module is further configured to output emitted light at one or more emission regions at a time according to the emission sequence instructions.
12. A detection method applied to the detection apparatus according to any one of claims 1 to 11, the detection method comprising:
generating a transmission sequence instruction;
according to the emission sequence instructions, the at least two emission regions sequentially output emission light;
according to the emission sequence instruction, the at least two receiving areas receive at least twice reflected light of the emitted light reflected by a detection target;
and sequentially obtaining data of the at least two receiving areas according to the transmitting sequence instruction, and calculating to obtain detection target distance data containing information of at least two reflected lights.
13. The method of claim 12, wherein the light emitting module comprises at least two emitting arrays, each as one of the emitting areas.
14. The method of claim 12, wherein said light emitting module comprises an emitting array, said emitting array being divided into at least two emitting modules, each of said emitting modules serving as one of said emitting areas.
15. The method of claim 14, wherein the emission module comprises at least two emission units, at least some of the emission units of the same emission area outputting emission light at different times.
16. The method of claim 12, wherein the light emitting module comprises at least two emitting units, each of the emitting units being a constituent unit of one of the emitting areas.
17. The method of claim 12, wherein generating the transmit sequence instructions comprises: the transmit sequence instructions are generated in at least one of a function, a list, a sequence of numbers, or a randomly generated sequence.
18. The method of claim 17, further comprising:
determining the receiving area corresponding to the reflected light each time as a target receiving area according to the transmitting sequence instruction;
and acquiring at least part of target distance information according to the time information corresponding to the reflected light received by the target receiving area.
19. The method of claim 18, further comprising:
and setting the received signals of other receiving areas except the target receiving area in the receiving area as preset values according to the target receiving area.
20. The method of claim 12, wherein the sequentially obtaining data of the at least two receiving areas according to the transmitting sequence instruction and computationally obtaining detection target distance data containing information of at least two reflected lights comprises:
generating a detection target image according to the emission sequence instruction and the receiving time corresponding to each reflected light; the detection target map includes all range data of the detection target.
21. The method of claim 14 or 15, wherein the emission module is a monolithic vertical cavity surface laser chip.
22. The method of claim 12, wherein the at least two emission regions sequentially output emission light according to the emission sequence instructions, comprising:
and sequentially outputting the emitted light by one or more emitting areas at a time according to the emitting sequence instructions.
CN202010184409.9A 2020-03-16 2020-03-16 Detection device and method Pending CN111323787A (en)

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PCT/CN2020/136582 WO2021184855A1 (en) 2020-03-16 2020-12-15 Detection device and method

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Application publication date: 20200623