CN111670371A - Optical detection module and distance measuring device - Google Patents
Optical detection module and distance measuring device Download PDFInfo
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- CN111670371A CN111670371A CN201980005453.4A CN201980005453A CN111670371A CN 111670371 A CN111670371 A CN 111670371A CN 201980005453 A CN201980005453 A CN 201980005453A CN 111670371 A CN111670371 A CN 111670371A
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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
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Abstract
An optical detection module and a distance measuring device, the optical detection device (600) comprising: a photoelectric conversion circuit (610) for converting the optical pulse signal reflected back by the object into an electrical pulse signal; the N digitization modules (620) are connected in series or in parallel to the photoelectric conversion circuit (610) and are used for converting the electric pulse signals into N digitization signals respectively, wherein N is more than or equal to 2; the nth digitizing module (620) comprises an nth amplifying circuit and an nth digitizing circuit, wherein the output end of the nth amplifying circuit is connected to the input end of the nth digitizing circuit, and N is 1 and 2 … … N; and an arithmetic circuit (630) for determining the distance of the object from the light detection device (600) based on the n digitized signals. The optical detection module and the distance measuring device solve the problems that the time position of target pulse is difficult to determine when the distance of a measured target is short, and a measuring blind area is generated, and realize accurate detection of the flight time of an optical pulse sequence.
Description
The invention relates to the technical field of circuits, in particular to an optical detection module and a distance measuring device.
Laser ranging is a sensing system for the outside world, and spatial distance information in the transmitting direction can be obtained. The principle is that laser pulse signals are actively emitted outwards, reflected pulse signals are detected, and the distance of a measured object is judged according to the time difference between emission and reception. The laser ranging system on the same optical path inevitably encounters the 0-level reflection problem, namely, after the laser pulse is generated, reflection is generated before the laser pulse flies out of the ranging device, the reflection may be generated by a lens, a prism, an inner wall and the like, if the distance of a measured target is short, the front part of the target reflection pulse is overlapped with the rear part of the 0-level reflection pulse to form a continuous pulse, the time position of the target pulse is difficult to determine, and a measuring blind area is generated.
Disclosure of Invention
The optical detection module and the distance measuring device provided by the embodiment of the invention solve the problem that the time position of the target pulse is difficult to determine when the distance of the measured target is short, and a measuring blind area is generated.
In a first aspect, the present invention provides an optical detection module, where the optical detection device includes:
the photoelectric conversion circuit is used for converting the optical pulse signals reflected back by the object into electric pulse signals;
the N digitizing modules are connected in series or in parallel to the photoelectric conversion circuit and are used for respectively converting the electric pulse signals into N digitizing signals, wherein N is more than or equal to 2; the nth digitizing module comprises an nth amplifying circuit and an nth digitizing circuit, wherein the output end of the nth amplifying circuit is connected to the input end of the nth digitizing circuit, and N is 1 and 2 … … N;
and the arithmetic circuit is used for determining the distance between the object and the optical detection device according to the n digitized signals.
In another aspect, the present invention provides a ranging apparatus, including:
a transmitting module for transmitting a sequence of light pulses;
the scanning module is used for sequentially changing the propagation paths of the optical pulse sequences transmitted by the transmitting module to different directions for emission;
according to the above optical detection module, at least a part of the optical signals reflected by the object from the optical pulse sequence pass through the scanning module and then enter the photoelectric conversion circuit in the optical detection device, and the photoelectric conversion circuit is configured to convert the at least a part of the optical signals into electrical pulse signals.
The embodiment of the invention solves the problems that the time position of the target pulse is difficult to determine and a measuring blind area is generated when the distance of the measuring target is short by amplifying and digitizing the detected optical pulse sequence reflected by the object in a grading way, and realizes the accurate detection of the flight time of the optical pulse sequence.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a wiring diagram example of an anti-saturation amplifying circuit of an embodiment of the present invention;
FIG. 2 is an example of the clamping effect of the current bypass circuit of an embodiment of the present invention;
FIG. 3 is a wiring diagram example of an amplifier bypass circuit of an embodiment of the present invention;
FIG. 4 is an example of the clamping effect of the amplifier bypass circuit of an embodiment of the present invention;
FIG. 5 is an example of the overlap of the 0 th order reflection and the target object reflected pulses;
FIG. 6 is a schematic block diagram of an optical detection module according to an embodiment of the present invention;
FIG. 7 is an example of a series of digitizing modules of an embodiment of the present invention;
FIG. 8 is an example of an output signal of the level 1 digitizing module of an embodiment of the present invention;
FIG. 9 is a schematic block diagram of a ranging device of an embodiment of the present invention;
FIG. 10 is a schematic diagram of one embodiment of a distance measuring device of the present invention employing coaxial optical paths.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
In the ranging process for measuring the relative distance of a target by measuring the round trip time of an optical pulse train, the power of the optical pulse train reflected by the target varies drastically due to the wide dynamic range of the target distance and the reflection characteristics of the target, and the difference in the reflected signal intensity may reach 10 m, for example, between near 0.1m and far 50m4-105A rank; in order to ensure high-precision distance measurement, it is necessary for the distance measuring device to accurately detect the optical pulse signal in a wide dynamic range.
The embodiment of the invention provides an anti-saturation amplifying circuit, which comprises: the circuit comprises an operational amplifier, a first resistor and an amplifier bypass circuit; one end of the first resistor receives the electric pulse signal, the other end of the first resistor is connected with the reverse input end of the operational amplifier, the forward input end of the operational amplifier is connected with a reference voltage, and the output end of the operational amplifier outputs the amplified electric pulse signal; the amplifier bypass circuit is connected between the inverting input and the output of the operational amplifier.
The anti-saturation circuit is used for ensuring accurate measurement of remote measurement by adopting a high amplification factor for a detected small signal in a wide dynamic range signal; the multiple of the detected large signal is rapidly reduced, so that the total output amplitude of the large signal is limited within the normal output range of the system. And when the output of the operational amplifier exceeds the output range, the operational amplifier is called operational amplifier saturated output, and recovery time is needed for recovering to a normal working state after the operational amplifier saturated output occurs. That is, the saturated output of the operational amplifier will make the system unable to respond quickly and continuously, thereby generating a system measurement blind zone; and can cause distortion in the trailing edge measurement and affect the signal measurement. The anti-saturation amplifying circuit provided by the embodiment of the invention can effectively avoid the saturation problem of the operational amplifier.
Optionally, the amplifier bypass circuit comprises a second resistor; or a circuit in which the second resistor and the third resistor are connected in series.
Optionally, the amplifier bypass circuit further comprises a first diode; the first diode is connected in parallel with the second resistor or the third resistor.
Optionally, the anti-saturation amplifying circuit includes a current bypass circuit connected to one end of the first resistor for limiting a current passing through the first resistor.
Optionally, the current bypass circuit comprises a second diode.
Optionally, the anti-saturation amplifying circuit includes a voltage bypass circuit connected to the output terminal of the operational amplifier for limiting the output voltage of the anti-saturation amplifying circuit.
Optionally, the voltage bypass circuit includes a fourth resistor and a third diode, one end of the fourth resistor is connected to the output end of the operational amplifier, the other end of the fourth resistor is connected to the anode of the third diode and serves as the output end of the anti-saturation amplification circuit, and the cathode of the third diode is grounded.
In one embodiment, referring to fig. 1, fig. 1 shows an example of a wiring diagram of an anti-saturation amplification circuit. As shown in fig. 1, the anti-saturation amplifying circuit 100 includes: an operational amplifier U1, a first resistor R1, an amplifier bypass circuit 110, a current bypass circuit 120, and a voltage bypass circuit 130;
one end of the first resistor R1 receives an electric pulse Signal _ IN, and the other end of the first resistor R1 is connected with the inverting input-IN of the operational amplifier U1;
a positive input end + IN of the operational amplifier U1 is connected with a reference voltage AMP _ REF, and an output end OUT of the operational amplifier U1 outputs an amplified electric pulse Signal _ OUT;
the amplifier bypass circuit 110 is connected between the inverting input terminal-IN and the output terminal OUT of the operational amplifier U1, the amplifier bypass circuit 110 includes a second resistor R2, a third resistor R3 and a diode D2, one end of the third resistor R3 is connected to the inverting input terminal-IN of the operational amplifier U1, the other end of the third resistor R3 is connected to the second resistor R2 and the diode D2 which are connected IN parallel, that is, the other end of the third resistor R3 is connected to the anodes of the second resistor R2 and the diode D2, and the other end of the second resistor R2 and the cathode of the diode D2 are connected to the output terminal OUT of the operational amplifier U1;
the current bypass circuit 120 is connected to one end of the first resistor R1, the current bypass circuit 120 includes a diode D1, an anode of the diode D1 is connected to one end of the first resistor R1, and a cathode of the diode D1 is connected to a reference voltage CLAP _ REF;
the voltage bypass circuit 130 is connected to the output terminal OUT of the operational amplifier U1, the voltage bypass circuit 130 includes a fourth resistor R4 and a diode D3, one end of the fourth resistor R4 is connected to the output terminal OUT of the operational amplifier U1, the other end of the fourth resistor R4 is connected to the anode of the diode D3, the connection point between the other end of the fourth resistor R4 and the anode of the diode D3 outputs an amplified electrical pulse Signal _ OUT, and the cathode of the diode D3 is connected to a reference voltage CLAP _ REF _ 01.
The current bypass circuit 120 in the anti-saturation amplifying circuit 100 can ensure that the input signal to the operational amplifier is in a small range, thereby preventing the operational amplifier from being saturated; the voltage bypass circuit 130 adaptively reduces the gain when the signal is large to avoid saturation of the operational amplifier.
As shown in fig. 1, in the Signal link, when the voltage value of the electrical pulse Signal _ in the Signal link is higher than the conduction voltage drop of the diode D1, the diode D1 is turned on, and the larger the voltage is, the larger the conduction current is, the voltage of the electrical pulse Signal _ in can be clamped near the conduction voltage of the diode D1 in the current bypass circuit 120. In the current signal link, the first resistor R1 is located behind the diode D1, which is equivalent to converting the current signal into a voltage through a resistor and then clamping the voltage. At present, an output signal of the lidar laser sensor is approximate to a current signal, when an input current is large, a voltage drop generated on the first resistor R1 is increased, and when the input current exceeds a conduction voltage drop of the diode D1, the diode D1 is turned on, so that a bypass clamping effect is achieved, that is, when the input current is large, a current bypass path is arranged in a current signal link, and the larger the current signal is, the larger the current passing through the current bypass path is, the maximum electric current passing through the first resistor R1 is limited, as shown in fig. 2, fig. 2 shows an example of the clamping effect of the current bypass circuit according to the embodiment of the present invention, wherein a solid line is an actual signal, a dotted line is a clamping voltage, and a dotted line is a signal after clamping.
Optionally, the current bypass circuit 120 may also employ a zener diode or a TVS diode; the clamping voltage may be the breakdown voltage of a zener diode or a TVS diode.
The voltage bypass circuit 130 formed by the fourth resistor R4 and the diode D3 is provided with the fourth resistor R4 before the diode D3, that is, a voltage dividing circuit formed by the fourth resistor R4 and the diode D3 can ensure that the signal is not attenuated when the signal is small, and when the signal greatly exceeds the conduction voltage drop of the diode, the signal output to the later stage does not exceed the conduction voltage drop of the diode; therefore, the input voltage of the rear-stage operational amplifier can be reduced, and the output saturation of the rear-stage operational amplifier is prevented.
The amplifier bypass circuit 110 includes a second resistor R2, a third resistor R3, and a diode D2, when the input signal is small, the voltage difference between the two ends of the second resistor R2 and the diode D2 is small, at this time, the diode D2 is not turned on, and the resistance of the diode D2 is large; when the input signal is large, the voltage difference between the second resistor R2 and the diode D2 is increased to exceed the conduction voltage drop of the diode D2, the diode D2 is turned on, the equivalent resistance of the parallel connection of the second resistor R2 and the diode D2 is reduced, and the amplification factor is reduced. The larger the input signal, the smaller the amplification until it is reduced to a minimum amplification. That is, the amplification factor is the largest when the input signal is a small signal, and the gain of the amplifying circuit is gradually reduced to the smallest amplification factor when the input signal is gradually increased. Optionally, the amplifier bypass circuit 110 may also omit the third resistor R3, because the amplification parameters of the operational amplifiers are different and can be kept stable at a smaller amplification factor, the third resistor R3 may be omitted, as shown in fig. 3, where fig. 3 shows a wiring diagram example of the amplifier bypass circuit according to the embodiment of the present invention. When the input signal is small, the diode D2 is not turned on, and the gain of the operational amplifier U1 is determined by the first resistor R1 and the second resistor R2; when the input signal is large, the diode D2 is turned on, the equivalent resistance of the second resistor R2 in parallel with the diode D2 is reduced, and the amplification factor is gradually reduced until the output signal does not exceed the maximum conduction voltage drop of the diode. As shown in fig. 4, fig. 4 shows an example of the clamping effect of the amplifier bypass circuit according to the embodiment of the present invention, in which when the input signal is a small signal on the left side, the solid line is a small signal before amplification, the dotted line is an output signal after amplification, when the input signal is a large signal on the right side, the solid line is a large signal before amplification, and the dotted line is an output signal after amplification.
After the optical pulse train reflected by the target object passes through the amplifying circuit, part of information in the pulse signal may be missing or partially missing, such as energy information of the pulse. When the laser is measured on the same optical path, the problem of 0-level reflection is inevitably encountered, wherein the 0-level reflection refers to a reflection pulse generated after the laser pulse is generated and before the laser pulse flies out of the distance measuring equipment, and the reflection can be generated by a lens, a prism, an inner wall and the like; if the distance of the measurement target is short, the front part of the pulse reflected by the target object and the rear part of the 0-level reflected pulse may overlap to form a continuous pulse, so that the time position of the target pulse is difficult to determine, and a measurement blind area is generated. As shown in fig. 5, fig. 5 shows an example where the pulses of the 0 th order reflection and the target object reflection overlap.
In view of the above, an embodiment of the present invention provides an optical detection module, and referring to fig. 6, fig. 6 shows a schematic block diagram of an optical detection module according to an embodiment of the present invention. As shown in fig. 6, the optical detection module 600 includes:
a photoelectric conversion circuit 610 for converting the optical pulse signal reflected back by the object into an electrical pulse signal;
the N digitizing modules 620 are connected in series or in parallel to the photoelectric conversion circuit and are used for respectively converting the electric pulse signals into N digitizing signals, wherein N is more than or equal to 2; the nth digitizing module comprises an nth amplifying circuit and an nth digitizing circuit, wherein the output end of the nth amplifying circuit is connected to the input end of the nth digitizing circuit, and N is 1 and 2 … … N;
and the operation circuit 630 is configured to determine the distance between the object and the optical detection module according to the n digitized signals.
When the detected 0-level reflected T0 pulse signal and the detected target object reflected pulse are amplified indiscriminately by the amplifying circuit, it is not beneficial to distinguish the 0-level reflected T0 pulse signal from the target object reflected pulse, so that the T0 signal can be made as small as possible after passing through the amplifying circuit, so as to avoid affecting the acquisition of near signals and bringing about a blind zone. The graded digitizing module amplifies and digitizes different light pulse signals reflected by the object to different degrees, the 0-grade reflected T0 pulse signal and the pulse reflected by the target object can be accurately distinguished, and accurate time information is obtained, so that the measurement accuracy of the light detection module is improved.
Optionally, when the N digitizing modules are connected in series to the photoelectric conversion circuit, the N +1 th stage amplifying circuit is configured to amplify an output signal of the N th stage amplifying circuit to obtain an N +1 th stage amplified signal;
and the (n + 1) th level digitizing circuit is connected with the (n + 1) th level amplifying circuit and is used for converting the (n + 1) th level amplifying signal into an (n + 1) th level digitizing signal.
Optionally, when the N digitizing modules are connected in parallel to the photoelectric conversion circuit, the amplification factors of the N digitizing modules are different.
Optionally, the nth stage digitizing circuit includes a time-to-digital converter or an analog-to-digital converter.
Optionally, when the nth stage digitizing circuit includes an analog-to-digital converter, the analog-to-digital converter converts the nth stage amplified signal to the nth stage digitized signal based on a predetermined sampling frequency.
Optionally, when the nth stage digitizing circuit comprises a time-to-digital converter, the time-to-digital converter comprises several different sampling thresholds; the number of the sampling threshold values of the (n + 1) th level of the digitizing circuit is larger than that of the sampling threshold values of the nth level of the digitizing circuit.
In some embodiments, the sampling threshold of the (n + 1) th stage digitizing circuit is greater than the sampling threshold of the nth stage digitizing circuit.
In one embodiment, referring to fig. 7, fig. 7 illustrates an example of a series of digitizing modules of an embodiment of the present invention. As shown in FIG. 7, N stages of amplifying circuits (N ≧ 2) are provided in the N digitizing modules, and signals of the amplifying circuits of each stage can be digitized. The digitizing method includes, but is not limited to, ADC (Analog to Digital Converter), TDC (Time to Digital Converter).
The amplification factor of the 1 st-stage amplification circuit is smaller, when the amplification factor of the pulse signal output by the sensor after the output signal of the sensor passes through the 1 st-stage amplification circuit is smaller, the T0 signal reflected by the 0 th stage is not amplified much; when the target object is relatively close, the signal reflected by the target object at the close position is generally relatively large, and relatively large pulse signals can be obtained without large amplification factor. That is, the optical signal reflected back in the near field is strong and, although amplified by a small amplification factor, still sufficient for the digitizing circuit to capture. Then, at the output of the stage 1 amplifying circuit, the signal of T0 is smaller than the signal reflected by the near target object, so that the signal has enough discrimination and is convenient for the digital circuit to collect. Taking a TDC acquisition mode as an example, in the output signal of the stage 1 amplification circuit, the front edge of a near blind area signal is less affected by T0, and can be acquired by a TDC method better, as shown in fig. 8, fig. 8 shows an example of the output signal of the stage 1 digitizing module according to the embodiment of the present invention, when TDC sampling is adopted, the number of sampling thresholds is 4, the sampling thresholds are Vf01, Vf02, Vf03, and Vf04, and Vf01 < Vf02 < Vf03 < Vf04, because there is sufficient discrimination between the signal reflected by a near target object and the T0 signal at the output of the stage 1 amplification circuit, the signal reflected by the near target object is easily sampled by different sampling thresholds without being affected by the T0 signal, thereby avoiding the problem of generating a blind area for measurement, and being beneficial to improving the accuracy of measurement.
When the output signal of the nth stage of amplification circuit is input into the (n + 1) th stage of amplification circuit, the signal reflected by the target object is further amplified, and when the target object is far away, the signal reflected by the far target object has weak strength, and amplification with a large amplification factor is required to obtain corresponding time information. Therefore, the output signal of the nth stage amplifier circuit is a signal which is amplified in multiple stages by the 1 st to nth stage amplifier circuits. It should be noted that, when the digitizing modules are connected in series, the amplification factors of the N amplifying circuits in the 1 st to nth amplifying circuits may be the same or different, and are not limited herein.
Therefore, according to the different intensities of the received optical pulse signals, the output results of different digitizing modules can be adopted to further improve the measurement accuracy of the optical detection module.
Optionally, the arithmetic circuit determines the weights of the N digitized signals according to a predetermined policy, and obtains the receiving time of the received optical pulse signal based on the N digitized signals and the corresponding weights.
Optionally, the predetermined policy comprises: determining a weight of the nth stage digitizing circuit according to the intensity of the received light pulse signal. When the light pulse signal is relatively strong at near place, the output signal of the 1 st level amplifying circuit is used for digitizing information; and when the distance is farther and the optical pulse signal is smaller, the 2 nd or Nth stage amplifying circuit is adopted to output the digitized information of the signal. The test data required by actual conditions and design requirements are different, and the results of the digitizing modules in different stages can be used as a data base for calculating the receiving time of the received optical pulse signal. It should be noted that the result of one level of the N digitized signals may be adopted, or the result obtained by integrating a plurality of digitized results and corresponding weights may be adopted to perform analysis and calculation to obtain the receiving time of the received optical pulse signal.
In addition, in the prior art, after a larger optical pulse signal passes through a sufficiently large amplifying circuit, the pulse amplitude information is "clipped", and the related energy information is also buried. The detection module of the embodiment of the invention can acquire the energy information of the pulse more accurately through grading amplification and digitization.
It should be noted that, in the optical detection module according to the embodiment of the present invention, the anti-saturation amplifying circuit according to the embodiment of the present invention may be adopted, and other types of amplifying circuits may also be adopted, which is not limited herein.
An embodiment of the present invention further provides a distance measuring apparatus, including:
a transmitting module for transmitting a sequence of light pulses;
the scanning module is used for sequentially changing the propagation paths of the optical pulse sequences transmitted by the transmitting module to different directions for emission;
in the optical detection module described above, at least a part of the optical signals reflected by the object from the optical pulse sequence pass through the scanning module and then enter the photoelectric conversion circuit in the optical detection device, and the photoelectric conversion circuit is configured to convert at least a part of the optical signals into electrical pulse signals.
Optionally, the scanning module includes a moving optical element, and is configured to change a propagation direction of the light pulse sequence from the distance measurement module and then emit the light pulse sequence.
Optionally, the optical element comprises a first and a second oppositely disposed light refracting element, each comprising a pair of opposing non-parallel surfaces;
the scanning module further comprises a driving module for driving the first light refracting element and the second light refracting element to rotate at different speeds and/or directions.
Optionally, the optical element further comprises a third light refracting element juxtaposed with the first and second light refracting elements, the third light refracting element comprising a pair of opposing non-parallel surfaces;
the driving module is further used for driving the third light refracting element to rotate around a rotating shaft.
The optical detection module provided by each embodiment of the invention can be applied to a distance measuring device, and the distance measuring device can be electronic equipment such as a laser radar, laser distance measuring equipment and the like. In one embodiment, the ranging device is used to sense external environmental information, such as distance information, orientation information, reflected intensity information, velocity information, etc. of environmental targets. In one implementation, the ranging device may detect the distance of the probe to the ranging device by measuring the Time of Flight (TOF), which is the Time-of-Flight Time, of light traveling between the ranging device and the probe. Alternatively, the distance measuring device may detect the distance from the probe to the distance measuring device by other techniques, such as a distance measuring method based on phase shift (phase shift) measurement or a distance measuring method based on frequency shift (frequency shift) measurement, which is not limited herein.
For ease of understanding, the following describes an example of the ranging operation with reference to the ranging apparatus 900 shown in fig. 9.
As shown in fig. 9, the ranging apparatus 900 may include a transmitting circuit 910, a receiving circuit 920, a sampling circuit 930, and an operation circuit 940.
The transmit circuit 910 may transmit a sequence of light pulses (e.g., a sequence of laser pulses). The receiving circuit 920 may receive the optical pulse train reflected by the detected object, perform photoelectric conversion on the optical pulse train to obtain an electrical signal, process the electrical signal, and output the electrical signal to the sampling circuit 930. The sampling circuit 930 may sample the electrical signal to obtain a sampling result. The arithmetic circuit 940 may determine the distance between the ranging device 900 and the detected object based on the sampling result of the sampling circuit 930.
Optionally, the distance measuring apparatus 900 may further include a control circuit 950, and the control circuit 950 may implement control on other circuits, for example, may control an operating time of each circuit and/or perform parameter setting on each circuit, and the like.
It should be understood that, although the distance measuring device shown in fig. 9 includes a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a light beam to detect, the embodiments of the present application are not limited thereto, and the number of any one of the transmitting circuit, the receiving circuit, the sampling circuit and the arithmetic circuit may be at least two, and the at least two light beams are emitted in the same direction or in different directions respectively; the at least two light paths may be emitted simultaneously or at different times. In one example, the light emitting chips in the at least two transmitting circuits are packaged in the same module. For example, each transmitting circuit comprises a laser emitting chip, and die of the laser emitting chips in the at least two transmitting circuits are packaged together and accommodated in the same packaging space.
In some implementations, in addition to the circuit shown in fig. 9, ranging device 900 may further include a scanning module 960 (not shown) for emitting at least one laser pulse sequence emitted by the emitting circuit with a changed propagation direction.
The module including the transmitting circuit 910, the receiving circuit 920, the sampling circuit 930, and the computing circuit 940, or the module including the transmitting circuit 910, the receiving circuit 920, the sampling circuit 930, the computing circuit 940, and the control circuit 950 may be referred to as a ranging module, which may be independent of other modules, for example, the scanning module 960.
The distance measuring device can adopt a coaxial light path, namely the light beam emitted by the distance measuring device and the reflected light beam share at least part of the light path in the distance measuring device. For example, at least one path of laser pulse sequence emitted by the emitting circuit is emitted by the scanning module after the propagation direction is changed, and the laser pulse sequence reflected by the detector is emitted to the receiving circuit after passing through the scanning module. Alternatively, the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are transmitted along different optical paths in the distance measuring device. FIG. 10 shows a schematic diagram of one embodiment of a distance measuring device of the present invention employing coaxial optical paths.
Ranging device 1000 includes a ranging module 1010, ranging module 1010 including a transmitter 1003 (which may include the transmit circuitry described above), a collimating element 1004, a detector 1005 (which may include the receive circuitry, sampling circuitry, and arithmetic circuitry described above), and a beam path altering element 1006. The distance measurement module 1010 is configured to emit a light beam, receive return light, and convert the return light into an electrical signal. Wherein the transmitter 1003 may be configured to transmit a sequence of light pulses. In one embodiment, transmitter 1003 may transmit a sequence of laser pulses. Optionally, the laser beam emitted by emitter 1003 is a narrow bandwidth beam having a wavelength outside the visible range. The collimating element 1004 is disposed on an emitting light path of the emitter, and is configured to collimate the light beam emitted from the emitter 1003, and collimate the light beam emitted from the emitter 1003 into parallel light to be emitted to the scanning module. The collimating element is also for converging at least a portion of the return light reflected by the detector. The collimating element 1004 may be a collimating lens or other element capable of collimating a light beam.
In the embodiment shown in fig. 10, the transmit and receive optical paths within the distance measuring device are combined by the optical path changing element 1006 before the collimating element 1004 so that the transmit and receive optical paths can share the same collimating element, making the optical path more compact. In some other implementations, the emitter 1003 and the detector 1005 may use respective collimating elements, and the optical path changing element 1006 may be disposed in the optical path after the collimating elements.
In the embodiment shown in fig. 10, since the beam aperture of the light beam emitted from the emitter 1003 is small and the beam aperture of the return light received by the distance measuring device is large, the optical path changing element can adopt a small-area mirror to combine the emission optical path and the reception optical path. In some other implementations, the optical path changing element may also be a mirror with a through hole, wherein the through hole is used for transmitting the outgoing light of the emitter 1003, and the mirror is used for reflecting the return light to the detector 1005. Therefore, the shielding of the bracket of the small reflector to the return light can be reduced in the case of adopting the small reflector.
In the embodiment shown in FIG. 10, the optical path-altering component is offset from the optical axis of the collimating component 1004. In other implementations, the optical path-changing element may also be located on the optical axis of the collimating element 1004.
Ranging device 1000 also includes a scanning module 1002. The scanning module 1002 is disposed on the emitting light path of the distance measuring module 1010, and the scanning module 1002 is configured to change the transmission direction of the collimated light beam 1019 emitted from the collimating element 1004 and project the collimated light beam to the external environment, and project the return light beam to the collimating element 1004. The return light is converged onto the detector 1005 by the collimating element 1004.
In one embodiment, the scanning module 1002 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, diffracting, etc. the light beam. For example, scanning module 1002 includes a lens, mirror, prism, galvanometer, grating, liquid crystal, Optical Phased Array (Optical Phased Array), or any combination thereof. In one example, at least a portion of the optical element is moved, for example, by a driving module, and the moved optical element can reflect, refract, or diffract the light beam to different directions at different times. In some embodiments, multiple optical elements of the scanning module 1002 may rotate or oscillate about a common axis 1009, each rotating or oscillating optical element serving to constantly change the direction of propagation of an incident beam. In one embodiment, the multiple optical elements of the scanning module 1002 may rotate at different rotational speeds or oscillate at different speeds. In another embodiment, at least some of the optical elements of the scanning module 1002 may rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also be rotated about different axes. In some embodiments, the multiple optical elements of the scanning module may also rotate in the same direction, or in different directions; or in the same direction, or in different directions, without limitation.
In one embodiment, the scanning module 1002 includes a first optical element 1014 and a driver 1016 coupled to the first optical element 1014, the driver 1016 configured to drive the first optical element 1014 to rotate about a rotation axis 1009, causing the first optical element 1014 to change a direction of the collimated light beam 1019. The first optical element 214 projects the collimated beam 219 into different directions. In one embodiment, the angle between the direction of the collimated light beam 1019 as it is altered by the first optical element and the axis of rotation 1009 changes as the first optical element 1014 rotates. In one embodiment, the first optical element 1014 includes a pair of opposing non-parallel surfaces through which the collimated light beam 1019 passes. In one embodiment, the first optical element 1014 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, first optical element 1014 comprises a wedge angle prism that refracts collimated light beam 1019.
In one embodiment, the scanning module 1002 further includes a second optical element 1015, the second optical element 1015 rotates about a rotation axis 1009 at a different speed than the first optical element 1014. The second optical element 1015 is used to change the direction of the light beam projected by the first optical element 1014. In one embodiment, the second optical element 1015 is coupled to another driver 1017, and the driver 1017 drives the second optical element 1015 to rotate. First optical element 1014 and second optical element 1015 may be driven by the same or different drivers to rotate and/or steer first optical element 214 and second optical element 215 differently, thereby projecting collimated light beam 1019 into different directions in ambient space, allowing a larger spatial range to be scanned. In one embodiment, controller 1018 controls drivers 1016 and 1017 to drive first optical element 1014 and second optical element 1015, respectively. The rotation speed of the first optical element 1014 and the second optical element 1015 may be determined according to the region and pattern of the desired scan in the actual application. The drives 1016 and 1017 may comprise motors or other drives.
In one embodiment, second optical element 1015 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, second optical element 1015 comprises a prism having a thickness that varies along at least one radial direction. In one embodiment, second optical element 1015 comprises a wedge angle prism.
In one embodiment, the scan module 1002 further includes a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element comprises a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism having a thickness that varies along at least one radial direction. In one embodiment, the third optical element comprises a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotational directions.
Rotation of the optical elements in scanning module 1002 may project light in different directions, such as the directions of light 1011 and 1013, thus scanning the space around ranging device 1000. When the light 1011 projected by the scanning module 1002 strikes the detected object 1001, a part of the light is reflected by the detected object 1001 to the distance measuring device 1000 in the direction opposite to the projected light 1011. The return light 1012 reflected by the object 1001 passes through the scanning module 1002 and then enters the collimating element 1004.
A detector 1005 is positioned on the same side of the collimating element 1004 as the emitter 1003, the detector 1005 being configured to convert at least a portion of the return light passing through the collimating element 1004 into an electrical signal.
In one embodiment, each optical element is coated with an antireflection coating. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 103, which can increase the intensity of the transmitted light beam.
In one embodiment, a filter layer is coated on a surface of a component in the distance measuring device, which is located on the light beam propagation path, or a filter is arranged on the light beam propagation path, and is used for transmitting at least a wave band in which the light beam emitted by the emitter is located and reflecting other wave bands, so as to reduce noise brought to the receiver by ambient light.
In some embodiments, transmitter 1003 may include a laser diode through which laser pulses on the order of nanoseconds are emitted. Further, the laser pulse reception time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this manner, the ranging apparatus 1000 can calculate TOF using the pulse reception time information and the pulse emission time information, thereby determining the distance from the object 1001 to be detected to the ranging apparatus 1000.
The distance and orientation detected by rangefinder 1000 may be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In an embodiment, the distance measuring device of the embodiment of the invention can be applied to a mobile platform, and the distance measuring device can be installed on a platform body of the mobile platform. The mobile platform with the distance measuring device can measure the external environment, for example, the distance between the mobile platform and an obstacle is measured for the purpose of avoiding the obstacle, and the external environment is mapped in two dimensions or three dimensions. In certain embodiments, the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, a remote control car, a robot, a camera. When the distance measuring device is applied to the unmanned aerial vehicle, the platform body is a fuselage of the unmanned aerial vehicle. When the distance measuring device is applied to an automobile, the platform body is the automobile body of the automobile. The vehicle may be an autonomous vehicle or a semi-autonomous vehicle, without limitation. When the distance measuring device is applied to the remote control car, the platform body is the car body of the remote control car. When the distance measuring device is applied to a robot, the platform body is the robot. When the distance measuring device is applied to a camera, the platform body is the camera itself.
The invention provides a laser emission scheme which accords with human eye safety regulations by providing the light emitting device, the distance measuring device and the mobile platform, and when a system has a single fault, a circuit in the device can ensure that a laser radiation value does not exceed a safety value, thereby ensuring the use safety of the laser device.
Technical terms used in the embodiments of the present invention are only used for illustrating specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, the use of "including" and/or "comprising" in the specification is intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or components.
The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below, if any, are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Various modifications and alterations to this invention will become apparent to those skilled in the art without departing from the scope and spirit of this invention. The embodiments described herein are further intended to explain the principles of the invention and its practical application and to enable others skilled in the art to understand the invention.
The flow chart described in the present invention is only an example, and various modifications can be made to the diagram or the steps in the present invention without departing from the spirit of the present invention. For instance, the steps may be performed in a differing order, or steps may be added, deleted or modified. It will be understood by those skilled in the art that all or a portion of the above-described embodiments may be practiced and equivalents thereof may be resorted to as falling within the scope of the invention as claimed.
Claims (19)
- The utility model provides a light detection module which characterized in that, light detection module includes:the photoelectric conversion circuit is used for converting the optical pulse signals reflected back by the object into electric pulse signals;the N digitizing modules are connected in series or in parallel to the photoelectric conversion circuit and are used for respectively converting the electric pulse signals into N digitizing signals, wherein N is more than or equal to 2; the nth digitizing module comprises an nth amplifying circuit and an nth digitizing circuit, wherein the output end of the nth amplifying circuit is connected to the input end of the nth digitizing circuit, and N is 1 and 2 … … N;and the arithmetic circuit is used for determining the distance between the object and the optical detection device according to the n digitized signals.
- The optical detection module as claimed in claim 1, wherein when the N digitizing modules are connected in series to the photoelectric conversion circuit, the N +1 stage amplifying circuit is configured to amplify an output signal of the N stage amplifying circuit to obtain an N +1 stage amplified signal;and the (n + 1) th level digitizing circuit is connected with the (n + 1) th level amplifying circuit and is used for converting the (n + 1) th level amplifying signal into an (n + 1) th level digitizing signal.
- The optical detection module of claim 1, wherein the N digitizing modules have different amplification factors when the N digitizing modules are connected in parallel to the photoelectric conversion circuit.
- The light detection module of any one of claims 1-3, wherein the nth stage digitizing circuit comprises a time-to-digital converter or an analog-to-digital converter.
- The light detection module of claim 4, wherein the nth stage digitizing circuit comprises an analog-to-digital converter, the analog-to-digital converter converting the nth stage amplified signal to the nth stage digitized signal based on a predetermined sampling frequency.
- The optical detection module of claim 4, wherein when the nth stage digitizer circuit comprises a time to digital converter, the time to digital converter comprises a plurality of different sampling thresholds; the number of the sampling threshold values of the (n + 1) th level of the digitizing circuit is larger than that of the sampling threshold values of the nth level of the digitizing circuit.
- The optical detection module of claim 1, wherein the arithmetic circuit determines the weights of the N digitized signals according to a predetermined strategy, and obtains the receiving time of the received optical pulse signal based on the N digitized signals and the corresponding weights.
- The optical detection module of claim 7, wherein the predetermined strategy comprises: determining a weight of the nth stage digitizing circuit according to the intensity of the received light pulse signal.
- The optical detection module of claim 1, wherein the nth stage of amplification circuit comprises an operational amplifier, a first resistor, an amplifier bypass circuit; one end of the first resistor receives the electric pulse signal, the other end of the first resistor is connected with the reverse input end of the operational amplifier, the forward input end of the operational amplifier is connected with a reference voltage, and the output end of the operational amplifier outputs the amplified electric pulse signal; the amplifier bypass circuit is connected between the inverting input and the output of the operational amplifier.
- The optical detection module of claim 9, wherein the amplifier bypass circuit includes a second resistor; or a circuit in which the second resistor and the third resistor are connected in series.
- The light detection module of claim 10, wherein the amplifier bypass circuit further comprises a first diode; the first diode is connected in parallel with the second resistor or the third resistor.
- The optical detection module of claim 9, wherein the nth stage amplification circuit comprises a current bypass circuit connected to one end of the first resistor for limiting current through the first resistor.
- The light detection module of claim 12, wherein the current bypass circuit includes a second diode.
- The optical detection module of claim 9, wherein the nth stage of amplification circuit comprises a voltage bypass circuit connected to the output of the operational amplifier for limiting the output voltage of the nth stage of amplification circuit.
- The optical detection module as claimed in claim 14, wherein the voltage bypass circuit includes a fourth resistor and a third diode, one end of the fourth resistor is connected to the output terminal of the operational amplifier, the other end of the fourth resistor is connected to the anode of the third diode and serves as the output terminal of the nth-stage amplification circuit, and the cathode of the third diode is grounded.
- A ranging apparatus, comprising:a transmitting module for transmitting a sequence of light pulses;the scanning module is used for sequentially changing the propagation paths of the optical pulse sequences transmitted by the transmitting module to different directions for emission;the optical detection module of any one of claims 1 to 15, wherein at least a portion of the optical signal reflected by the object of the optical pulse sequence passes through the scanning module and then is incident on a photoelectric conversion circuit in the optical detection device, and the photoelectric conversion circuit is configured to convert the at least a portion of the optical signal into an electrical pulse signal.
- A ranging device as claimed in claim 16 wherein the scanning module comprises moving optics for changing the direction of propagation of the light pulse train from the ranging module and then exiting.
- The range finder device of claim 10, wherein the optical element comprises first and second oppositely disposed light refracting elements each comprising a pair of opposed non-parallel surfaces;the scanning module further comprises a driving module for driving the first light refracting element and the second light refracting element to rotate at different speeds and/or directions.
- The range finder device of claim 11, wherein the optical element further comprises a third light refracting element juxtaposed with the first and second light refracting elements, the third light refracting element comprising an opposing pair of non-parallel surfaces;the driving module is further used for driving the third light refracting element to rotate around a rotating shaft.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/070957 WO2020142921A1 (en) | 2019-01-09 | 2019-01-09 | Optical detection module and distance measuring device |
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| CN111670371A true CN111670371A (en) | 2020-09-15 |
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| CN201980005453.4A Pending CN111670371A (en) | 2019-01-09 | 2019-01-09 | Optical detection module and distance measuring device |
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| WO (1) | WO2020142921A1 (en) |
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