CN111983630B - Single photon ranging system, method, terminal equipment and storage medium - Google Patents
Single photon ranging system, method, terminal equipment and storage medium Download PDFInfo
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- CN111983630B CN111983630B CN202010840243.1A CN202010840243A CN111983630B CN 111983630 B CN111983630 B CN 111983630B CN 202010840243 A CN202010840243 A CN 202010840243A CN 111983630 B CN111983630 B CN 111983630B
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- 230000003287 optical effect Effects 0.000 claims abstract description 250
- 238000002834 transmittance Methods 0.000 claims abstract description 129
- 230000002238 attenuated effect Effects 0.000 claims abstract description 27
- 230000008569 process Effects 0.000 claims abstract description 14
- 230000000875 corresponding effect Effects 0.000 claims description 51
- 230000001276 controlling effect Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 6
- 230000002596 correlated effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 238000002310 reflectometry Methods 0.000 claims description 3
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- 238000005259 measurement Methods 0.000 abstract description 26
- 230000036962 time dependent Effects 0.000 description 5
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- 239000004973 liquid crystal related substance Substances 0.000 description 2
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- 238000001161 time-correlated single photon counting Methods 0.000 description 2
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Classifications
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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
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
Abstract
The application is applicable to the technical field of flight time, and provides a single photon ranging system, a single photon ranging method, terminal equipment and a storage medium, wherein an optical pulse signal is transmitted to a target after being attenuated by an adjustable optical attenuator with maximum transmittance by controlling an optical transmitter to transmit the optical pulse signal; controlling a single photon detector to receive the optical signal reflected by the target and process the optical signal into an optical sensing signal; acquiring the distance between the target and the single photon detector according to the light sensing signal; when the distance is smaller than the distance threshold value, the transmittance of the adjustable optical attenuator is adjusted to be the transmittance corresponding to the distance; or, acquiring the light intensity of the optical signal reflected by the target according to the optical sensing signal; when the light intensity is larger than the light intensity threshold value, the transmittance of the adjustable optical attenuator is adjusted to be the transmittance corresponding to the light intensity, so that when the distance of the target is too close or the light intensity of the optical signal reflected by the target is too strong, the photon number received by the single photon detector in one pulse period is reduced, and the measurement accuracy is improved.
Description
Technical Field
The application belongs to the technical field of Time of flight (TOF), and particularly relates to a single photon ranging system, a method, terminal equipment and a storage medium.
Background
The time-of-flight ranging method is to continuously transmit an optical pulse signal to a target, then receive an optical signal reflected by the target, and obtain the distance of the target by detecting the flight (round trip) time of the optical pulse signal. Single photon ranging systems based on time-of-flight technology have been widely used in terminal devices in the fields of consumer electronics, unmanned vehicles, virtual reality, augmented reality, etc. Single photon ranging systems typically include a light emitter and a single photon detector (Single Photon Detector, SPD), which are required to receive a small number of photons in one pulse period of the optical pulse signal in order to accurately measure the time of flight of the optical pulse signal, and which are prone to large measurement errors when the number of photons received by the single photon detector in one pulse period of the optical pulse signal is excessive.
Disclosure of Invention
In view of this, the embodiments of the present application provide a single photon ranging system, a method, a terminal device, and a storage medium, so as to solve the problem in the prior art that when the number of photons received by a single photon detector in one pulse period of an optical pulse signal is too large, a larger measurement error is easily caused.
A first aspect of embodiments of the present application provides a ranging method of a single photon ranging system, the single photon ranging system including a controller, a light emitter, a single photon detector, and a tunable optical attenuator covering the light emitter, the controller being electrically connected to the light emitter, the single photon detector, and the tunable optical attenuator, respectively, the ranging method including the following steps performed by the controller:
controlling the light emitter to emit a light pulse signal, wherein the light pulse signal is attenuated by the adjustable optical attenuator with the maximum transmittance and then transmitted to a target;
controlling the single photon detector to receive the optical signal reflected by the target and process the optical signal into an optical sensing signal;
acquiring the distance between the target and the single photon detector according to the light sensing signal;
when the distance is smaller than a distance threshold value, adjusting the transmittance of the adjustable optical attenuator to be the transmittance corresponding to the distance;
or, acquiring the light intensity of the light signal reflected by the target according to the light sensing signal;
and when the light intensity is larger than a light intensity threshold value, adjusting the transmittance of the adjustable light attenuator to be the transmittance corresponding to the light intensity.
A second aspect of the embodiments of the present application provides a ranging method of a single photon ranging system, the single photon ranging system including a controller, a light emitter, a single photon detector, and a light attenuation sheet covering the light emitter, the controller being electrically connected to the light emitter and the single photon detector, respectively, the single photon detector including a single photon sensor array composed of a plurality of single photon sensors, the light attenuation sheet including at least two attenuation regions alternately arranged and having non-identical transmittance, the ranging method including the following steps performed by the controller:
controlling the light emitter to emit an optical pulse signal, wherein the optical pulse signal is attenuated by the optical attenuation sheet and then transmitted to a target;
controlling the single photon detector to receive the optical signal reflected by the target and process the optical signal into a first light sensing signal;
acquiring a first distance between the target and the single photon detector according to the first light sensing signal;
when the first distance is smaller than a distance threshold value, acquiring a second light sensing signal output by a single photon sensor which receives the first light signal reflected by the target; the first optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area with the transmissivity positively correlated to the first distance in the optical pulse signal and is reflected back to the single photon detector by the target;
Acquiring a second distance between the target and the single photon detector according to the second light sensing signal;
or, acquiring the light intensity of the light signal reflected by the target according to the first light sensing signal;
when the light intensity is larger than a light intensity threshold value, acquiring a third light induction signal output by a single photon sensor which receives the second light signal reflected by the target; the second optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area with the transmissivity negatively related to the light intensity in the optical pulse signal and is reflected back to the single photon detector by the target;
and acquiring a third distance between the target and the single photon detector according to the third light sensing signal.
A third aspect of the embodiments of the present application provides a single photon ranging system, including a controller, a light emitter, a single photon detector, and a tunable optical attenuator covering the light emitter, where the controller is electrically connected to the light emitter, the single photon detector, and the tunable optical attenuator, respectively, and the controller is configured to perform the ranging method according to the first aspect of the embodiments of the present application.
A fourth aspect of the embodiments of the present application provides a single photon ranging system, including a controller, a light emitter, a single photon detector, and a light attenuation sheet covering the light emitter, where the controller is electrically connected with the light emitter and the single photon detector, the single photon detector includes a single photon sensor array formed by a plurality of single photon sensors, the light attenuation sheet includes at least two attenuation areas that are alternately arranged and have non-identical transmittance, and the controller is configured to perform the ranging method according to the second aspect of the embodiments of the present application.
A fifth aspect of embodiments of the present application provides a terminal device comprising a single photon ranging system as described in the third or fourth aspect of embodiments of the present application.
A sixth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a controller, implements the steps of the ranging method according to the first or second aspect of the embodiments of the present application.
A first aspect of an embodiment of the present application provides a ranging method of a single photon ranging system, where the single photon ranging system includes a controller, a light emitter, a single photon detector, and an adjustable optical attenuator covering the light emitter, the controller is electrically connected with the light emitter, the single photon detector, and the adjustable optical attenuator, and the light emitter is controlled to emit a light pulse signal, so that the light pulse signal is attenuated by the adjustable optical attenuator with a maximum transmittance and then transmitted to a target; controlling a single photon detector to receive the optical signal reflected by the target and process the optical signal into an optical sensing signal; acquiring the distance between the target and the single photon detector according to the light sensing signal; when the distance is smaller than the distance threshold value, the transmittance of the adjustable optical attenuator is adjusted to be the transmittance corresponding to the distance; or, acquiring the light intensity of the optical signal reflected by the target according to the optical sensing signal; when the light intensity is larger than the light intensity threshold value, the transmittance of the adjustable optical attenuator is adjusted to be the transmittance corresponding to the light intensity, and when the distance between the target and the single photon detector is too short or the light intensity of the optical signal reflected by the target is too strong, the transmittance of the adjustable optical attenuator is adaptively adjusted so as to reduce the light intensity of the optical pulse signal emitted to the target, thereby effectively reducing the photon number received by the single photon detector in one pulse period of the optical pulse signal, further reducing measurement errors and improving measurement accuracy.
A second aspect of the embodiments of the present application provides a ranging method of a single-photon ranging system, where the single-photon ranging system includes a controller, a light emitter, a single-photon detector, and a light attenuation sheet covering the light emitter, the controller is electrically connected to the light emitter and the single-photon detector, the single-photon detector includes a single-photon sensor array composed of a plurality of single-photon sensors, and the light attenuation sheet includes at least two attenuation areas that are alternately arranged and have non-identical transmittance; the controller controls the light emitter to emit light pulse signals, and the light pulse signals are attenuated by the light attenuation sheet and then transmitted to a target; controlling a single photon detector to receive the optical signal reflected by the target and process the optical signal into a first light sensing signal; acquiring a first distance between a target and a single photon detector according to a first light sensing signal; when the first distance is smaller than the distance threshold value, acquiring a second light sensing signal output by a single photon sensor which receives the first light signal reflected by the target; the first optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area positively correlated with the first distance by the transmittance in the optical pulse signal and is reflected back to the single photon detector by the target; acquiring a second distance between the target and the single photon detector according to the second light sensing signal; or, acquiring the light intensity of the optical signal reflected by the target according to the first light sensing signal; when the light intensity is larger than the light intensity threshold value, acquiring a third light sensing signal output by a single photon sensor which receives the second light signal reflected by the target; the second optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area with the transmissivity inversely related to the light intensity in the optical pulse signal and is reflected back to the single photon detector by the target; according to the third distance between the target and the single photon detector obtained by the third light sensing signal, when the distance between the target and the single photon detector is too close or the light intensity of the light signal reflected by the target is too strong, the distance between the target and the single photon detector is obtained by the light sensing signal output by the single photon sensor covered by the attenuation region with lower transmittance, so that measurement errors can be effectively reduced, and measurement accuracy is improved.
It will be appreciated that the advantages of the third aspect may be referred to in the description of the first aspect, the advantages of the fourth aspect may be referred to in the description of the second aspect, and the advantages of the fifth and sixth aspects may be referred to in the description of the first or second aspect, which are not repeated here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a first single photon ranging system according to an embodiment of the present application;
fig. 2 is a flowchart of a first ranging method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a second single photon ranging system according to an embodiment of the present application;
FIG. 4 is a schematic view of a first structure of an optical attenuator according to an embodiment of the present application;
FIG. 5 is a schematic view of a second structure of an optical attenuator according to an embodiment of the present application;
fig. 6 is a flowchart of a second ranging method according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
As shown in fig. 1, the embodiment of the present application provides a single photon ranging system 100, which includes a controller 1, a light emitter 2, a single photon detector 3, and an adjustable optical attenuator (Variable Optical Attenuator, VOA) 4 covering the light emitter 2, wherein the controller 1 is electrically connected with the light emitter 2, the single photon detector 3, and the adjustable optical attenuator 4, respectively; wherein the optical pulse signal emitted by the optical transmitter 2 is attenuated by the adjustable optical attenuator 4 and then transmitted to the target 200, the optical signal reflected by the target 200 is received by the single photon detector 3, the solid line represents the electrical connection, and the dashed line with the arrow represents the optical signal.
In application, the single photon ranging system at least comprises a controller, a light emitter, a single photon detector and an adjustable optical attenuator, and can also comprise a collimating optical element and a diffraction optical element (Diffractive Optical Elements, DOE) which cover the light emitter, a focusing lens or a micro lens array which cover the single photon detector, and the like, wherein the collimating optical element and the diffraction optical element can be sequentially arranged between the light emitter and the adjustable optical attenuator, and the adjustable optical attenuator can also be arranged between the light emitter and the collimating optical element. The collimating optical element is used for collimating the light pulse signals emitted by the light emitters, and the diffraction optical element is used for diffracting the light pulse signals. The lens or microlens array is used for focusing the optical signal reflected by the target on the photosurface of the single photon detector. The controller is used for controlling the light emitter, the single photon detector and the adjustable optical attenuator to be turned on or off and adjusting the transmittance of the adjustable optical attenuator so as to change the light intensity of the light pulse signal emitted to the target. The target may be any object in free space that can reflect the optical pulse signal emitted by the single photon ranging system.
In application, the light emitter may be configured as a Laser, a light emitting diode (Light Emitting Diode, LED), a Laser Diode (LD), an Edge-emitting Laser (EEL), or the like according to actual needs. The Laser may specifically be a Vertical-Cavity Surface-Emitting Laser (VCSEL). The light emitter can be a tunable or non-tunable device, and the light intensity of the light pulse signal emitted by the light emitter is changed only through the adjustable attenuator by setting the light emitter as the non-tunable device, so that the design difficulty of the single photon ranging system can be effectively reduced, and the cost is reduced.
In application, the adjustable optical attenuator can be set as a liquid crystal diffraction grating (Liquid Crystal Diffraction Grating) with adjustable transmittance, a mechanical optical attenuator or a magneto-optical attenuator according to actual needs.
In application, the single photon detector can be configured to comprise only a single photon sensor or a single photon sensor array formed by a plurality of single photon sensors according to actual needs, and the single photon sensor can be a single photon avalanche photodiode (Single Photon Avalanche Diode, SPAD). The single photon avalanche photodiode can respond to an incident single photon and output a signal indicating the Time of arrival of the photon at the single photon avalanche photodiode, based on which collection of a weak optical signal and calculation of Time of flight can be achieved using Time-dependent single photon counting (Time-Correlated Single Photon Counting, TCSPC). The single photon detector may further comprise at least one of a signal amplifier, a time-to-digital converter (Time to Digital Converter, TDC), an Analog-to-Digital Converter, ADC, etc. electrically connected to the single photon sensor or the array of single photon sensors, which may be integrated with the single photon sensor or the array of single photon sensors to form the single photon detector, or may be part of the controller.
In application, the controller may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose controllers, digital signal controllers (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose controller may be a microcontroller or any conventional controller or the like.
As shown in fig. 2, an embodiment of the present application provides a ranging method implemented based on the single photon ranging system 100 in the embodiment corresponding to fig. 1, including the following steps implemented by the controller 3:
step S201, controlling the light emitter to emit a light pulse signal, and transmitting the light pulse signal to a target after being attenuated by the adjustable optical attenuator with the maximum transmittance, and entering step S202;
step S202, controlling the single photon detector to receive the optical signal reflected by the target and process the optical signal into a photo-sensing signal, and proceeding to step S203 or S205.
In application, when the controller controls the start of the adjustable optical attenuator, the controller can control the initialization of the adjustable optical attenuator first, and adjust the transmittance of the adjustable optical attenuator to the maximum so as to make the attenuation degree of the light pulse signal emitted by the light emitter after the start minimum. The controller may send a synchronization signal to the optical transmitter and the single photon detector after controlling the variable optical attenuator to be started and initialized to adjust the transmittance of the variable optical attenuator to the maximum, so as to synchronize the emission time of the optical pulse signal emitted by the optical transmitter and the receiving time of the optical signal reflected by the target received by the single photon detector.
In one embodiment, prior to step S201, comprising:
and adjusting the transmittance of the adjustable optical attenuator to be the maximum transmittance.
In application, when the distance between the target and the single photon detector is too short or the light intensity of the optical signal reflected by the target is too strong, the single photon detector can cause a larger measurement error when the number of photons received by the single photon detector in one pulse period of the optical pulse signal is too large. Therefore, whether the transmittance of the adjustable optical attenuator is adaptively adjusted can be determined by detecting whether the distance between the target and the single photon detector is smaller than a distance threshold or whether the light intensity of the optical signal reflected by the target is larger than a light intensity threshold, so that the photon number received by the single photon detector in one pulse period of the optical pulse signal is reduced, the measurement error is reduced, and the measurement accuracy is improved.
Step S203, obtaining the distance between the target and the single photon detector according to the light sensing signal, and entering step S204;
and step S204, when the distance is smaller than a distance threshold value, adjusting the transmittance of the adjustable optical attenuator to be the transmittance corresponding to the distance.
In application, steps S203 and S204 determine whether to adaptively adjust the transmittance of the tunable optical attenuator by detecting whether the distance between the target and the single photon detector is less than a distance threshold. Specifically, the controller obtains the flight time of the light pulse signal emitted by the light emitter by adopting a time-dependent single photon counting method according to the light sensing signal output by the single photon detector, so that the distance between the target and the single photon detector is calculated according to the flight time, and the calculation formula is as follows:
D＝c*t/2；
Where D represents the distance of the target, c represents the speed of light, and t represents the time of flight.
In application, since the transmittance of the adjustable optical attenuator is adjusted to the maximum transmittance when the transmittance of the adjustable optical attenuator is initialized, the measurement of the target with the distance greater than or equal to the distance threshold value from the single photon detector can be realized under the condition that the single photon detector is ensured to receive a small number of photons in one pulse period of the optical pulse signal. Therefore, when the distance between the target and the single photon detector is less than the distance threshold, it is necessary to reduce the transmittance of the tunable optical attenuator, in which case the transmittance corresponding to the distance is less than the maximum transmittance.
In application, when the distance between the target and the single photon detector is smaller than the distance threshold, the relationship between the distance between the target and the single photon detector and the transmittance that the adjustable optical attenuator should reach can be obtained through pre-measurement, for example, the targets at different distances can be measured in advance through the single photon ranging system, when the targets at each distance are measured, the transmittance of the adjustable optical attenuator is continuously adjusted, when the number of photons received by the single photon detector in one pulse period of the optical pulse signal is equal to the preset number threshold, the distance and the transmittance at that time are recorded, and the corresponding relationship between the two is established, so that the corresponding relationship between the different distances and the corresponding transmittance can be obtained, and when the distance is smaller than the distance threshold, the corresponding transmittance can be quickly found according to the recorded corresponding relationship and distance. The preset number threshold may be set to any value between 0.01 and 0.1.
In one embodiment, step S204 includes:
when the distance is smaller than a distance threshold value, acquiring luminous power corresponding to the distance;
obtaining transmittance corresponding to the distance according to the luminous power; and after the adjustable optical attenuator attenuates the optical pulse signal under the transmittance corresponding to the distance, the light intensity of the optical pulse signal is equal to the light intensity of the optical pulse signal emitted by the light emitter under the light emitting power.
In an application, the correspondence between the targets at different distances and the luminous power that should be achieved by the light emitter may be obtained in advance, and then the transmittance that should be achieved by the adjustable optical attenuator may be obtained according to the luminous power of the light emitter. After the luminous power is determined according to the distance, under the condition that the luminous power of the light emitter is not adjustable, the light intensity attenuation effect equivalent to the luminous power of the light emitter can be realized by adjusting the transmittance of the adjustable light attenuator, namely, after the light pulse signal is attenuated by the adjustable light attenuator under the transmittance corresponding to the distance, the light intensity of the light pulse signal is equivalent to the light intensity of the light pulse signal emitted by the light emitter under the luminous power corresponding to the distance.
In one embodiment, when the distance is smaller than a distance threshold, acquiring the light emitting power corresponding to the distance includes:
according to a preset relational expression and the distance, acquiring the luminous power corresponding to the distance, wherein the preset relational expression is as follows:
wherein P is light source Represents the luminous power, R represents the distance, N e Representing the average photon number reaching a single pixel in the single photon detector after the light emitter emits a primary light pulse signal to the target, wherein FOV represents the angle of view of the lens of the single photon detector, and FF representsFill factor, A pixel Representing the area of a single pixel in the single photon detector, h representing the Planck constant, c representing the speed of light, T pulse Representing the pulse time of the light emitter, ρ representing the reflectivity of the target, F representing the focal length of the lens of the single photon detector, F/# representing the aperture of the lens of the single photon detector, k opt Representing the loss of the optical components of the single photon detector, PDE represents the photon detection efficiency of the single photon detector, λ being the center wavelength of the optical transmitter.
In application, the corresponding relation between the targets at different distances and the light power to be achieved by the light emitter, which is obtained in advance, is the preset relation. The light-emitting power is an unknown quantity, the distance and the average photon number are known quantities obtained according to the light-sensing signals, and the angle of view, the filling factor, the area of a single pixel, the Planckian constant, the speed of light, the pulse time, the reflectivity of a target, the focal length of a lens, the aperture of the lens, the loss of an optical component, the photon detection efficiency and the center wavelength are all predetermined known quantities.
In one embodiment, after step S204, it includes:
returning to execute the step of acquiring the distance between the target and the single photon detector according to the light sensing signal;
and when the distance is greater than or equal to a distance threshold, adjusting the transmittance of the adjustable optical attenuator to the maximum transmittance.
In application, after the distance between the target and the single photon detector is smaller than the distance threshold, the transmittance of the adjustable optical attenuator is adjusted to be smaller than the transmittance of the maximum transmittance, step S404 may be executed again, so as to continuously detect the distance between the target and the single photon detector, so that the transmittance of the adjustable optical attenuator may be adaptively adjusted when the distance between the target and the single photon detector is changed, so that the single photon ranging system always keeps working in a state with higher measurement precision.
In application, the controller may return to executing step S204 at a first preset time, where the first preset time may be set according to actual needs, for example, the first preset time may be set to a time when a trigger instruction input by a user is received, or may be set to a first time or real time every interval. The first time may be set to any length of time, for example, 30 seconds or 1 minute, according to actual needs.
Step S205, acquiring the light intensity of the optical signal reflected by the target according to the optical sensing signal, and entering step S206;
and S206, when the light intensity is larger than a light intensity threshold value, adjusting the transmittance of the adjustable light attenuator to be the transmittance corresponding to the light intensity.
In application, steps S205 and S206 determine whether to adaptively adjust the transmittance of the variable optical attenuator by detecting whether the light intensity of the optical signal reflected by the target is greater than a light intensity threshold. Specifically, the controller obtains the light intensity of the optical signal reflected by the target by adopting a time-dependent single photon counting method according to the optical sensing signal output by the single photon detector.
In application, since the transmittance of the adjustable optical attenuator is adjusted to the maximum transmittance when the transmittance of the adjustable optical attenuator is initialized, the measurement of the target that the light intensity of the reflected optical signal is smaller than or equal to the light intensity threshold can be realized under the condition that the single photon detector is ensured to receive a small number of photons in one pulse period of the optical pulse signal. Therefore, when the light intensity of the optical signal reflected by the target is greater than the light intensity threshold, it is necessary to reduce the transmittance of the variable optical attenuator, in which case the transmittance corresponding to the light intensity is smaller than the maximum transmittance. When the light intensity of the light signal reflected by the target is greater than the light intensity threshold, the relation between the light intensity of the light signal reflected by the target and the transmittance which the adjustable optical attenuator should reach can be obtained through pre-measurement, for example, targets with different light intensities of the reflected light signal can be measured in advance through a single photon ranging system, and when each target is measured, the transmittance of the adjustable optical attenuator is continuously adjusted, when the number of photons received by the single photon detector in one pulse period of the light pulse signal is equal to the preset number threshold, the light intensity and the transmittance at the moment are recorded, and the corresponding relation between the light intensity and the transmittance is established, so that the corresponding relation between different light intensities and the corresponding transmittance can be obtained, and when the light intensity is greater than the light intensity threshold, the corresponding transmittance can be quickly found according to the recorded corresponding relation and the light intensity.
In one embodiment, after step S206, it includes:
returning to execute the step of acquiring the light intensity of the light signal reflected by the target according to the light sensing signal;
and when the light intensity is smaller than or equal to a light intensity threshold value, adjusting the transmittance of the adjustable light attenuator to the maximum transmittance.
In application, after the light intensity of the optical signal reflected by the target is greater than the light intensity threshold, the transmittance of the adjustable optical attenuator is adjusted to be less than the transmittance of the maximum transmittance, step S206 may be executed again to continue to detect the light intensity of the optical signal reflected by the target, so that when the light intensity of the optical signal reflected by the target changes, the transmittance of the adjustable optical attenuator may be adaptively adjusted, so that the single photon ranging system always keeps working in a state with higher measurement precision.
In application, the controller may return to executing step S406 at a second preset time, where the second preset time may be set according to actual needs, for example, the second preset time may be set to a time when a trigger instruction input by a user is received, or may be set to a second time or real time every interval. The second time may be set to any length of time, for example, 30 seconds or 1 minute, according to actual needs.
FIG. 2 is a schematic diagram showing an embodiment of a ranging method implemented by a single photon ranging system according to the embodiment of FIG. 1, wherein the light pulse signal is transmitted to a target after being attenuated by an adjustable optical attenuator with a maximum transmittance by controlling a light emitter to emit the light pulse signal; controlling a single photon detector to receive the optical signal reflected by the target and process the optical signal into an optical sensing signal; acquiring the distance between the target and the single photon detector according to the light sensing signal; when the distance is smaller than the distance threshold value, the transmittance of the adjustable optical attenuator is adjusted to be the transmittance corresponding to the distance; or, acquiring the light intensity of the optical signal reflected by the target according to the optical sensing signal; when the light intensity is larger than the light intensity threshold value, the transmittance of the adjustable optical attenuator is adjusted to be the transmittance corresponding to the light intensity, and when the distance between the target and the single photon detector is too short or the light intensity of the optical signal reflected by the target is too strong, the transmittance of the adjustable optical attenuator is adaptively adjusted so as to reduce the light intensity of the optical pulse signal emitted to the target, thereby effectively reducing the photon number received by the single photon detector in one pulse period of the optical pulse signal, further reducing measurement errors and improving measurement accuracy.
As shown in fig. 3, an embodiment of the present application provides a single-photon ranging system 300, including a controller 1, a light emitter 2, a single-photon detector 3, and a light attenuation sheet 5 covering the light emitter 2, where the controller 1 is electrically connected to the light emitter 2 and the single-photon detector 3, the single-photon detector 3 includes a single-photon sensor array formed by a plurality of single-photon sensors, and the light attenuation sheet 5 includes at least two attenuation areas that are alternately arranged and have non-identical transmittance; wherein, the optical pulse signal emitted by the optical transmitter 2 is attenuated by the optical attenuation sheet 5 and then transmitted to the target 200, the optical signal reflected by the target 200 is received by the single photon detector 3, the solid line represents the electrical connection, and the dashed line with the arrow represents the optical signal.
The structures of the devices with the same names in the embodiment corresponding to fig. 3 are the same as those in the embodiment corresponding to fig. 1, and will not be described herein, except that the single photon detector in the embodiment corresponding to fig. 3 must include a single photon sensor array formed by a plurality of single photon sensors.
In application, the single photon ranging system at least comprises a controller, a light emitter, a single photon detector and a light attenuation sheet, and can also comprise a collimation optical element and a diffraction optical element which cover the light emitter, a focusing lens or a micro lens array which cover the single photon detector, and the like, wherein the collimation optical element and the diffraction optical element can be sequentially arranged between the light emitter and the light attenuation sheet, and the light attenuation sheet can also be arranged between the light emitter and the collimation optical element. The collimating optical element is used for collimating the light pulse signals emitted by the light emitters, and the diffraction optical element is used for diffracting the light pulse signals. The lens or microlens array is used for focusing the optical signal reflected by the target on the photosurface of the single photon detector. The controller is used for controlling the light emitter and the single photon detector to be turned on or turned off, and selectively acquiring light sensing signals output by single photon sensors in different areas in the single photon detector so as to change a ranging result.
In application, the optical attenuation sheet may include at least two attenuation regions arranged in a one-dimensional or two-dimensional array. When the light attenuation sheet includes at least two attenuation regions arranged in a one-dimensional array, the shape of the attenuation regions may be a bar shape, and the transmittance of any adjacent two attenuation regions may be different. When the light attenuation sheet includes at least two attenuation regions arranged in a two-dimensional array, the shape of the attenuation regions may be rectangular, and the transmittance of any adjacent two attenuation regions may be different. When the number of attenuation regions is greater than two, the transmittance of each attenuation region may be set to be different, or the transmittance of a part of the attenuation regions may be set to be the same, as long as the attenuation regions of the optical attenuation sheet having at least two transmittances are ensured. The transmittance of each attenuation region can be set according to actual needs, and can be particularly and uniformly distributed between 0 and 100%, for example, when the light attenuation sheet has attenuation regions with two transmittances, one transmittance can be 50%, and the other transmittance can be 100%; when the light attenuation sheet has attenuation regions of ten kinds of transmittance, the ten kinds of transmittance may be 10%, 20%, …, 100%, respectively.
As shown in fig. 4, the exemplary optical attenuation sheet 5 includes a plurality of attenuation regions in the form of strips arranged in a one-dimensional array; wherein the attenuation region having the first transmittance is denoted by 51 and the attenuation region having the second transmittance is denoted by 52.
As shown in fig. 5, the exemplary light attenuation sheet 5 includes a plurality of rectangular attenuation regions arranged in a two-dimensional array; the attenuation region having the first transmittance is denoted by 51, the attenuation region having the second transmittance is denoted by 52, and the attenuation region having the third transmittance is denoted by 53.
As shown in fig. 6, an embodiment of the present application provides a ranging method implemented based on the single photon ranging system 200 in the embodiment corresponding to fig. 3, including the following steps implemented by the controller 3:
step S601, controlling the light emitter to emit light pulse signals, and transmitting the light pulse signals to a target after being attenuated by the light attenuation sheet to enter step S602;
step S602, controlling the single photon detector to receive the optical signal reflected by the target and process the optical signal into a first light sensing signal, and proceeding to step S603 or S606.
In an application, the controller may send a synchronization signal to the optical transmitter and the single photon detector to synchronize the transmission time of the optical pulse signal transmitted by the optical transmitter and the reception time of the optical signal reflected by the target received by the single photon detector.
In application, when the distance between the target and the single photon detector is too short or the light intensity of the optical signal reflected by the target is too strong, the single photon detector can cause a larger measurement error when the number of photons received by the single photon detector in one pulse period of the optical pulse signal is too large. Therefore, whether the distance between the target and the single photon detector is recalculated according to the light sensing signal output by the single photon sensor receiving the light signal with lower light intensity reflected by the target can be determined by detecting whether the distance between the target and the single photon detector is smaller than a distance threshold or whether the light intensity of the light signal reflected by the target is larger than a light intensity threshold, so that the measurement accuracy is improved. And after the light pulse signals emitted by the light emitters are attenuated by at least two attenuation areas with different transmittance in the light attenuation sheet, obtaining at least two light intensity light signals, transmitting the light signals to the target, and reflecting the light signals with at least two light intensities back to the single photon detector by the target so that the single photon detector receives the light signals with different light intensities.
Step S603, acquiring a first distance between the target and the single photon detector according to the first light sensing signal, and entering step S604;
Step S604, when the first distance is smaller than a distance threshold, acquiring a second light sensing signal output by a single photon sensor that receives the first light signal reflected by the target, and entering step S605; the first optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area with the transmissivity positively correlated to the first distance in the optical pulse signal and is reflected back to the single photon detector by the target;
step S605, obtaining a second distance between the target and the single photon detector according to the second light sensing signal.
In application, steps S603 and S604 determine whether to recalculate the distance between the target and the single photon detector according to the light sensing signal output by the single photon sensor receiving the light signal with lower light intensity reflected by the target by detecting whether the distance between the target and the single photon detector is smaller than the distance threshold. The first light sensing signals comprise light sensing signals output by all single photon sensors of the single photon detector, when the distance between the target and the single photon detector is smaller than a distance threshold value, the first distance between the target and the single photon detector obtained according to the first light sensing signals is inaccurate and cannot be used as a final distance measurement result, at the moment, a second light sensing signal output by the single photon sensor receiving the first light signals reflected by the target can be obtained, and the time of flight of the light pulse signals emitted by the light emitter is obtained by adopting a time-dependent single photon counting method, so that the second distance between the target and the single photon detector is calculated according to the time of flight, and the second distance is more accurate relative to the first distance. The first distance is positively correlated with the transmittance of an attenuation region for attenuating the optical pulse signal to obtain a first optical signal, that is, the closer the distance between the target and the single photon detector is, the more accurate the distance calculated from the optical sensing signal output by the single photon sensor receiving the first optical signal after the first optical signal obtained by attenuating the optical pulse signal according to the attenuation region with the lower transmittance is reflected by the target back to the single photon detector. When the first distance is greater than or equal to the distance threshold, the first distance between the target and the single photon detector obtained according to the first light sensing signal is accurate and can be used as a final distance measurement result.
In the application, when the first distance is smaller than the distance threshold, the relationship between the first distance and the transmittance may be obtained by measuring the targets at different distances in advance by a single photon ranging system, and when the targets at each distance are measured, the corresponding relationship between the transmittance of the attenuation region and the corresponding transmittance is recorded, after the first optical signal obtained by attenuating the optical pulse signal by the attenuation region of each transmittance is reflected by the target to the single photon detector, the number of photons received by the single photon sensor receiving the first optical signal in one pulse period of the optical pulse signal by the single photon sensor receiving the first optical signal when the first optical signal obtained by attenuating the optical pulse signal by a certain attenuation region is reflected by the target to the single photon detector is equal to the preset number threshold, so that the corresponding relationship between the different distances and the corresponding transmittances can be obtained, and when the distance is smaller than the distance threshold, the corresponding transmittance can be quickly found according to the recorded corresponding relationship and the distance. The preset number threshold may be set to any value between 0.01 and 0.1.
Step S606, acquiring the light intensity of the optical signal reflected by the target according to the first light sensing signal, and proceeding to step S607;
step S607, when the light intensity is greater than the light intensity threshold, acquiring a third light sensing signal output by the single photon sensor that receives the second light signal reflected by the target, and entering step S608; the second optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area with the transmissivity negatively related to the light intensity in the optical pulse signal and is reflected back to the single photon detector by the target;
step S608, obtaining a third distance between the target and the single photon detector according to the third light sensing signal.
In application, steps S606 and S607 determine whether to recalculate the distance between the target and the single photon detector according to the light sensing signal output by the single photon sensor receiving the light signal with lower light intensity reflected by the target by detecting whether the light intensity of the light signal reflected by the target is greater than the light intensity threshold. The first light sensing signals comprise light sensing signals output by all single photon sensors of the single photon detector, when the light intensity of the light signals reflected by the target is larger than a light intensity threshold value, the first distance between the target and the single photon detector obtained according to the first light sensing signals is inaccurate and cannot be used as a final distance measurement result, at the moment, a third light sensing signal output by the single photon sensor receiving the second light signals reflected by the target can be obtained, and the flight time of the light pulse signals emitted by the light emitter is obtained by adopting a time-dependent single photon counting method, so that the third distance between the target and the single photon detector is calculated according to the flight time, and the third distance is more accurate relative to the first distance. The light intensity is inversely related to the transmittance of the attenuation region to be selected, namely, the smaller the light intensity of the optical signal reflected by the target is, the more accurate the distance calculated by the optical sensing signal output by the single photon sensor receiving the second optical signal is after the second optical signal obtained by attenuating the optical pulse signal according to the attenuation region with the lower transmittance is reflected by the target back to the single photon detector.
In application, when the light intensity is greater than the light intensity threshold, the relationship between the light intensity and the transmittance may be obtained by measuring in advance, for example, targets with different light intensities of the reflected light signals may be measured by a single-photon ranging system, and when each target is measured, the corresponding relationship between the transmittance of the attenuated region and the light intensity at that time may be recorded, after the second light signal obtained by attenuating the light pulse signal by the attenuated region of each transmittance is reflected by the target to the single-photon detector, the number of photons received by the single-photon sensor receiving the second light signal in one pulse period of the light pulse signal may be obtained by receiving the single-photon sensor receiving the second light signal in one attenuation region after the second light signal obtained by attenuating the light pulse signal by the target is reflected by the single-photon detector, so that the corresponding relationship between the different light intensities and the corresponding transmittance may be obtained. When the light intensity is less than or equal to the light intensity threshold, the first distance between the target and the single photon detector, which is obtained from the first light sensing signal, is accurate and can be used as a final distance measurement result.
FIG. 6 is a schematic diagram showing an embodiment of a ranging method implemented by a single photon ranging system according to the embodiment of FIG. 3, wherein a controller is used to control a light emitter to emit a light pulse signal, and the light pulse signal is attenuated by an optical attenuation sheet and then transmitted to a target; controlling a single photon detector to receive the optical signal reflected by the target and process the optical signal into a first light sensing signal; acquiring a first distance between a target and a single photon detector according to a first light sensing signal; when the first distance is smaller than the distance threshold value, acquiring a second light sensing signal output by a single photon sensor which receives the first light signal reflected by the target; the first optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area positively correlated with the first distance by the transmittance in the optical pulse signal and is reflected back to the single photon detector by the target; acquiring a second distance between the target and the single photon detector according to the second light sensing signal; or, acquiring the light intensity of the optical signal reflected by the target according to the first light sensing signal; when the light intensity is larger than the light intensity threshold value, acquiring a third light sensing signal output by a single photon sensor which receives the second light signal reflected by the target; the second optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area with the transmissivity inversely related to the light intensity in the optical pulse signal and is reflected back to the single photon detector by the target; according to the third distance between the target and the single photon detector obtained by the third light sensing signal, when the distance between the target and the single photon detector is too close or the light intensity of the light signal reflected by the target is too strong, the distance between the target and the single photon detector is obtained by the light sensing signal output by the single photon sensor covered by the attenuation region with lower transmittance, so that measurement errors can be effectively reduced, and measurement accuracy is improved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
The ranging method of the single photon ranging system provided by the embodiment of the application can be applied to terminal equipment such as mobile phones, tablet computers, wearable equipment, vehicle-mounted equipment, augmented reality (augmented reality, AR) equipment, virtual Reality (VR) equipment, notebook computers, netbooks, personal digital assistants (personal digital assistant, PDA) and the like, and the specific type of the terminal equipment is not limited. The terminal device includes a single photon ranging system in an embodiment corresponding to fig. 1 or fig. 3.
The embodiments of the present application also provide a computer readable storage medium storing a computer program, where the computer program when executed by a controller implements steps for implementing the foregoing embodiments of the ranging method.
The embodiments of the present application also provide a computer program product, which when run on a terminal device, causes the mobile terminal to perform the steps that may be implemented in the various ranging method embodiments described above.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments. In the embodiments provided in the present application, it should be understood that the disclosed system/terminal device and method may be implemented in other manners. For example, the system/terminal device embodiments described above are merely illustrative.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (7)
1. A ranging method of a single photon ranging system, the single photon ranging system comprising a controller, a light emitter, a single photon detector, and a tunable optical attenuator covering the light emitter, the controller being electrically connected to the light emitter, the single photon detector, and the tunable optical attenuator, respectively, the ranging method comprising the steps performed by the controller of:
Controlling the light emitter to emit a light pulse signal, wherein the light pulse signal is attenuated by the adjustable optical attenuator with the maximum transmittance and then transmitted to a target;
controlling the single photon detector to receive the optical signal reflected by the target and process the optical signal into an optical sensing signal;
acquiring the distance between the target and the single photon detector according to the light sensing signal;
when the distance is smaller than a distance threshold value, adjusting the transmittance of the adjustable optical attenuator to be the transmittance corresponding to the distance;
the adjusting the transmittance of the adjustable optical attenuator to a transmittance corresponding to the distance when the distance is less than a distance threshold value includes:
when the distance is smaller than a distance threshold value, acquiring luminous power corresponding to the distance;
acquiring transmittance corresponding to the distance according to the luminous power; the adjustable optical attenuator attenuates the optical pulse signal under the transmittance corresponding to the distance, and the light intensity of the optical pulse signal is equal to the light intensity of the optical pulse signal emitted by the light emitter under the light emitting power;
and when the distance is smaller than a distance threshold, acquiring the luminous power corresponding to the distance, wherein the method comprises the following steps:
According to a preset relational expression and the distance, acquiring the luminous power corresponding to the distance, wherein the preset relational expression is as follows:
；
wherein,P light source which represents the light-emitting power of the light-emitting device,Rthe distance is indicated as such and is indicative of,N e representing the average number of photons reaching a single pixel in the single photon detector after the light emitter emits a single pulse of light onto the target,FOVrepresenting the angle of view of the lens of the single photon detector,FFthe filling factor is indicated as such,A pixel representing the area of a single pixel in the single photon detector,hwhich represents the planck's constant and,cthe speed of light is indicated as being the speed of light,T pulse representing the pulse time of the light emitter,ρrepresenting the reflectivity of the object in question,frepresenting the focal length of the lens of the single photon detector,F/#representing the aperture of the lens of the single photon detector,k opt representing the loss of the optical components of the single photon detector,PDErepresenting the photon detection efficiency of the single photon detector,λis the center wavelength of the light emitter.
2. The ranging method of the single photon ranging system as claimed in claim 1 wherein when the distance is less than a distance threshold, after adjusting the transmittance of the adjustable optical attenuator to a transmittance corresponding to the distance, comprising:
Returning to execute the step of acquiring the distance between the target and the single photon detector according to the light sensing signal;
and when the distance is greater than or equal to a distance threshold, adjusting the transmittance of the adjustable optical attenuator to the maximum transmittance.
3. A ranging method of a single photon ranging system, wherein the single photon ranging system comprises a controller, a light emitter, a single photon detector and a light attenuation sheet covering the light emitter, the controller is respectively electrically connected with the light emitter and the single photon detector, the single photon detector comprises a single photon sensor array composed of a plurality of single photon sensors, the light attenuation sheet comprises at least two attenuation areas which are alternately arranged and have non-identical transmittance, the ranging method comprises the following steps executed by the controller:
controlling the light emitter to emit an optical pulse signal, wherein the optical pulse signal is attenuated by the optical attenuation sheet and then transmitted to a target; the optical pulse signals pass through at least two attenuation areas with different transmittance in the optical attenuation sheet to obtain at least two optical signals with different light intensities, and the optical signals are transmitted to a target;
Controlling the single photon detector to receive the optical signal reflected by the target and process the optical signal into a first light sensing signal;
acquiring a first distance between the target and the single photon detector according to the first light sensing signal;
when the first distance is smaller than a distance threshold value, acquiring a second light sensing signal output by a single photon sensor which receives the first light signal reflected by the target; the first optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area with the transmissivity positively correlated to the first distance in the optical pulse signal and is reflected back to the single photon detector by the target;
acquiring a second distance between the target and the single photon detector according to the second light sensing signal;
or, acquiring the light intensity of the light signal reflected by the target according to the first light sensing signal;
when the light intensity is larger than a light intensity threshold value, acquiring a third light induction signal output by a single photon sensor which receives the second light signal reflected by the target; the second optical signal is an optical signal which is transmitted to the target after being attenuated by an attenuation area with the transmissivity negatively related to the light intensity in the optical pulse signal and is reflected back to the single photon detector by the target;
And acquiring a third distance between the target and the single photon detector according to the third light sensing signal.
4. A single photon ranging system comprising a controller, a light emitter, a single photon detector and a tunable optical attenuator overlaying the light emitter, the controller being electrically connected to the light emitter, the single photon detector and the tunable optical attenuator, respectively, the controller being adapted to perform the ranging method of any one of claims 1 to 2.
5. A single photon ranging system comprising a controller, a light emitter, a single photon detector and a light attenuation sheet covering the light emitter, wherein the controller is electrically connected with the light emitter and the single photon detector respectively, the single photon detector comprises a single photon sensor array formed by a plurality of single photon sensors, the light attenuation sheet comprises at least two attenuation areas which are alternately arranged and have non-identical transmittance, and the controller is used for executing the ranging method according to claim 3.
6. A terminal device comprising a single photon ranging system as claimed in claim 4 or 5.
7. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a controller implements the steps of the ranging method according to any one of claims 1 to 2 or claim 3.
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| CN110383106A (en) * | 2017-03-08 | 2019-10-25 | 视野有限公司 | The LIDAR system of the sweep parameter of using flexible |
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