CN112799083A - Detection device for improving frame frequency - Google Patents

Abstract

The present invention provides a detection apparatus for improving a frame frequency, comprising: the first emission part and the second emission part are used for emitting detection light sources to the target detection object; a first receiving unit and a second receiving unit for receiving an echo signal of a target; the first controller and the second controller are used for controlling the transmitting part to transmit the detection light source and controlling the receiving part to receive the echo signal; and the information acquisition unit is used for acquiring detection information according to the echo signals of the first receiving part and the second receiving part. By the design, the frame frequency can be improved, and the detection problem of a high-frame-frequency detection scene is solved.

Description

Detection device for improving frame frequency

Technical Field

The invention relates to the technical field of radar ranging, in particular to a device for improving frame frequency.

Background

More and more technologies are continuously introduced in the field of detection technology, and in order to ensure the target of efficient and fast detection in the application fields such as images or ranging, more and more devices are designed into a structure comprising a plurality of taps (two or more), the taps can work in a time-sharing manner to read photo-generated electrons generated in pixel units connected with the taps, and the multiple taps can work efficiently when being reasonably arranged, however, the deviation caused by various factors exists on signals picked up by different taps, and even the photo-generated electrons generated by the incidence of the same return light also have difference of output values of different taps, which will have important influence in image acquisition or ranging.

In recent years, with the progress of semiconductor technology, miniaturization of a ranging module for measuring a distance to an object has progressed. Therefore, for example, it has been realized to install a ranging module in a mobile terminal such as a so-called smart phone which is a small information processing apparatus having a communication function with the advancement of technology, and in the distance or depth information detection process, a method frequently used is Time of flight ranging (TOF) whose principle is to obtain a target distance by continuously transmitting a light pulse to a target and then receiving light returned from the object with a sensor, by detecting the flight (round trip) Time of the light pulse, and a technique of directly measuring the light flight Time in the TOF technique is called DTOF (direct-TOF); a measurement technique of periodically modulating the emitted light signal, measuring a phase delay of the reflected light signal with respect to the emitted light signal, and calculating a time of flight from the phase delay is called an ITOF (index-TOF) technique. According to the difference of modulation and demodulation types, the modulation and demodulation method can be divided into a Continuous Wave (CW) modulation and demodulation method and a Pulse Modulated (PM) modulation and demodulation method, and a distance detection scheme with high precision and high sensitivity can be obtained by further adopting an ITOF scheme, so that the ITOF scheme is widely applied.

In order to obtain efficient measurement results and higher integration of chips, distance measurement is often achieved by adopting a two-tap or more mode, distance information of a target object can be obtained according to a phase distance measurement algorithm, for example, a two-phase method is simplest adopted, or a three-phase four-phase method or even a 5-phase scheme can be adopted to obtain distance information, here, taking a four-phase algorithm as an example, at least two exposures (in order to ensure measurement accuracy, four exposures are usually required) are required to complete the acquisition of four-phase data and output of a depth image of one frame, and thus a higher frame frequency is difficult to obtain. The ranging efficiency is relatively low, and a solution for solving the above problem is needed to improve the frame rate.

Disclosure of Invention

The present invention is directed to provide a high frame rate detection device to solve a series of problems that the conventional detection device has a low frame rate and cannot be applied to a high frame rate application scenario.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

the embodiment of the invention provides a detection device for improving frame frequency, which is characterized by comprising the following components:

the first emission part and the second emission part are used for emitting detection light sources to the target detection object; a first receiving unit and a second receiving unit for receiving an echo signal of a target; the first controller and the second controller are used for controlling the transmitting part to transmit the detection light source and controlling the receiving part to receive the echo signal; and the information acquisition unit is used for acquiring detection information according to the echo signals of the first receiving part and the second receiving part.

Optionally, the first receiving portion includes a first receiving circuit and a second receiving circuit, and a channel deviation between the first receiving circuit and the second receiving circuit is obtained by calibration. The second receiving part comprises a third receiving circuit and a fourth receiving circuit, and the channel deviation between the third receiving circuit and the fourth receiving circuit is obtained through calibration.

Optionally, the first receiving unit includes a first reset time, a first integration time, and a first data output time; the second receiving part comprises a second reset time, a second integration time and a second data output time; wherein the first integration time and the second integration time are not temporally coincident.

Optionally, the first data output time and the second integration time at least partially overlap in time.

Optionally, the second data output time and the first reset time at least partially coincide in time.

Optionally, the second data output time and the first integration time at least partially coincide in time.

Optionally, when the channel deviation between different receiving circuits is obtained by a calibration method, the transmitting portion transmits uniform light, and the first receiving portion and the second receiving portion receive echo signals with the same phase delay difference.

Optionally, the detection information is calibrated according to a calibrated channel deviation function relationship between different receiving circuits in the detection process.

Optionally, in the detection process, the detection information is calibrated through the lookup table according to the calibrated channel deviation relationship between different receiving circuits.

Optionally, the emitting part emits uniform light with different intensities when channel deviation between different receiving circuits is obtained by a calibration method.

The invention has the beneficial effects that: the invention provides a wind lidar which is characterized by comprising: the first emission part and the second emission part are used for emitting detection light sources to the target detection object; a first receiving unit and a second receiving unit for receiving an echo signal of a target; the first controller and the second controller are used for controlling the transmitting part to transmit the detection light source and controlling the receiving part to receive the echo signal; and the information acquisition unit is used for acquiring detection information according to the echo signals of the first receiving part and the second receiving part. The frame frequency can be improved, and the detection problem of a high frame frequency detection scene is solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic functional block diagram of a detection apparatus according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a method for eliminating differences between different circuits according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of eliminating the difference between different circuits without reducing the frame rate according to an embodiment of the present application;

fig. 4 is a schematic diagram of a frame structure for increasing a frame frequency according to an embodiment of the present application;

fig. 5 is a schematic functional block diagram of a high frame rate detection apparatus according to an embodiment of the present disclosure;

fig. 6 is a schematic diagram of an operation timing sequence of a high frame rate detection apparatus according to an embodiment of the present disclosure;

fig. 7 is a schematic functional block diagram of another high frame rate detection apparatus according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention.

Fig. 1 is a schematic functional block diagram of a detection apparatus according to an embodiment of the present disclosure. As shown in fig. 1, the detecting device includes: the light source 110, the controller 120, the receiving unit 130, and the information acquiring unit 140, wherein the light source 110 may be configured as a unit or an array light source system that emits continuous light, and may be a semiconductor laser, an LED, or another light source that can be pulse modulated, when a semiconductor laser is used as the light source, a Vertical-cavity surface-emitting laser (VCSEL) or an edge-emitting semiconductor laser (EEL) may be used, which is only exemplary and not particularly limited herein, and a waveform of light output by the light source 110 is also not limited, and may be a square wave, a triangular wave, or a sine wave. The receiving unit 130 includes a photoelectric conversion module, which has a photoelectric conversion function and can be implemented by a Photodiode (PD), and can be specifically a Charge-coupled Device (CCD), a Complementary Metal Oxide Semiconductor (CMOS), and the type of the photoelectric conversion module is not specifically limited herein.

The controller 120 controls the light source to emit the emitting light for different times, the receiving part 130 obtains the light reflected back by the detected object 150 corresponding to different phase delays when the controller 120 respectively obtains four values of 0 °, 180 °, 90 ° and 270 ° from the phase delay of the emitting light at the moment when the light source 110 emits the emitting light, the reflected light forms incident light at the receiving portion 130, and is further photoelectrically converted by the receiving portion to generate different information, in some cases, a two-phase scheme of 0 ° and 180 ° is also used to achieve information acquisition of the detected object, and documents also disclose three-phase schemes of 0 °, 120 ° and 240 ° to obtain target information, and even documents also disclose a five-phase-difference delay scheme. In the following, to illustrate the specific technical problem, a solution of obtaining the distance by using time-of-flight of four phases is taken as an example to specifically illustrate the existing problems and solutions, and a multi-tap structure may have a separate tap for each phase, and four phase taps are connected to a pixel unit (either directly or through an intermediate medium), or two phases share a tap, for example, 0 ° and 90 ° share a tap, and 180 ° and 270 ° share a tap, so that not only can the purpose of reliably transmitting information be achieved, but also optimization of pixel size design and layout structure can be further ensured, and multi-tap connection on a pixel achieves the effect of efficiently obtaining target information (such as distance, depth, contour or image).

On the basis of the above, the light source 110 emits the emitting light, the receiving part 130 is controlled by the controller 120, the light reflected by the detected object 150 is obtained under the delay phase with the predetermined delay phase, for example, four different delay phases, the returned reflected light forms the incident light at the receiving part 130, the scheme does not make special requirements for the light source, the light emitted by the light source is the same light each time, there is no phase difference, the error caused by the light source device needing to be adjusted in the using process due to the light emitting state parameter is avoided, the device is very simple to realize, the reliability of the whole detecting device system is ensured, the realization of the phase delay in the scheme is realized in the receiving part and the controller, the controller can be integrated in the receiving part to ensure the simplicity and high efficiency of the system structure, and the adoption of the multi-phase delay receiving scheme in the receiving part also avoids the need of emitting light at each phase at the emitting end, for example, in the four-phase scheme, two phase delays of 0 ° and 180 ° can be obtained in one transmission, which enables the whole ranging system to achieve the goal of efficient ranging. The light emitted by the light source 110 and reflected by the detected object 150 is converted into photo-generated electrons (or photo-generated charges) in a photoelectric conversion module of the receiving part, the photo-generated electrons are modulated by a tap, charges are transferred according to a part of a first circuit or a second circuit in the device (the first circuit or the second circuit mentioned here contains charges or electron transfer channels inside the pixel), the charges are respectively transmitted to different external entity circuit parts through the first electron transfer channel or the second electron transfer channel inside the pixel (the first circuit or the second circuit also contains a first entity circuit part and a second entity circuit part outside the pixel), and then physical scheme operation (for example, a charge storage unit: a capacitor and the like) or digital operation (for example, a structure that a sensor and an operation unit are integrated into a whole chip) is carried out on the pixel, or may perform physical or digital operations in subsequent ADCs or other circuit units, and the present invention is not limited to a specific implementation.

Taking a four-phase two-tap structure as an example, wherein 0 ° and 90 ° share one tap, and 180 ° and 270 ° share one tap (although the specific operation of sharing one tap does not mean that a fixed tap is shared, and taps shared by two phase delays can be interchanged), the controller 120 controls the light source 110 to emit emission light, and after the emission light is reflected by the detected object 150, the controller 120 controls the receiving part 130 to receive the emission light with two phase delays, for example, two phase delays of 0 ° and 180 ° in the four phases, the photoelectric conversion module in the receiving part 130 converts the delayed phase light signal into photo-generated electrons in the pixel, the tap of the first circuit receives the first modulation signal, and converts the photo-generated electrons converted by the photoelectric conversion module in the 0 ° phase in the pixel into an electric signal, and the electric signal is output by the first circuit, the tap of the second circuit receives the second modulation signal, transfers the photo-generated electrons converted by the photoelectric conversion module in 180-degree phase in the pixel to form an electric signal, and the electric signal is output by the second circuit. It is also possible to have one tap per phase delay, with 0 ° and 90 ° sharing one floating diffusion node (FD) and 180 ° and 270 ° sharing one floating diffusion node (FD) in the first circuit, but the sharing of one floating diffusion node in a particular operation does not mean sharing one fixed floating diffusion node, and the two phase delays sharing one floating diffusion node may be interchanged. In this embodiment, the electrical signals corresponding to the 0 ° and 180 ° phase delays can be obtained in one light source emission, and in the next controller control, two of the four phases, 90 ° and 270 °, are received, the photo-conversion module in the receiving portion 130 converts the delayed phase light signal into photo-generated electrons in the pixel, the tap of the first circuit receives the first modulation signal, the photo-generated electrons converted by the photo-conversion module in the 90 ° phase in the pixel are converted to form an electrical signal, which is output by the first circuit, the tap of the second circuit receives the second modulation signal, the photo-generated electrons converted by the photo-conversion module in the 270 ° phase in the pixel are converted to form an electrical signal, which is output by the second circuit, and in this mode, the information corresponding to the 90 ° and 270 ° is obtained at one time. Finally, the controller 120 can also control the light source 110 to output the emitted light, and at least control two phases of 0 ° and 180 ° in the four phases to be delayed and received, the photoelectric conversion module in the receiving portion 130 converts the delayed phase light signal into photo-generated electrons in the pixel, the tap of the first circuit receives the first modulation signal, and transfers the 180 ° phase light-generated electrons converted by the photoelectric conversion module in the pixel to form an electrical signal, the electrical signal is output by the first circuit, the tap of the second circuit receives the second modulation signal, and transfers the 0 ° delayed phase light-generated electrons converted by the photoelectric conversion module in the pixel to form an electrical signal, the electrical signal is output by the second circuit, so that the effect that the two circuits respectively obtain the electrical signals corresponding to at least one same phase receiving control signal is achieved, and at least two electrical signals obtained by the two circuits can be operated to obtain the target information in the final target information operation process, for example, the following operations can be performed on the signals obtained by the two circuits for image or distance information:

f(0°)＝mf(0°_1)+nf(0°_2)；

f(180°)＝lf(180°_1)+hf(180°_2)； (1)

the 90 ° and 270 ° delayed phase results are obtained by a similar scheme, and may be corrected by performing an operation similar to equation 1, and the corrected result is used for obtaining the final target information, where the corrected result may be a process result in detection by a detection device, or may be directly used in a specific expression of a final image or distance operation, and the present invention is not limited to a specific implementation manner, where f (0 °) refers to a final information result corresponding to a phase of 0 ° that needs to be corrected, f (0 ° _1) refers to an information result corresponding to a phase of 0 ° obtained by a first circuit, and f (0 ° _2) refers to an information result corresponding to a phase of 0 ° obtained by a second circuit, where m, n, l, and h may be correction coefficients taken within an interval of [ -1, 1 ].

In the above embodiments, the phase delay is the reception phase of 0 ° and 180 °, and the phase difference is 180 °; when the modulation signals corresponding to the first circuit and the second circuit of the two delayed receiving phases are reciprocal signals, namely when the modulation signals corresponding to the first circuit and the second circuit are received in a 0-degree phase delayed manner in a first time period, the 180-degree delayed receiving on the pixel does not output the electric signals through any circuit of the two circuits, but just performs opposite operation in another time period, and the same operation is performed on the receiving phases with the phase delay of 180 degrees and the phase delay of 90 degrees and 270 degrees, so that the scheme that the modulation signals of the circuit corresponding to the 180-degree received phase are reciprocal signals is obtained, the effects of signal reliability acquisition and system high-efficiency work when a multi-phase common tap or Floating Diffusion (FD) or other circuit elements are realized, the phase information acquisition with the phase difference of 90 degrees has a first time interval, and the time interval is an autonomous adjustment time interval inside the system, the design can be matched according to the reset time sequence, and the reliability of the output of different phase signal results is ensured.

Further explained below in connection with the technical problem and the solutions presented in TOF ranging in multi-taps, by using all eight detections (for each one) when distributing the charge to the first tap and the second tap depending on the distance to the objectEach phase signal is passed through two circuits to obtain an electrical signal corresponding to a phase delay), the signals perform an operation of calculating a depth representing the distance to the object, electrical information of different phases, such as an accumulated charge amount signal, can be output through two different circuits, and a phase difference that can be used to calculate a round trip of the optical signal between the laser imaging radar and the target from 4 sets of integrated charges during the distance acquisition process

Taking sinusoidal modulated light as an example, the phase difference between the echo signal and the transmitted signal corresponding to the modulated light

Comprises the following steps:

in the above formula 2Q_0°、Q_90°、Q_180°、Q_270°The electric signals converted by the receiving circuits corresponding to different phase delays are combined with the relationship between the distance and the phase difference, so that the final distance result can be obtained:

in the above equation 3, c is the speed of light, f is the frequency of the laser emitted by the light source 110, and the case that the emitted light of the light source 110 is a square wave can be divided into different cases, and the final distance information is obtained according to the following calculation method:

when Q is_0°>Q_180°And Q_90°>Q_270°When the temperature of the water is higher than the set temperature,

when Q is_0°<Q_180°And Q_90°>Q_270°When the temperature of the water is higher than the set temperature,

when Q is_0°<Q_180°And Q_90°<Q_270°When the temperature of the water is higher than the set temperature,

when Q is_0°>Q_180°And Q_90°<Q_270°When the temperature of the water is higher than the set temperature,

in the above equation 4-7, where the square wave is used for distance calculation, Q_0°、Q_90°、Q_180°、Q_270°The electric signals converted by the receiving circuits corresponding to different phase delays are respectively, c is the speed of light, f is the laser frequency, and certainly, in some special cases, a company can also approximate the distance of the square wave by directly adopting a sine wave method.

FIG. 2 is a schematic diagram of a method for eliminating differences between different circuits according to an embodiment of the present disclosure; in the four-phase ranging process, the results of outputting different phase delay signals by different circuits (including the pixel internal charge transfer channel and the pixel external physical circuit part) are involved, however, in the actual process of use, due to the delay and offset of the column line and the comparator, the results obtained by the two circuits for the same phase receiving signal processing are different, for example, the effects are classified as Q₀°,Q₁₈₀The inherent deviation of degree is Δ Q1, Δ Q2, and there is actually middle Q_0°,Q₁₈₀The obtained number of electrons has a certain deviation, and for example, the electric signals corresponding to the four phase delays obtained by the first circuit and the second circuit are respectively:

Q_0°，r1＝Q_0°+△Q1；Q_180°，r2＝Q_180°+△Q2； (8)

q in formula 8_0°，r1Refers to the value of the electrical signal, Q, converted by the first circuit at 0 degree delay phase actually substituted into the distance operation formula_0°In an ideal case, the ideal calculation true value obtained without considering the difference between the first circuit and the second circuit, Δ Q1 indicates the value of the deviation electrical signal generated when the 0 ° delay phase signal is converted by the first circuit, and the meaning of each symbol in the electrical signal calculation formula corresponding to the 180 ° delay phase in equation 8 is similar to that of the 0 ° delay phase calculation formula, which is not described herein again, and the Δ Q1 value may be a linear function or a multiple function. To solve this problem, as in the scheme shown in fig. 2, two electrical signal values may be obtained from the first circuit and the second circuit for each of four different delay phases, and then the electrical signal values finally substituted into the expression may be obtained by using an arithmetic average scheme (or similar algorithm), which may be expressed by the following equation:

that is, signals obtained by two circuits are summed, and the results obtained by the same phase at different circuit outputs after the summation are superimposed, and influence factors Δ Q1 and Δ Q2 are also superimposed on the basis of the sum, so that the difference of the same phase at different circuit outputs is considered in the results, and the results after the superposition are used in the subsequent distance calculation to obtain an accurate distance result, which is explained in the case of equation 4 of square wave detection:

when Q is_0°>Q_180°And Q_90°>Q_270°When the temperature of the water is higher than the set temperature,

in the above equation 10, the final accurate distance information can be obtained by directly using the sum result without averaging, the result of physical capacitance charge accumulation can be obtained by digital operation through a subsequent operation circuit, in the calculation, the offset operation due to different phases is involved, so that the offset caused by the column line comparator and the like can be eliminated, on the other hand, the transfer function mismatch phenomenon caused by the difference of non-ideal factors such as taps and the like can be removed, the offset charge caused by the transfer function mismatch can be classified into a linear or nonlinear relation, the fundamental principle of the offset can be similar to the charge difference caused by offset, and a scheme similar to the scheme of the foregoing relation 1 can be adopted to obtain the most accurate value by correcting the value obtained by two channels in the image sensing application. In order to accurately obtain the offset of the different circuits as shown in fig. 2, the first circuit receives the signal with a phase delay of 0 ° and the second circuit receives the signal with a phase delay of 180 ° in the first sub-frame of the nth frame, and the first circuit receives the signal with a phase delay of 90 ° and the second circuit receives the signal with a phase delay of 270 ° in the second sub-frame; in the third sub-frame, the first circuit receives signals with a phase delay of 180 °, the second circuit receives signals with a phase delay of 0 °, and in the fourth sub-frame, the first circuit receives signals with a phase delay of 270 °, and the second circuit receives signals with a phase delay of 90 °, so that the accurate distance can be obtained according to equation 10 by four sub-frames, and the offset between different circuits can be accurately eliminated, but the method has the disadvantage that the frame rate is reduced by half, which cannot be used in application scenarios requiring a high-speed frame rate. The first subframe, the second subframe, the third subframe, and the fourth subframe are described herein for illustrative purposes only, and are not limited to the specific first, second, third, and fourth subframes.

Fig. 3 is a schematic diagram of eliminating differences between different circuits without reducing frame rate according to an embodiment of the present application. In order to solve the problem that the method shown in fig. 2 cannot be used in a scenario that a high-speed frame rate is required, the method can be used for calibrating the offset between different circuits. First the light source emits uniform light and the first and second circuits receive the signal with the same phase delay, e.g. both circuits receive the signal with a phase delay of 0 °, the received signal should be the same if the first and second circuits do not have an offset of the channel. However, in practice, the first circuit and the second circuit have offsets, and the relationship between the first circuit and the second circuit can be fitted according to the received signals, as shown in fig. 2, and the measured offsets can be calibrated in the actual measurement process according to the relationship between the first circuit and the second circuit calibrated before the measurement.

Of course, in order to calibrate the offset between the first circuit and the second circuit more accurately, the light source emits uniform light, and the first circuit and the second circuit receive signals with the same phase delay, and may receive signals with 0 ° phase delay, 90 ° phase delay, 180 ° phase delay, and 270 ° phase delay, respectively, to calibrate the offset between the first circuit and the second circuit together. Any combination of these phase delays may be chosen to calibrate the offset between the first circuit and the second circuit. For example, the offset between the first circuit and the second circuit can be calibrated by using only the 0 ° phase-delayed receive signal and the 90 ° phase-delayed receive signal, which will not be described herein. It is of course also possible to calibrate the offset between the first circuit and the second circuit by letting the light source emit uniform light of different light intensities. The calibrated offset between the first circuit and the second circuit can be a functional relation and used for calibrating the offset in measurement, or a table can be made according to a calibration result, and the offset is calibrated according to a table look-up method in the measurement process. And will not be described in detail herein.

Fig. 4 is a schematic diagram of a frame structure for increasing a frame rate according to an embodiment of the present disclosure. The offset between the first circuit and the second circuit is obtained by a calibration method. It is not necessary to use the method shown in fig. 2 to obtain the offset between the first circuit and the second circuit. In a first sub-frame the first circuit receives the signal with a phase delay of 0 ° and the second circuit receives the signal with a phase delay of 180 °, in a second sub-frame the first circuit receives the signal with a phase delay of 90 ° and the second circuit receives the signal with a phase delay of 270 °; in the third sub-frame, the first circuit receives signals with a phase delay of 0 ° and the second circuit receives signals with a phase delay of 180 ° as in the first sub-frame, and in the fourth sub-frame, the first circuit receives signals with a phase delay of 90 ° and the second circuit receives signals with a phase delay of 270 ° as in the second sub-frame. As shown in fig. 4. Thus, distance information can be obtained according to equations 4-7, and the calibration results shown in FIG. 3 can be used for calibration in obtaining distance information. The frame rate of the frame structure shown in fig. 4 is doubled compared to the frame structure shown in fig. 2, for example, the frame rate shown in fig. 2 is 30fps, and the frame rate shown in fig. 4 can reach 60 fps. To meet the application scenario of high frame rate.

Fig. 5 is a schematic functional block diagram of a high frame rate detection apparatus according to an embodiment of the present disclosure. To further increase the frame rate, a detector arrangement as shown in fig. 5 may be used. The detection device includes: the detected object 401, the light source 1402, the controller 1403, the receiving portion 1404, the light source 2408, the controller 2407, the receiving portion 2406, and the information obtaining unit 405, wherein the light source 402 and the light source 408 may be configured as a unit or an array type light source system that emits continuous light, which may be a semiconductor laser, or an LED or other light sources that may be pulse modulated, when a semiconductor laser is used as the light source, a Vertical-cavity surface-emitting laser (VCSEL) or an edge-emitting semiconductor laser (EEL) may be used, which is only exemplary and not particularly limited herein, and waveforms of light output by the light source 402 and the light source 408 are also not limited, and may be square waves, triangular waves, or sine waves. The receiving units 404 and 406 include a photoelectric conversion module, and the photoelectric conversion function of the photoelectric conversion module may be realized by a Photodiode (PD), and may be embodied by a Charge-coupled Device (CCD), a Complementary Metal Oxide Semiconductor (CMOS), and the type thereof is not particularly limited herein.

The controller 403 controls the light source 402 to emit light for different times, the receiving part 404 obtains the light reflected by the detected object 401 corresponding to different phase delays when the controller 403 respectively obtains the phase delays of 0 °, 180 °, 90 ° and 270 ° corresponding to the emitted light from the light source 402, the reflected light forms incident light at the receiving portion 404, and is further photoelectrically converted by the receiving portion to generate different information, in some cases, a two-phase scheme of 0 ° and 180 ° is also used to achieve information acquisition of the detected object, and documents also disclose three-phase schemes of 0 °, 120 ° and 240 ° to obtain target information, and even documents also disclose a five-phase-difference delay scheme. In the following, to illustrate the specific technical problem, a solution of obtaining the distance by using time-of-flight of four phases is taken as an example to specifically illustrate the existing problems and solutions, and a multi-tap structure may have a separate tap for each phase, and four phase taps are connected to a pixel unit (either directly or through an intermediate medium), or two phases share a tap, for example, 0 ° and 90 ° share a tap, and 180 ° and 270 ° share a tap, so that not only can the purpose of reliably transmitting information be achieved, but also optimization of pixel size design and layout structure can be further ensured, and multi-tap connection on a pixel achieves the effect of efficiently obtaining target information (such as distance, depth, contour or image).

On the basis of the above, the light source 402 emits the emitting light, the receiving part 404 is controlled by the controller 403, the light reflected by the detected object 401 is obtained under the delay phase with the predetermined delay phase, for example, four different delay phases, the returned reflected light forms the incident light at the receiving part 404, the scheme does not make special requirements for the light source, the light emitted by the light source is the same light every time, there is no phase difference, the error caused by the adjustment of the light emitting state parameter during the use of the light source device is avoided, the device is very simple to realize, the reliability of the whole detecting device system is ensured, the realization of the phase delay in the scheme is realized in the receiving part and the controller, the controller can be integrated in the receiving part, the simplicity and the high efficiency of the system structure are ensured, in addition, the multi-phase delay receiving scheme adopted in the receiving part also avoids the need of emitting light at each phase of the emitting end, for example, in the four-phase scheme, two phase delays of 0 ° and 180 ° can be obtained in one transmission, which enables the whole ranging system to achieve the goal of efficient ranging. The light emitted by the light source 402 and reflected by the detected object 401 is converted into photo-generated electrons (or photo-generated charges) in a photoelectric conversion module of the receiving part, the photo-generated electrons are modulated by a tap, charges are transferred according to a part of a first circuit or a second circuit in the device (the first circuit or the second circuit mentioned here contains charges or electron transfer channels inside the pixel), the charges are respectively transmitted to different external entity circuit parts through the first electron transfer channel or the second electron transfer channel inside the pixel (the first circuit or the second circuit also contains a first entity circuit part and a second entity circuit part outside the pixel), and then physical scheme operation (for example, a charge storage unit: a capacitor and the like) or digital operation (for example, a structure that a sensor and an operation unit are integrated into a whole chip) is carried out on the pixel, or may perform physical or digital operations in subsequent ADCs or other circuit units, and the present invention is not limited to a specific implementation.

The operation of the light source 408, the controller 407, the receiving portion 406 and the like are not described herein. As shown in fig. 5, it can be seen that two sets of test devices operate simultaneously, and then the received signals are processed in a unified manner by the information acquisition unit to obtain the detection information.

Fig. 6 is a schematic diagram of an operation timing sequence of a high frame rate detection apparatus according to an embodiment of the present application. FIG. 6 is a timing chart showing the operation of the two sets of detecting devices shown in FIG. 5 for detecting simultaneously. Rest1 resets the probe device 1 as shown in fig. 6, TX is a switch, PGA1 and PGB1 respectively probe the switches of the first circuit and the second circuit of the probe device 1, and SEL1 and SEL2 respectively are readout gate signals. One sub-frame is divided into three parts, the first part is the RST part, the second part is the integrating part, and the third part is the readout part. TX1 is first turned on for the RST period, PGA1 and PGB1 are reset, and then PGA1 integrates charge with a 0 ° phase difference and PGB1 integrates charge with a 180 ° phase difference for the integration period. After the integration is complete, SEL1 opens the read data, followed by SEL2, and so on until all the data is read. Typically the sensing devices all perform row select column reads, and data reads do not complete until all column reads are complete, which is only schematically illustrated by SEL1 and SEL 2. The operation at the time of the next sub-frame is similar except that after the completion of the reset, the PGA1 integrates the charges with a phase difference of 90 ° and the PGB1 integrates the charges with a phase difference of 270 ° during the integration period, and then data readout is performed. Thus, the detection information can be obtained through the detection of two sub-frames. The operation of the detecting device 2 is similar to that of the detecting device 1 and will not be described in detail. The integration process must be staggered in time because both sets of devices operate simultaneously, the detector device 2 integrating when the detector device 1 is outputting and the detector device 1 outputting when the detector device 2 is integrating. Such a mode of operation may double the frame rate, for example, the frame rate is 60fps in the frame structure shown in fig. 4, and the frame rate may reach up to 120fps in the mode of operation of the two sets of detection devices. The problem of the need for higher frame rate detection can be solved. The readout time of the detection device 2 as shown in fig. 6 may be performed from the reset time of the detection device 1 until all data readout is completed, but the integration times of the two sets of devices within the same subframe must be staggered in order to avoid interference.

Fig. 7 is a schematic functional block diagram of another high frame rate detection apparatus according to an embodiment of the present disclosure. Fig. 5 and 6 are only schematic illustrations, and are not limited to only two sets of detecting devices, but three sets, four sets, and the like of detecting devices can work simultaneously. And will not be described in detail herein. The two sets of detecting devices shown in fig. 5 and 6 may be two different pixel units, or two portions of different pixel units, or two sets of relatively independent detecting devices, and are not limited in any way. As shown in fig. 7, the N sets of detecting devices may work simultaneously, and the work is similar to that in fig. 5 and 6, which is not described herein again. However, the integration time in the working time sequence of the N sets of detection devices cannot be overlapped so as to avoid interference. If the two sets of detection devices are two or two pixel units with different parts, the light source, the receiving part and the controller can be shared or independent parts, and the application is not limited in particular.

The technical scheme of the invention realizes the following advantages: the frame frequency is improved, and the problem of high frame frequency detection requirement is solved.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application.

Claims (10)

1. A detection apparatus for increasing a frame rate, comprising:

the first emission part and the second emission part are used for emitting detection light sources to the target detection object; a first receiving unit and a second receiving unit for receiving an echo signal of a target; the first controller and the second controller are used for controlling the transmitting part to transmit the detection light source and controlling the receiving part to receive the echo signal; and the information acquisition unit is used for acquiring detection information according to the echo signals of the first receiving part and the second receiving part.

2. The apparatus according to claim 1, wherein the first receiving portion comprises a first receiving circuit and a second receiving circuit, and the channel deviation between the first receiving circuit and the second receiving circuit is obtained by calibration. The second receiving part comprises a third receiving circuit and a fourth receiving circuit, and the channel deviation between the third receiving circuit and the fourth receiving circuit is obtained through calibration.

3. The apparatus for increasing the frame rate according to claim 1, wherein the first receiving portion comprises a first reset time, a first integration time, and a first data output time; the second receiving part comprises a second reset time, a second integration time and a second data output time; wherein the first integration time and the second integration time are not temporally coincident.

4. The apparatus according to claim 3, wherein the first data output time and the second integration time at least partially overlap in time.

5. The apparatus according to claim 3, wherein the second data output time is at least partially overlapped with the first reset time.

6. The apparatus according to claim 3, wherein the second data output time is at least partially overlapped with the first integration time.

7. The apparatus according to claim 2, wherein the emitting portion emits uniform light when the channel deviation between different receiving circuits is obtained by a calibration method, and the first receiving portion and the second receiving portion receive the echo signal with the same phase delay difference.

8. The apparatus of claim 7, wherein the detection information is calibrated according to a channel deviation function relationship between different receiver circuits during the detection process.

9. The apparatus of claim 7, wherein the detection information is calibrated by a lookup table according to a channel deviation relationship between different receiver circuits during the detection process.

10. The apparatus according to claim 2, wherein said emitting portion emits uniform light with different intensities when channel deviation between different receiving circuits is obtained by calibration.

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