CN115166687A - Photosensitive array for receiving reflected light spots of laser radar, receiving system and method - Google Patents
Photosensitive array for receiving reflected light spots of laser radar, receiving system and method Download PDFInfo
- Publication number
- CN115166687A CN115166687A CN202210495262.4A CN202210495262A CN115166687A CN 115166687 A CN115166687 A CN 115166687A CN 202210495262 A CN202210495262 A CN 202210495262A CN 115166687 A CN115166687 A CN 115166687A
- Authority
- CN
- China
- Prior art keywords
- photosensitive
- photosensitive area
- switch
- controller
- receiving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 14
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 108091008695 photoreceptors Proteins 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a photosensitive array, a receiving system and a method for receiving a reflection light spot of a laser radar. The photosensitive array includes: the laser radar comprises at least two photosensitive area groups, wherein each photosensitive area group comprises only one photosensitive area and is used for receiving a reflection light spot of the laser radar; the light sensing areas are electrically connected with the analog-to-digital converter through the change-over switch, and the same change-over switch is not accessed to the adjacent light sensing areas so as to output the electric signals corresponding to the reflection light spots to the analog-to-digital converter. The invention also discloses a receiving system of the laser radar reflected light spot and a receiving method of the reflected light spot. Because only the photosensitive area corresponding to the falling point position of the reflection light spot and the next photosensitive area adjacent to the photosensitive area are sampled by the analog-to-digital converter at any moment, no matter what signals are received by other areas, the receiving result cannot be influenced, the anti-interference capability of the reflection light spot receiving system is improved, and the detection precision is improved.
Description
The application is a divisional application of an invention patent application with the application number of 201810146027.X, which is applied in 2018, month 02 and month 12 and is named as a photosensitive array, a receiving system and a method for receiving the reflection light spot of the laser radar.
Technical Field
The embodiment of the invention relates to a laser radar technology, in particular to a photosensitive array, a receiving system and a method for receiving a reflection light spot of a laser radar.
Background
The MEMS micro-mirror scanning laser radar acquires the contour information of the target through the scanning and synchronous distance measurement of the light beam. The MEMS micro-mirror scanning laser radar has the characteristics of small volume and low power consumption, and has wide application prospects in the fields of urban modeling, topographic mapping, unmanned driving and the like.
The laser radar has a large scanning angle range, so that the received laser spot has a large offset range. In order to ensure reliable reception of the reflected light spot, the receiver usually has a photosensitive array, and the photosensitive area of the photosensitive array is greater than or equal to the offset range of the reflected light spot. However, in off-axis lidar, the receiver typically has a large optical field of view. For example, a reflected spot actually received on a photosensitive front of several millimeters by several millimeters is only a few tens of micrometers in size. That is, most of the photosensitive cells in the photosensitive array do not receive a useful signal at any time, and moreover, there is a high probability that a useless interference signal is received. For example, since the receiving lens has a large field angle, it is highly likely that the optical signals of other laser radars are projected onto the photosensitive surface and thus are erroneously sampled by an ADC (Analog-to-Digital Converter), which results in erroneous information being output by the radar.
Disclosure of Invention
The invention provides a photosensitive array, a receiving system and a method for receiving a reflected light spot of a laser radar, which can effectively avoid the false sampling of interference signals of other laser radars by an analog-to-digital converter and improve the detection precision.
In a first aspect, an embodiment of the present invention provides a photosensitive array for receiving a reflection spot of a laser radar, including: the laser radar comprises at least two photosensitive area groups, wherein each photosensitive area group comprises only one photosensitive area and is used for receiving a reflection light spot of the laser radar;
the light sensing areas are electrically connected with the analog-to-digital converter through the change-over switch, and the same change-over switch is not accessed to the adjacent light sensing areas so as to output the electric signals corresponding to the reflection light spots to the analog-to-digital converter.
In a second aspect, an embodiment of the present invention further provides a receiving system for a reflection spot of a laser radar, where the receiving system includes the photosensitive array according to the first aspect, and further includes:
the controller is respectively in communication connection with a transmitter of the laser radar and the switch controller, and is used for receiving the scanning angle output by the transmitter, determining a photosensitive area corresponding to a reflection light spot according to the scanning angle, generating a switch switching instruction according to the photosensitive area, and outputting the switch switching instruction to the switch controller;
and the switch controller is respectively electrically connected with the photosensitive array and the analog-to-digital converter and is used for gating a circuit between the photosensitive area in the photosensitive array and the analog-to-digital converter according to the switch switching instruction.
In a third aspect, an embodiment of the present invention further provides a method for receiving a reflection spot of a laser radar, where the method is executed by the system for receiving a reflection spot of a laser radar according to the second aspect, and the method includes:
the controller receives the scanning angle output by the transmitter;
the controller determines a photosensitive area corresponding to the reflection light spot according to the scanning angle;
the controller controls the switch controller to gate the photosensitive area and a next photosensitive area adjacent to the photosensitive area;
and the photosensitive area receives the reflected light spots and outputs electric signals corresponding to the reflected light spots to an analog-to-digital converter.
The embodiment of the invention provides a photosensitive array for receiving a reflection light spot of a laser radar, which comprises at least two photosensitive area groups, wherein each photosensitive area group comprises only one photosensitive area and is used for receiving the reflection light spot of the laser radar; the light sensing areas are electrically connected with the analog-to-digital converter through the selector switch, and the adjacent light sensing areas are not connected with the same selector switch so as to output the electric signals corresponding to the reflected light spots to the analog-to-digital converter. Because the photosensitive area and the analog-to-digital converter are gated along the light spot moving direction, the problem of ADC error sampling caused by the fact that the receiving lens projects interference signals of other laser radars onto the photosensitive area can be effectively solved, the anti-interference capability of the reflected light spot receiving system is improved, and the detection precision is improved.
Drawings
FIG. 1 is a schematic diagram of a prior art lidar system;
fig. 2 is a schematic structural diagram of a photosensitive array for receiving a reflection spot of a laser radar according to an embodiment of the present invention;
fig. 3 is a circuit diagram of a photosensitive region according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a receiving system of a reflection spot of a laser radar according to a second embodiment of the present invention;
FIG. 5 is a schematic diagram of the position of the reflected light spot varying with the scanning angle according to the second embodiment of the present application;
fig. 6 is a schematic diagram of a lidar transmitting and receiving process provided in the second embodiment of the present application;
FIG. 7 is a schematic diagram of an operation of a receiving lens provided in the second embodiment of the present application;
fig. 8 is a flowchart of a method for receiving a reflection spot of a laser radar according to a third embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic diagram of a prior art lidar system. Lidar system 100 includes a transmitter 110 for transmitting laser light; a receiving lens 140 for projecting the reflected laser light reflected by the obstacle 150 to the photosensitive receiving front 130; and a photosensitive receiving front 130 for receiving the reflected laser light, wherein the reflected laser light forms a reflected light spot 120 on the photosensitive receiving front 130. Due to the fact that the scanning angle range of the laser radar is large, a relatively large deviation range exists in a reflection light spot received by the photosensitive receiving array surface, namely the reflection light spot generally falls within an interval of n millimeters by m millimeters. In order to ensure that the receiving system can reliably receive the reflected light spot, a photoelectric conversion device array is generally adopted as a photosensitive receiving array surface, and the photosensitive area of the photoelectric conversion device array is larger than or equal to the offset range of the reflected light spot. However, in off-axis lidar, the receiving system typically has a large optical field of view. For example, a reflected signal spot actually received by a photosensitive receiving wavefront of n millimeters by m millimeters is only tens of micrometers in size. That is, most of the photoreceptors in the photoreceptive receive front do not receive useful signals at any time, and there is a high probability that they receive useless interfering signals. For example, since the receiving lens has a large field angle, it is very likely that the optical signals of other laser radars are received onto the photosensitive receiving front and are thus sampled by the ADC incorrectly, resulting in the radar outputting incorrect information. In the related art, a scheme generally adopted to solve the above technical problem is to reduce the angle of the field of view of the radar or reduce the area of the photosensitive array. However, the above solution may have the disadvantages of reduced performance and increased cost of the laser radar.
In order to solve the above technical problem, an embodiment of the present application provides a scheme for receiving a reflection spot of a laser radar, which can improve the anti-interference capability of a reflection spot receiving system and does not reduce the efficiency of the laser radar.
Example one
Fig. 2 is a schematic structural diagram of a photosensitive array for receiving a reflection spot of a lidar according to an embodiment of the present invention, where the photosensitive array may be integrated in a reflection spot receiving system of the lidar and is configured to perform a reception method of a reflection spot of the lidar. As shown in fig. 2, the photosensitive array 210 includes:
at least two photosensitive area groups, wherein each photosensitive area group comprises only one photosensitive area 220 and is used for receiving a reflection light spot of the laser radar;
the photosensitive areas 220 are electrically connected to the analog-to-digital converter 240 through a switch 230, and the same switch 230 is not accessed to the adjacent photosensitive areas 220, so as to output the electrical signals corresponding to the reflected light spots to the analog-to-digital converter 240. The switches may be a one-out-of-four switch a and a one-out-of-four switch B.
It should be noted that the photosensitive region group includes only one photosensitive region, and the photosensitive region includes at least one photosensitive unit, and each photosensitive unit can independently perform photoelectric conversion. The light sensing unit may be an avalanche diode or a PIN type photodiode. It can be understood that, in the embodiments of the present application, what kind of components are selected for the light sensing unit is not limited, and the light sensing unit may be other types of photoelectric conversion devices besides the avalanche diode or the PIN photodiode listed above. Fig. 3 is a circuit diagram of a photosensitive region according to an embodiment of the present disclosure. As shown in fig. 3, a plurality of light sensing units 320 are connected in parallel to form a light sensing area 310. Optionally, one photosensitive unit may be used as a photosensitive region independently, and the smaller the area of the photosensitive region is, the stronger the interference resistance is.
Illustratively, when the number of the photosensitive units in each photosensitive region is at least two, the at least two photosensitive units are connected in parallel to form one photosensitive region, and the distance d between two adjacent photosensitive regions may range from several tens of micrometers to 100 micrometers, for example, may be any value from 10 micrometers to 100 micrometers. Alternatively, the spacing between two adjacent photosensitive regions may be any value in the range of 50 micrometers to 80 micrometers. Alternatively, when the number of the photosensitive regions exceeds two, the distances between two adjacent photosensitive regions may take unequal values. For example, the adjacent two photosensitive regions in the same row are not equally spaced. For another example, when there are at least two rows of photosensitive areas (the first row is used to collect the laser spots moving horizontally, and the second row is used to collect the laser spots moving vertically), the two adjacent photosensitive areas may be two adjacent photosensitive areas in the horizontal direction, or may be two adjacent photosensitive areas in the vertical direction, and at this time, the distances between the two adjacent photosensitive areas may be the same or different. For example, the first pitch of two adjacent photosensitive regions in the same row may be the same, and the second pitch of two adjacent photosensitive regions in the same column may be different from the first pitch.
The photosensitive area is electrically connected with the switch. As shown in fig. 2, each photosensitive region 220 is electrically connected to a switch 230, and two adjacent photosensitive regions 220 do not access the same switch. For example, the No. 1 photosensitive region is electrically connected to a first input terminal of a first switch (e.g., a one-out-of-four switch a), the No. 2 photosensitive region is electrically connected to a first input terminal of a second switch (e.g., a one-out-of-four switch B), the No. 3 photosensitive region is electrically connected to a second input terminal of the one-out-of-four switch a, the No. 4 photosensitive region is electrically connected to a second input terminal of the one-out-of-four switch B, … …, the No. 7 photosensitive region is electrically connected to a fourth input terminal of the one-out-of-four switch a, the No. 8 photosensitive region is electrically connected to a fourth input terminal of the one-out-of-four switch B, and is used for gating a circuit connection between the photosensitive region 220 and the analog-to-digital converter 240, and the photosensitive region 220 receives a reflected light spot signal of the laser radar, converts the reflected light spot signal from an optical signal to an electrical signal, and outputs the electrical signal to the analog-digital converter 240.
The technical scheme of the embodiment comprises at least two photosensitive area groups, wherein each photosensitive area group comprises only one photosensitive area and is used for receiving a reflection light spot of the laser radar; the light sensing areas are electrically connected with the analog-to-digital converter through the selector switch, and the adjacent light sensing areas are not connected with the same selector switch so as to output the electric signals corresponding to the reflected light spots to the analog-to-digital converter. Because the photosensitive area and the analog-to-digital converter are gated along the light spot moving direction, the problem of ADC error sampling caused by the fact that the receiving lens projects interference signals of other laser radars onto the photosensitive area can be effectively solved, the anti-interference capability of the reflected light spot receiving system is improved, and the detection precision is improved.
Example two
Fig. 4 is a schematic structural diagram of a receiving system of a reflection spot of a laser radar according to a second embodiment of the present invention. The receiving system is used for executing the receiving method of the reflected light spot of the laser radar, and comprises but is not limited to the photosensitive array in the embodiment. As shown in fig. 4, the receiving system includes:
the controller 410 is respectively in communication connection with the transmitter 460 and the switch controller 430 of the laser radar, and is configured to receive the scanning angle output by the transmitter 460, determine a photosensitive area corresponding to a reflection light spot according to the scanning angle, generate a switch switching instruction according to the photosensitive area, and output the switch switching instruction to the switch controller 430;
a photosensitive array 420 including at least two photosensitive region groups, each photosensitive region group including only one photosensitive region, the photosensitive regions being electrically connected to the analog-to-digital converter 450 through a switch, and adjacent photosensitive regions not being connected to the same switch;
and the switch controller 430 is electrically connected with the photosensitive array 420 and the analog-to-digital converter 450 respectively, and comprises a first switch and a second switch for gating a circuit between the photosensitive area in the photosensitive array and the analog-to-digital converter 450 according to the switch switching instruction.
It should be noted that the scanning angle is a rotation angle of a galvanometer in the transmitter, and the galvanometer may be a MEMS (Micro Electronic Mechanical System, resonant uniaxial Micro electro Mechanical System) galvanometer. Fig. 5 is a schematic diagram of the position of the reflected light spot varying with the scanning angle according to the second embodiment of the present application. As shown in fig. 5, the reflection spots corresponding to t1 to t5 show that the positions of the reflection spots move on the photosensitive array when the scanning angle is changed. The coordinates of the landing point of the reflected spot on the photosensitive array can be calculated in the following manner.
Illustratively, the controller obtains a distance between the receiving lens and the photosensitive array. And receiving the scanning angle output by the transmitter according to a set period, and calculating the falling point coordinates of the reflected light spots in the photosensitive array according to the scanning angle and the distance. Determining a first photosensitive area according to the falling point coordinates; determining switch marks of a selector switch connected to the first photosensitive area and the second photosensitive area, wherein the second photosensitive area is adjacent to the first photosensitive area; according to the switch identifierAnd outputting the switch switching instruction to the switch controller. Fig. 6 is a schematic diagram of a lidar transmitting and receiving process provided in embodiment two of the present application. As shown in fig. 6, the incident light is emitted through a deflectable MEMS galvanometer 610, the rotation direction of the MEMS galvanometer 610 is as shown in fig. 6, and the emitted light forms a scanning sector due to the deflection angle change of the galvanometer 610. The reflected light is focused by the receiving lens 630 and projected onto a photosensitive array 640 of smaller size. When the light is scanned to the highest angle, the reflection light spot is at the lowest end of the front surface of the photosensitive array 640, otherwise, the reflection light spot is at the highest end of the front surface of the photosensitive array 640. Since the deflection angle of the MEMS galvanometer (or other kind of mechanism capable of deflecting light) is known, the incident angle ω of the reflected light directed to the receiving lens is also known. And because the distance between the known receiving lens and the photosensitive array is f', the working schematic diagram of the receiving lens provided in fig. 7 is shown. According to the imaging principle and the geometric relationship, the relationship of the landing position y' of the light beam projected on the photosensitive array at the scanning angle omega is as follows: y is ′ = f ' tan ω, then the coordinates of the drop point are (f ', y ')
The MEMS galvanometer rotates at a preset angle in a preset rotation direction according to a set period, causing the reflected light spot to move on the photosensitive array along the scanning direction shown in fig. 7. Since the photosensitive array comprises a plurality of photosensitive areas, the photosensitive area corresponding to the reflection light spot can be determined according to the landing position of the reflection light spot. Because the corresponding relation between the area identification of the photosensitive area and the change-over switch is stored in advance, a switch change-over instruction can be generated according to the photosensitive area corresponding to the reflection light spot, and the switch change-over instruction is output to the switch controller so as to control the switch controller to switch on or off the circuit. It should be noted that the switch controller includes a first changeover switch and a second changeover switch. The input end of the first change-over switch is electrically connected with the photosensitive areas with the odd-numbered area identifications, and the input end of the second change-over switch is electrically connected with the photosensitive areas with the even-numbered area identifications. In addition, the output end of the first switch is connected in series with a first signal amplifying circuit, and the output end of the first signal amplifying circuit is electrically connected to the analog-to-digital converter, wherein the first signal amplifying circuit includes but is not limited to an operational amplifier 250 (as shown in fig. 2) for receiving and amplifying the signal corresponding to the reflected light spot, and the amplified signal is output to the analog-to-digital converter. The output end of the second switch is connected in series with a second signal amplifying circuit, and the output end of the second signal amplifying circuit is electrically connected with the analog-to-digital converter, wherein the second signal amplifying circuit includes but is not limited to an operational amplifier 250, and is used for receiving and amplifying the signal corresponding to the reflected light spot, and the amplified signal is output to the analog-to-digital converter. Therefore, the reflected light spot signal received by the photosensitive area can be output to the analog-to-digital converter through the first switch or the second switch.
For example, in the receiving system of the reflection light spot of the laser radar according to the embodiment of the present application, the photosensitive array has a plurality of photosensitive areas, and each photosensitive area may include a plurality of photosensitive units or only one photosensitive unit. As shown in fig. 2, the photosensitive regions are divided into two photosensitive region groups by a changeover switch having a one-out-of-four function. It can be understood that, in the case of receiving the reflected light spot in a one-dimensional scene (only considering the scene where the reflected light spot moves left and right), the photosensitive area groups may be arranged horizontally and divided into two groups, so as to ensure that when the reflected light spot moves, the switched-on photosensitive area tracks the moving direction of the reflected light spot in time, that is, the switch is controlled to switch on the circuit between the photosensitive area corresponding to the current position of the falling point of the reflected light spot and the analog-to-digital converter, and the circuit between the next photosensitive area where the reflected light spot may be located at the next time and the analog-to-digital converter is switched on. If a reflected spot is received in a two-dimensional scene (considering a scene where the reflected spot moves up and down left and right), the photosensitive array can be configured to have multiple rows of photosensitive areas, optionally, the photosensitive areas in each row are aligned horizontally and the photosensitive areas in the same column are aligned vertically. The controller calculates the position of a transmitted light spot reflection signal (i.e. a reflection light spot) on the photosensitive array, namely the corresponding photosensitive area in real time by acquiring the scanning angle information of a laser radar transmitter (such as an MEMS galvanometer). The controller generates a switch switching command according to the area identifier of the photosensitive area and outputs the switch switching command to the switch controller (i.e. the switch having the function of selecting one more than one), as shown in fig. 4, the switch controller 430 gates the photosensitive array corresponding to the position of the light spot reflection signal on the photosensitive array 420 and the next adjacent photosensitive array, so that the electrical signal generated by the photosensitive array 420 is input to the analog-to-digital converter 450. That is, the controller continuously tracks and calculates the position of the falling point of the reflected light spot, and the electric signal corresponding to the reflected light spot is always input into the analog-to-digital converter through the switch. For example, when the controller calculates that the landing position is located in the photosensitive area No. 1, the controller drives the one-out-of-four switch a to gate the photosensitive area No. 1, and simultaneously drives the one-out-of-four switch B to gate the photosensitive area No. 2. When the reflected light spot moves to the No. 2 photosensitive area, the one-out-of-four switch A is driven to close the No. 1 photosensitive area and switch on the No. 3 photosensitive area. When the reflected light spot moves to the No. 3 photosensitive area, the four-out-of-one switch B is driven to close the No. 2 photosensitive area and switch on the No. 4 photosensitive area. By analogy, when the reflected light sensation moves to the No. 7 light sensing area, the four-out-of-one switch B is driven to close the No. 6 light sensing area and switch on the No. 8 light sensing area. Therefore, the light sensing area corresponding to the falling point position of the reflection light spot is ensured to be always connected with the analog-digital converter, and the falling point position of the non-reflection light spot and the adjacent light sensing area are isolated by the switch. That is, only two photosensitive areas are sampled by the analog-to-digital converter at any time, and no matter what signal is received by other areas, the receiving result is not influenced, and interference is prevented from being introduced.
The technical scheme of the embodiment comprises a photosensitive array, a plurality of photosensitive areas and a plurality of photoelectric conversion units, wherein the photosensitive areas are electrically connected with an analog-to-digital converter through a selector switch, and adjacent photosensitive areas are not connected with the same selector switch; the controller is respectively in communication connection with a transmitter of the laser radar and the switch controller, can receive the scanning angle output by the transmitter, determines a photosensitive area corresponding to the reflection light spot according to the scanning angle, generates a switch switching instruction according to the photosensitive area, and outputs the switch switching instruction to the switch controller; and the switch controller is electrically connected with the photosensitive array and the analog-to-digital converter respectively and can gate a circuit between the photosensitive area and the analog-to-digital converter according to the switch switching instruction. Because only the photosensitive area corresponding to the falling point position of the reflection light spot and the next adjacent photosensitive area are sampled by the analog-to-digital converter at any moment, no matter what signals are received by other areas, the receiving result cannot be influenced, the problem that the receiving lens projects interference signals of other laser radars onto the photosensitive area to cause ADC error sampling can be effectively avoided, the anti-interference capability of the reflection light spot receiving system is improved, and the detection precision is improved.
EXAMPLE III
Fig. 8 is a flowchart of a method for receiving a reflection spot of a lidar according to a third embodiment of the present disclosure, where the method may be executed by a system for receiving a reflection spot of a lidar. The method comprises the following steps:
The transmitter (e.g., MEMS) rotates in a preset direction at a preset scanning angle according to a preset period, and sends scanning angle information to the controller, wherein the scanning angle information may include the scanning angle, the period, and the direction.
And step 820, the controller determines a photosensitive area corresponding to the reflection light spot according to the scanning angle.
It should be noted that, the controller obtains the distance between the receiving lens and the photosensitive array, and then, according to the imaging principle and the geometric relationship, the controller determines the position of the drop point of the reflected light spot projected on the photosensitive array according to the scanning angle and the distance between the receiving lens and the photosensitive array, and determines the coordinates of the drop point by taking the position of the drop point as the value on the y axis and taking the distance as the value on the x axis. And determining a photosensitive area corresponding to the reflection light spot according to the falling point coordinate.
Furthermore, the moving direction of the light spot on the photosensitive array can be determined according to the preset direction, the current photosensitive area corresponding to the reflection light spot is determined according to the position of the falling point, and the next photosensitive area adjacent to the current photosensitive area can be further determined. Illustratively, the controller obtains a rotation direction of a galvanometer of the transmitter, and determines a next photosensitive area adjacent to the photosensitive area according to the rotation direction of the galvanometer and the photosensitive area corresponding to the falling point coordinate.
The controller generates a switch switching instruction according to the area identification of the current photosensitive area and the area identification of the next photosensitive area, and sends the switch switching instruction to the switch controller. Thus, the switch controller gates a circuit between the current photosensitive region and the analog-to-digital converter and a circuit between the next photosensitive region and the analog-to-digital converter according to the switch switching instruction.
It should be noted that, after determining the photosensitive area, the controller may determine whether the photosensitive area is the first photosensitive area, and may determine through the area identifier of the photosensitive area, and if the area identifier is the No. 1 area, determine that the photosensitive area is the first photosensitive area. And if the current photosensitive area is the first photosensitive area, generating a switch switching instruction corresponding to the switch identifier according to the current photosensitive area and the area identifier of the next adjacent photosensitive area. If the current photosensitive area is not the first photosensitive area, the controller further obtains a switch identifier of a previous photosensitive area adjacent to the current photosensitive area, and switches off a circuit between the previous photosensitive area and the analog-to-digital converter before switching on a circuit between a next photosensitive area of the photosensitive area and the analog-to-digital converter.
And 840, receiving the reflected light spots by the photosensitive area, and outputting electric signals corresponding to the reflected light spots to an analog-to-digital converter.
According to the technical scheme of the embodiment, the controller is used for receiving the scanning angle output by the transmitter, determining the photosensitive area corresponding to the reflection light spot according to the scanning angle, and then controlling the switch controller to gate the photosensitive area and the next photosensitive area adjacent to the photosensitive area; the light sensing area receives the reflected light spots and outputs electric signals corresponding to the reflected light spots to the analog-to-digital converter. Because only the photosensitive area corresponding to the falling point position of the reflection light spot and the next adjacent photosensitive area are sampled by the analog-to-digital converter at any moment, no matter what signals are received by other areas, the receiving result cannot be influenced, the problem that the receiving lens projects interference signals of other laser radars onto the photosensitive area to cause ADC error sampling can be effectively avoided, the anti-interference capability of the reflection light spot receiving system is improved, and the detection precision is improved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A photosensitive array for receiving a reflected beam spot of a lidar, comprising: the laser radar comprises at least two photosensitive area groups, wherein each photosensitive area group comprises only one photosensitive area and is used for receiving a reflection light spot of the laser radar;
the photosensitive areas are electrically connected with the analog-to-digital converter through the selector switches, and each photosensitive area group is independently connected with one selector switch so as to output the electric signals corresponding to the reflection light spots to the analog-to-digital converter.
2. The photosensitive array of claim 1, wherein the photosensitive area comprises at least one photosensitive unit, and at least two photosensitive units are connected in parallel to form one photosensitive area.
3. The photosensitive array of claim 2, comprising:
the light sensing unit comprises an avalanche diode or a PIN photodiode.
4. The photosensitive array of any of claims 1 to 3, comprising: the switch is configured to switch on the photosensitive area corresponding to the reflection light spot and the analog-to-digital converter.
5. A receiving system of a reflection spot of a laser radar, characterized by comprising the photosensitive array according to any one of claims 1 to 4, and further comprising:
the controller is respectively in communication connection with a transmitter of the laser radar and the switch controller, and is used for receiving the scanning angle output by the transmitter, determining a photosensitive area corresponding to the reflection light spot according to the scanning angle, generating a switch switching instruction according to the photosensitive area, and outputting the switch switching instruction to the switch controller;
and the switch controller is respectively electrically connected with the photosensitive array and the analog-to-digital converter and is used for gating a circuit between the photosensitive area in the photosensitive array and the analog-to-digital converter according to the switch switching instruction.
6. The receiving system of claim 5, wherein the switch controller comprises a first switch and a second switch, an input of the first switch being electrically connected to the photosensitive regions having an odd zone identification and an input of the second switch being electrically connected to the photosensitive regions having an even zone identification;
the output end of the first change-over switch is connected with a first signal amplifying circuit in series, and the output end of the first signal amplifying circuit is electrically connected with the analog-to-digital converter;
the output end of the second change-over switch is connected with a second signal amplifying circuit in series, and the output end of the second signal amplifying circuit is electrically connected with the analog-to-digital converter.
7. The system according to claim 5 or 6, characterized in that the controller is specifically configured to:
acquiring the distance between a receiving lens and the photosensitive array;
receiving the scanning angle output by the transmitter according to a set period, and calculating the falling point coordinates of the reflected light spots in the photosensitive array according to the scanning angle and the distance;
determining a first photosensitive area according to the falling point coordinates;
determining switch marks of a selector switch connected to the first photosensitive area and the second photosensitive area, wherein the second photosensitive area is adjacent to the first photosensitive area;
and generating a switch switching instruction according to the switch identifier, and outputting the switch switching instruction to the switch controller.
8. A method of receiving a reflection spot of a laser radar, which is performed by the reflection spot receiving system of a laser radar according to any one of claims 5 to 7, comprising:
the controller receives the scanning angle output by the transmitter;
the controller determines a photosensitive area corresponding to the reflection light spot according to the scanning angle;
the controller controls the switch controller to gate the photosensitive area and a photosensitive area corresponding to a photosensitive area group adjacent to the photosensitive area group corresponding to the photosensitive area;
and the photosensitive area receives the reflected light spots and outputs electric signals corresponding to the reflected light spots to an analog-to-digital converter.
9. The receiving method of claim 8, wherein the controller determines a photosensitive area corresponding to the reflection spot according to the scanning angle, and comprises:
the controller acquires the distance between the receiving lens and the photosensitive array;
the controller calculates the falling point coordinates of the reflected light spots in the photosensitive array according to the scanning angle and the distance;
and the controller determines a photosensitive area corresponding to the reflection light spot according to the falling point coordinate.
10. The receiving method of claim 8, wherein the controller controls the switch controller to gate the photosensitive region and a next photosensitive region adjacent to the photosensitive region, comprising:
the controller acquires the rotating direction of the galvanometer of the transmitter;
the controller determines the next photosensitive area adjacent to the photosensitive area according to the rotation direction of the galvanometer and the photosensitive area;
the controller determines a photosensitive area and a switch identifier corresponding to the next photosensitive area;
and the controller generates a switch switching instruction corresponding to the switch identifier, and sends the switch switching instruction to respectively connect the circuit between the photosensitive area and the analog-to-digital converter and the circuit between the next photosensitive area and the analog-to-digital converter.
11. The receiving method of claim 10, wherein after the controller determines the photosensitive area and the switch identifier corresponding to the next photosensitive area, the method further comprises:
the controller judges whether the photosensitive area is the first photosensitive area;
if so, executing the operation of generating a switch switching instruction corresponding to the switch identifier;
otherwise, the controller further obtains a switch identifier of a previous photosensitive area adjacent to the photosensitive area, and switches off a circuit between the previous photosensitive area and the analog-to-digital converter before switching on a circuit between a next photosensitive area of the photosensitive area and the analog-to-digital converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210495262.4A CN115166687A (en) | 2018-02-12 | 2018-02-12 | Photosensitive array for receiving reflected light spots of laser radar, receiving system and method |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810146027.XA CN108415001B (en) | 2018-02-12 | 2018-02-12 | Photosensitive array for receiving reflected light spots of laser radar, receiving system and method |
| CN202210495262.4A CN115166687A (en) | 2018-02-12 | 2018-02-12 | Photosensitive array for receiving reflected light spots of laser radar, receiving system and method |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810146027.XA Division CN108415001B (en) | 2018-02-12 | 2018-02-12 | Photosensitive array for receiving reflected light spots of laser radar, receiving system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115166687A true CN115166687A (en) | 2022-10-11 |
Family
ID=63128640
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210495262.4A Pending CN115166687A (en) | 2018-02-12 | 2018-02-12 | Photosensitive array for receiving reflected light spots of laser radar, receiving system and method |
| CN201810146027.XA Active CN108415001B (en) | 2018-02-12 | 2018-02-12 | Photosensitive array for receiving reflected light spots of laser radar, receiving system and method |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810146027.XA Active CN108415001B (en) | 2018-02-12 | 2018-02-12 | Photosensitive array for receiving reflected light spots of laser radar, receiving system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN115166687A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024113328A1 (en) * | 2022-12-01 | 2024-06-06 | 华为技术有限公司 | Detection method, array detector, array transmitter, detection apparatus and terminal |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109975821B (en) * | 2019-03-25 | 2021-05-14 | Oppo广东移动通信有限公司 | Control method and device, time-of-flight assembly, storage medium and computer equipment |
| CN110940988B (en) * | 2019-11-01 | 2021-10-26 | 深圳市镭神智能系统有限公司 | Laser radar receiving system and laser radar |
| CN111308477B (en) * | 2019-11-29 | 2022-05-24 | 深圳市镭神智能系统有限公司 | Laser radar receiving system and laser radar |
| CN111352095A (en) * | 2020-04-17 | 2020-06-30 | 深圳市镭神智能系统有限公司 | Laser radar receiving system and laser radar |
| CN111352096B (en) * | 2020-04-26 | 2022-08-09 | 深圳市镭神智能系统有限公司 | Laser radar receiving system and laser radar |
| CN112997096B (en) * | 2020-07-21 | 2024-06-07 | 深圳市速腾聚创科技有限公司 | Laser radar and automatic driving equipment |
| CN114063043A (en) * | 2020-07-30 | 2022-02-18 | 北京一径科技有限公司 | Control method and device of photoelectric detection array, photoelectric power supply switching circuit and photoelectric detection array |
| CN112284341B (en) * | 2020-09-25 | 2022-06-14 | 南京信息职业技术学院 | Cylindrical cavity laser refraction method inclination and elevation angle tester and testing method |
| CN113176579B (en) * | 2021-03-01 | 2024-08-23 | 奥比中光科技集团股份有限公司 | Light spot position self-adaptive searching method, time flight ranging system and ranging method |
| CN113822210B (en) * | 2021-09-27 | 2022-10-14 | 山东睿思奥图智能科技有限公司 | Human leg detection method based on laser technology |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509974A (en) * | 2009-03-30 | 2009-08-19 | 电子科技大学 | Three-dimensional target scattering coefficient measurement method based on MIMO array technology |
| CN103300887A (en) * | 2013-04-01 | 2013-09-18 | 北京天惠华数字技术有限公司 | Self-adaptive compensation method for conformity error of receiving signal of ultrasonic system |
| US20170242107A1 (en) * | 2016-02-18 | 2017-08-24 | Aeye, Inc. | Ladar Receiver with Advanced Optics |
| US20170261371A1 (en) * | 2016-03-08 | 2017-09-14 | Electronics And Telecommunications Research Instit Ute | Optical receiver and laser radar including the same |
| KR101911511B1 (en) * | 2017-06-13 | 2018-10-24 | 팸텍주식회사 | Method for aligning wafer |
Family Cites Families (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4138782C1 (en) * | 1991-11-26 | 1993-02-04 | Rohde & Schwarz Gmbh & Co Kg, 8000 Muenchen, De | Direction finder antenna with adjacent passive dipole elements - has diode switch between input and output of transformer at point where balanced input voltage is zero w.r.t. earth |
| WO2000007061A1 (en) * | 1998-07-29 | 2000-02-10 | Digilens, Inc. | Three dimensional projection systems based on switchable holographic optics |
| WO2003000137A1 (en) * | 2001-06-20 | 2003-01-03 | Bae Systems Information And Electronic Systems Integration Inc. | Orthogonally reconfigurable integrated matrix acoustical array |
| TW550831B (en) * | 2002-06-20 | 2003-09-01 | United Microelectronics Corp | Photo sensor and method of forming the same |
| US6566722B1 (en) * | 2002-06-26 | 2003-05-20 | United Microelectronics Corp. | Photo sensor in a photo diode on a semiconductor wafer |
| CN101541489B (en) * | 2006-08-08 | 2013-03-06 | 南泰若股份有限公司 | Memory element and cross-point switch using nonvolatile nanotube block and array thereof |
| CN101109809A (en) * | 2007-08-17 | 2008-01-23 | 张铁军 | Positioning device, system and method based on direction control photosensitive array |
| DE102007054961A1 (en) * | 2007-11-17 | 2009-06-04 | Wenglor sensoric elektronische Geräte GmbH | measuring device |
| JP4819919B2 (en) * | 2009-04-16 | 2011-11-24 | 本田技研工業株式会社 | Vehicle object detection device |
| EP2423704B1 (en) * | 2009-04-23 | 2020-07-15 | Mitsubishi Electric Corporation | Radar apparatus and antenna device |
| CN101576697A (en) * | 2009-06-17 | 2009-11-11 | 中国科学院上海光学精密机械研究所 | Electro-optical switch array digital optical scanner |
| JP2013521508A (en) * | 2010-03-05 | 2013-06-10 | ユニバーシティ・オブ・ウィンザー | Radar system and manufacturing method thereof |
| US20110305256A1 (en) * | 2010-03-05 | 2011-12-15 | TeraDiode, Inc. | Wavelength beam combining based laser pumps |
| CN203047092U (en) * | 2012-12-20 | 2013-07-10 | 东风汽车有限公司 | Multi-blind-area auxiliary image control system |
| CN107533137A (en) * | 2015-01-20 | 2018-01-02 | 迪吉伦斯公司 | Holographical wave guide laser radar |
| CN106257303B (en) * | 2015-06-16 | 2019-02-12 | 启碁科技股份有限公司 | Radar and the method for switching enable array antenna |
| CN205210308U (en) * | 2015-11-05 | 2016-05-04 | 中国工程物理研究院流体物理研究所 | Multiple -pulse range gate imaging system |
| CN106291575A (en) * | 2016-10-25 | 2017-01-04 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar range-measurement system and method |
| CN106371085A (en) * | 2016-10-27 | 2017-02-01 | 上海博未传感技术有限公司 | Laser radar system based on optical fiber array |
| CN107340508B (en) * | 2017-06-11 | 2020-08-18 | 宁波飞芯电子科技有限公司 | Focal plane chip, pixel unit and array for collecting and processing laser signals |
-
2018
- 2018-02-12 CN CN202210495262.4A patent/CN115166687A/en active Pending
- 2018-02-12 CN CN201810146027.XA patent/CN108415001B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509974A (en) * | 2009-03-30 | 2009-08-19 | 电子科技大学 | Three-dimensional target scattering coefficient measurement method based on MIMO array technology |
| CN103300887A (en) * | 2013-04-01 | 2013-09-18 | 北京天惠华数字技术有限公司 | Self-adaptive compensation method for conformity error of receiving signal of ultrasonic system |
| US20170242107A1 (en) * | 2016-02-18 | 2017-08-24 | Aeye, Inc. | Ladar Receiver with Advanced Optics |
| US20170261371A1 (en) * | 2016-03-08 | 2017-09-14 | Electronics And Telecommunications Research Instit Ute | Optical receiver and laser radar including the same |
| KR101911511B1 (en) * | 2017-06-13 | 2018-10-24 | 팸텍주식회사 | Method for aligning wafer |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024113328A1 (en) * | 2022-12-01 | 2024-06-06 | 华为技术有限公司 | Detection method, array detector, array transmitter, detection apparatus and terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108415001A (en) | 2018-08-17 |
| CN108415001B (en) | 2022-06-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108415001B (en) | Photosensitive array for receiving reflected light spots of laser radar, receiving system and method | |
| EP3593166B1 (en) | Integrated lidar illumination power control | |
| US11703569B2 (en) | LIDAR data acquisition and control | |
| US20210405196A1 (en) | Multiple pixel scanning lidar | |
| JP7123941B2 (en) | High resolution lidar using high frequency pulse emission | |
| US20200174106A1 (en) | Multi-line laser radar | |
| JP6819098B2 (en) | Object detection device, sensing device and mobile device | |
| KR102715478B1 (en) | LIDAR-based distance measurement using hierarchical power control | |
| JP4405154B2 (en) | Imaging system and method for acquiring an image of an object | |
| US20200088851A1 (en) | Multi-Channel LIDAR Illumination Driver | |
| EP3639057B1 (en) | Time-of-flight apparatus | |
| CN109581323B (en) | Micro-electromechanical laser radar system | |
| CN111580069A (en) | Multi-line laser radar system and scanning method based on same | |
| CN111239749B (en) | Novel high-line-number MEMS laser radar system | |
| CN211928172U (en) | Optical ranging module, optical scanning ranging device and robot | |
| CN115825971A (en) | Scanning type laser radar based on SPAD chip | |
| KR20190097656A (en) | Apparatus and method for obtaining image | |
| CN110622031A (en) | Lidar device and method with simplified detection | |
| CN110726983A (en) | Laser radar | |
| CN219302660U (en) | Scanning laser radar | |
| CN214540013U (en) | Laser radar and laser radar system | |
| WO2024113328A1 (en) | Detection method, array detector, array transmitter, detection apparatus and terminal | |
| CN116930922A (en) | Laser radar | |
| CN110596678A (en) | Three-dimensional space scanning resolution improving method based on multi-beam multiplexing | |
| JP2021015095A (en) | Distance measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |