CN115480258A - Detection device and method - Google Patents
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- CN115480258A CN115480258A CN202110605939.0A CN202110605939A CN115480258A CN 115480258 A CN115480258 A CN 115480258A CN 202110605939 A CN202110605939 A CN 202110605939A CN 115480258 A CN115480258 A CN 115480258A
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- 238000001514 detection method Methods 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 28
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- 239000000523 sample Substances 0.000 claims description 15
- 238000002310 reflectometry Methods 0.000 description 8
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/4808—Evaluating distance, position or velocity data
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Abstract
The application provides a detection device and a detection method using the detection device, wherein the detection device comprises a light source module used for emitting detection light to an object to be detected; the photosensitive module receives the emitted light to process the pixels; the processing module can process the reflected light to obtain the distance of the object to be measured; the control module is used for controlling the light source module and the receiving module; the control module controls the light source module to emit detection light with first power and first exposure duration; the control module controls the light source module to emit the detection light with the second power and the first exposure duration, and the detection device and the detection method can simultaneously meet detection requirements in different distance ranges and different scenes.
Description
Technical Field
The present application relates to the field of detection technologies, and in particular, to a detection apparatus and a detection method.
Background
As a method of measuring a distance from an object in a scene, a time of flight (TOF) technique is developed. Such TOF technology can be applied in various fields such as the automotive industry, human-machine interfaces, games, robotics, security, and the like. In general, TOF technology operates on the principle of illuminating a scene with modulated light from a light source and observing the reflected light reflected from objects in the scene. In order to ensure that a detection system has a wider field of view while obtaining higher detection efficiency in a detection process in the conventional detection system, an array-type receiving module is mostly adopted at present, the array-type receiving module may have thousands of pixel units, each pixel unit may be a diode of a charge-coupled semiconductor CCD or a complementary metal oxide semiconductor CMOS type, and the like, and the array-type receiving module is not limited to be formed by only the two types of diodes.
In order to obtain distance information, in the detection of TOF, delay information of emitted light and returned light is obtained indirectly, so that delay phase or phase shift is obtained, and then phase shift is converted into final result information. In actual use, the method of receiving the return light signal with complementary phases and obtaining the distance information is called a two-phase scheme, and a scheme of obtaining the target distance with four phases of 0 °, 90 °, 180 ° and 270 ° is also used, and it is needless to say that a scheme of obtaining the distance of the detected object by trying a 3-phase or even 5-phase scheme is also used in the literature, and an electric signal with a shifted phase is obtained, and the electric signal needs to be processed by a processing unit to obtain the final distance information.
In the detection process, the light received by the photosensitive module includes reflected light of the detection light and ambient light, and therefore, the ambient light needs to be separately detected to eliminate the influence of the ambient light. However, in the prior art, in the actual detection process, the interference of the detection light is usually caused, and the ambient light energy cannot be accurately detected, so that the accuracy of the obtained measurement distance is poor. In the detection process, the total integral electron number = the signal photoelectron number + the ambient photoelectron number, and when the integral mode is adopted, ambient light occupies a large amount of integral capacitance, so that the residual amount of the integral capacitance left for the signal light is limited. In addition, in the detection process, the target reflectivity of the object to be detected and the efficiency of receiving the echo light of the object to be detected are changed due to the different distances between the object to be detected, for example, the distance between the object to be detected and the object to be detected is 0.05m, the distance between the object to be detected and the object to be detected is 2.5m, that is, the distance between the object to be detected and the object to be detected is different by 50 times, and the receiving efficiency of the echo light is changed by 2,500 times according to the inverse square law. When the object to be measured is 0.05m, the target reflectivity of the object to be measured is 0.1, and when the object to be measured is 0.05m, the target reflectivity of the object to be measured is 0.8, that is, the target reflectivity difference between the two distances is 8 times. The difference between the comprehensive receiving light efficiency and the reflectivity is 20000 times of the dynamic range which needs to be detected under the condition that the object to be detected is 0.05-2.5 m.
In view of the above, a detection method and a detection apparatus are needed to meet the detection requirement of high dynamic range under ambient light.
Disclosure of Invention
An object of this application lies in, to the not enough among the above-mentioned prior art, provides a detection device in order to solve current detection device can not satisfy the technical problem that multi-distance detected simultaneously.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a detection apparatus, which is characterized by including:
the light source module is used for emitting detection light to an object to be detected;
the photosensitive module receives the emitted light to process the pixels;
the processing module can process the reflected light to obtain the distance of the object to be measured;
the control module is used for controlling the light source module and the receiving module;
the control module controls the light source module to emit detection light with first power and first exposure duration;
the control module controls the light source module to emit the detection light with the second power and the first exposure duration.
Optionally, the control module controls the light source module to emit probe light with a first power and a second exposure duration;
the control module controls the light source module to emit the detection light with a second power and a second exposure duration.
Optionally, the control module controls the light source module to emit probe light with a first power and a third exposure duration; the control module controls the light source module to emit the detection light with a second power and a third exposure duration.
Optionally, the first power is greater than the second power.
Optionally, the control module controls the light source module not to emit the detection light; the duration of the non-emission of the detection light is the first exposure duration, the second exposure duration and the third exposure duration.
Optionally, the first exposure duration is longer than the second exposure duration, and the second exposure duration is longer than the third exposure duration.
Optionally, the detection light non-emitting periods are respectively located after the detection light emitting periods and are the same as the corresponding exposure periods for emitting the detection light.
In a second aspect, an embodiment of the present application provides a detection method, which is applied to the detection apparatus described in the first aspect, where the detection method includes:
the control module controls the light source module to emit probe light to the object to be detected with first exposure duration and first emission power; the control module can also control the light source module to emit the detection light to the object to be detected with the first exposure time and the second emission power.
Optionally, the control module controls the light source module to emit probe light to the object to be detected with a third exposure duration and a first emission power; the control module can also control the light source module to emit the detection light to the object to be detected with a third exposure time and a second emission power.
The beneficial effect of this application is:
the embodiment of the application provides a detection device and a method, wherein the detection device comprises: the light source module is used for emitting detection light to an object to be detected;
the photosensitive module receives the emitted light to process the pixels;
the processing module can process the reflected light to obtain the distance of the object to be measured;
the control module is used for controlling the light source module and the receiving module;
the control module controls the light source module to emit detection light with first power and first exposure duration;
the control module controls the light source module to emit detection light with the second power and the first exposure duration, and in this mode, the detection device can meet detection requirements under different distances and different scenes.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on 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 view of a TOF ranging principle provided in an embodiment of the present application;
FIG. 3 illustrates a schematic diagram of the setting of different phase delays and different exposure durations for a plurality of subframes;
FIG. 4 is a new frame structure provided by embodiments of the present application;
FIG. 5 is another new frame structure provided by embodiments of the present application;
figure 6 shows the steps of a way in which the invention can be implemented.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic functional block diagram of a detection apparatus according to an embodiment of the present disclosure. As shown in fig. 1, the detecting device includes: the light source 110, the processing module 120, the photosensitive module 130, and the detected object 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, and when the 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 limited specifically, and the waveform of the light output by the light source 110 is also not limited, and may be a square wave, a triangular wave, or a sinusoidal wave. The photosensitive module 130 includes a photoelectric conversion module, which has a photoelectric conversion function and can be implemented by a Photodiode (PD), and may be specifically a Charge-coupled Device (CCD), a Complementary Metal Oxide Semiconductor (CMOS), and the type thereof is not specifically limited herein.
The processing module 120 may include a control module, which can control the light source to emit light for different times, can also control the light source module not to emit light, can also control the emission power of the light source, and can also control the exposure duration, although the control module may also exist independently from the processing module, and this embodiment is only for illustrative purposes and is not limited in particular. The processing module 120 may enable the light sensing module 130 to obtain light reflected back by the detected object 140 corresponding to different phase delays when the phase difference delay from the emitted light is respectively four values of 0 °, 180 °, 90 ° and 270 ° at the moment when the emitted light is emitted by the light source 110, the reflected light forms incident light at the light sensing module 130, and then generates different information through photoelectric conversion by the receiving portion, in some cases, a two-phase scheme of 0 ° and 180 ° is also used to achieve information acquisition of the detected object, a three-phase scheme of 0 °, 120 ° and 240 ° is also disclosed in the literature to obtain target information, even a five-phase difference delay scheme is also disclosed in the literature.
Fig. 2 is a schematic diagram of a TOF ranging principle provided in an embodiment of the present application, and fig. 2 shows 201 probe light emitted by a light source. The receiving end receives the reflected light signal with a certain phase difference (i.e. a certain time delay) of the demodulated signal, wherein the phase difference between 202 and 201 is 0 °, the phase difference between 203 and 201 is 180 °, the phase difference between 204 and 201 is 90 °, and the phase difference between 205 and 201 is 270 ° in fig. 2. The distance of the object to be measured can be obtained according to the four-phase distance measurement principle, and the specific process is shown in the following formula (1) -formula (8):
taking into account the actual distance obtained after the inherent time delay
Fig. 3 illustrates a schematic diagram of setting different phase delays and different exposure durations of a plurality of subframes, for example, at a frame rate of 15FPS, 30FPS or 60FPS, that is, each frame may include 15, 30 or 60 subframes, and at the nth frame and the (N + 1) th frame, the distance information of different detection targets is obtained according to four phase information of different short and long exposures, and by this setting, the distance information of the detected object, for example, a four-phase algorithm, can be obtained in the same manner.
However, in the different detection distance scenes as described above, the long and short exposure method cannot meet the requirements of all detection distances, for example, in a scene where the object to be detected is 0.05m to 2.5m, an overexposure phenomenon occurs in a long exposure frame for an object to be detected at a short distance, and the object to be detected at a short distance cannot be obtained, for example, in the case of a reflectivity of 0.8 and a peak power of 54W, the overexposure phenomenon occurs in the long exposure frame, and the distance of the object to be detected cannot be obtained; in the case of a reflectivity of 0.8, the peak power is reduced to 3.5W, and the range of the long exposure frame which can be measured is 0.45 m-1.35 m. In the short exposure frame, the distance of the object to be measured of 0.2m to 1.25m can be obtained under the condition that the peak power is 54W, and the distance of the object to be measured of 0.05m to 0.3m can be obtained under the condition that the peak power is 3.5W. It can be seen from the above example analysis that the long and short exposures cannot meet the requirements of the distance ranges of all objects to be measured. A new frame rate structure is required to solve this problem.
Fig. 4 shows a new frame structure provided in the present application. In the frame structure shown in fig. 4, the exposure time is divided into three types of long, medium, and short. For example, the time length of the long exposure may be 4750. Mu.s, the time length of the medium exposure may be 500. Mu.s, and the time length of the short exposure may be 125. Mu.s. The light source has two emission powers, high power and low power, for each exposure length. The high power may be of the order of tens of W, e.g. 54W, and the low power may be of the order of a few W, e.g. 3.5W. The data in this embodiment are for illustrative purposes and are not meant to be limited to only these particular values. In each exposure time length, the distance of the object to be measured can be obtained by adopting a four-phase method. As shown in fig. 4, if the two TAP structures are 0 ° and 180 °, the corresponding received charges can be obtained in the same time; the same principle allows for the corresponding acceptance charge to be obtained at the same time for 90 deg. and 270 deg. under both TAP structures. Fig. 4 is for illustration purposes only and shows four phases in different sub-frames. The frame structure shown in fig. 4 can be used to meet the detection requirements of different distances. For example, in the frame structure shown in fig. 4, the reflectivity is 0.8 for a medium exposure time length, the detectable range is 0.4m to 2.5m for a transmission power of 54W, and the detectable range is 0.1m to 0.6m for a transmission power of 3.5W. The requirement of detection distance which cannot be covered in the long and short exposure frame structure can be made up.
Fig. 5 shows another new frame structure provided in the present application. The frame structure shown in fig. 4 solves the scene requirements of different detection distances, but the influence of the ambient light on the detection accuracy is large, and the influence of the ambient light on the detection accuracy needs to be eliminated as much as possible. As shown in the frame structure of fig. 5, in the frame structure of long and short exposures, a sub-frame not emitting probe light of the same duration is arranged behind each of the high emission power and the low emission power, the receiving end receives only ambient light in the sub-frame not emitting probe light, and a signal common to the probe light and the ambient light is obtained in the sub-frame having emission light. And subtracting the echo signal of only the ambient light from the echo signal in the sub-frame of the transmitted detection light, so that the influence of the ambient light on the detection result can be eliminated. The duration of the non-emission of probe light immediately following the long-exposure high-power and low-power transmission frame in fig. 5 is the same as the long-exposure duration, that is, if the duration of the long-exposure is 4750 μ s, then the duration of the non-emission of probe light immediately following the long-exposure high-power and low-power transmission frame is 4750 μ s; similarly, the duration of the high-power and low-power emission frames followed by the non-emission detection light is the same as the medium-exposure duration, that is, if the medium-exposure duration is 500 μ s, then the duration of the high-power and low-power emission frames followed by the non-emission detection light is also 500 μ s; similarly, the duration of the short exposure time during which the high power and low power transmission frames are immediately followed by the non-emission of the probe light is the same as the short exposure time duration, that is, if the duration of the short exposure time is 125 μ s, then the duration of the short exposure time during which the high power and low power transmission frames are immediately followed by the non-emission of the probe light is 125 μ s.
Fig. 6 shows implementation steps of the present invention, and the S601 control module controls the light source 110 to emit light with high power, which may be a square wave, a triangular wave, or a sine wave, and the like, without specific limitation, and controls an exposure time (three exposure time periods, one long exposure time period and one medium short exposure time period, respectively) to illuminate a field of view under the action of the emitted light, and the detected object 140 reflects the emitted light, thereby forming a reflected light echo.
The S602 control module controls the light source 110 not to emit light, and controls the exposure time (three exposure time periods, i.e., long, medium, and short exposure time periods, respectively) to reflect the ambient light by the object 140, so as to form a reflected light echo of the ambient light.
The S603 control module controls the light source 110 to emit light with low power, which may be square wave, triangular wave, or sine wave, and the like, but is not limited in particular herein, and controls the exposure time (three exposure time periods, long and short, respectively) to illuminate the field of view under the action of the emitted light, and the detected object 140 reflects the emitted light, thereby forming a reflected light echo.
The control module of S604 controls the light source 110 not to emit light, and controls the exposure time (three exposure time periods, long, medium, and short, respectively) to be detected 140 to reflect the ambient light, so as to form a reflected light echo of the ambient light.
And S605, eliminating the influence of the ambient light on the detection according to the echo signal of the signal and the echo signal of the ambient light.
It should be noted that the steps shown in fig. 6 are sequentially performed for long, medium and short exposures, and the frame structure shown in fig. 5 is adopted.
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 a … …" does not exclude the presence of another identical element 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 to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A probe apparatus, comprising:
the light source module is used for emitting detection light to an object to be detected;
the photosensitive module receives the emitted light to process the pixels;
the processing module can process the reflected light to obtain the distance of the object to be measured;
the control module is used for controlling the light source module and the receiving module;
the control module controls the light source module to emit detection light with first power and first exposure duration;
the control module controls the light source module to emit the detection light with the second power and the first exposure duration.
2. The detection apparatus according to claim 1, wherein the control module controls the light source module to emit the detection light at a first power and a second exposure time;
the control module controls the light source module to emit the detection light with a second power and a second exposure duration.
3. The detection apparatus according to claim 1, wherein the control module controls the light source module to emit the detection light at the first power for a third exposure time period;
the control module controls the light source module to emit the detection light with the second power and the third exposure duration.
4. The probe apparatus of claim 1, wherein the first power is greater than the second power.
5. The detection apparatus according to claim 1, wherein the control module controls the light source module not to emit the detection light; the duration of the non-emission of the detection light is the first exposure duration, the second exposure duration and the third exposure duration.
6. The detection apparatus of claim 5, wherein the first exposure duration is greater than the second exposure duration, which is greater than the third exposure duration.
7. The detection apparatus according to claim 5, wherein the periods of non-emission of the detection light are respectively located after the periods of emission of the detection light and are the same as the corresponding periods of exposure of the emitted detection light.
8. A detection method using the detection apparatus according to claim 1, characterized by comprising: the control module controls the light source module to emit probe light to the object to be detected with first exposure duration and first emission power; the control module can also control the light source module to emit the detection light to the object to be detected with the first exposure time and the second emission power.
9. The detection method according to claim 8, wherein the control module controls the light source module to emit the detection light to the object to be detected with the second exposure time and the first emission power; the control module can also control the light source module to emit the detection light to the object to be detected with a second exposure time and a second emission power.
10. The detection method according to claim 8, wherein the control module controls the light source module to emit the detection light to the object to be detected for a third exposure time and a first emission power; the control module can also control the light source module to emit the detection light to the object to be detected with a third exposure time and a second emission power.
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| US20200400823A1 (en) * | 2019-06-20 | 2020-12-24 | Ethicon Llc | Wide dynamic range using a monochrome image sensor for laser mapping imaging |
| CN112698309A (en) * | 2020-12-23 | 2021-04-23 | 宁波飞芯电子科技有限公司 | Multi-path inhibition method in TOF distance detection |
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2021
- 2021-05-31 CN CN202110605939.0A patent/CN115480258A/en active Pending
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| US20100230599A1 (en) * | 2009-03-16 | 2010-09-16 | Akifumi Yamaguchi | Optical ranging sensor and electronic device |
| CN106461763A (en) * | 2014-06-09 | 2017-02-22 | 松下知识产权经营株式会社 | Distance measuring device |
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| TW201941587A (en) * | 2018-03-21 | 2019-10-16 | 恆景科技股份有限公司 | System of adjusting power of a light source |
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