WO2020142921A1 - 一种光探测模组及测距装置 - Google Patents

一种光探测模组及测距装置 Download PDF

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Publication number
WO2020142921A1
WO2020142921A1 PCT/CN2019/070957 CN2019070957W WO2020142921A1 WO 2020142921 A1 WO2020142921 A1 WO 2020142921A1 CN 2019070957 W CN2019070957 W CN 2019070957W WO 2020142921 A1 WO2020142921 A1 WO 2020142921A1
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WIPO (PCT)
Prior art keywords
circuit
light
resistor
digitizing
module
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PCT/CN2019/070957
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English (en)
French (fr)
Inventor
刘祥
陈涵
洪小平
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/070957 priority Critical patent/WO2020142921A1/zh
Priority to CN201980005453.4A priority patent/CN111670371A/zh
Publication of WO2020142921A1 publication Critical patent/WO2020142921A1/zh

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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

Definitions

  • the invention relates to the technical field of circuits, in particular to an optical detection module and a distance measuring device.
  • Laser ranging is a perception system for the outside world, which can obtain the spatial distance information in the direction of emission.
  • the principle is to actively emit a laser pulse signal to the outside, detect the reflected pulse signal, and judge the distance of the measured object according to the time difference between transmission and reception.
  • the same optical path laser ranging system will inevitably encounter the 0-level reflection problem, that is, after the laser pulse is generated, it will be reflected before flying out of the ranging device. This reflection may be caused by the lens, prism, inner wall, etc. If the target is measured at this time If the distance is close, the front part of the target reflection pulse overlaps with the back part of the zeroth-order reflection pulse to form a continuous pulse. It is difficult to determine the time position of the target pulse, resulting in a measurement dead zone.
  • the light detection module and the distance measuring device provided by the embodiments of the present invention solve the problem that it is difficult to determine the time position of the target pulse when the measurement target distance is close, and a measurement blind zone is generated.
  • the present invention provides a light detection module.
  • the light detection device includes:
  • the photoelectric conversion circuit is used to convert the optical pulse signal reflected by the object into an electrical pulse signal
  • the N digitizing modules are connected in series or in parallel to the photoelectric conversion circuit for converting the electrical pulse signal into N digitizing signals, N ⁇ 2;
  • An arithmetic circuit is used to determine the distance between the object and the light detection device according to the n digitized signals.
  • the present invention provides a distance measuring device, including:
  • Transmitting module used to transmit optical pulse sequence
  • a scanning module used to sequentially change the propagation path of the optical pulse sequence emitted by the transmitting module to different directions to exit;
  • At least part of the light signal reflected by the light pulse sequence through the object is incident on the photoelectric conversion circuit in the light detection device after passing through the scanning module, and the photoelectric conversion circuit is used to The at least part of the optical signal is converted into an electrical pulse signal.
  • the embodiment of the present invention solves the problem that it is difficult to determine the time position of the target pulse due to the close measurement of the target distance and the measurement blind area by grading, amplifying and digitizing the detected light pulse sequence reflected by the object, thereby realizing the accuracy of the optical pulse sequence flight time Detection.
  • FIG. 1 is an example of a wiring diagram of an anti-saturation amplifier circuit according to an embodiment of the present invention
  • FIG. 3 is an example of a wiring diagram of an amplifier bypass circuit according to an embodiment of the invention.
  • Fig. 5 is an example where the pulses reflected by the 0th order reflection and the target object overlap
  • FIG. 6 is a schematic block diagram of an optical detection module according to an embodiment of the present invention.
  • FIG. 9 is a schematic block diagram of a distance measuring device according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
  • the power of the optical pulse sequence reflected by the target will be violent due to the change in the target distance and reflection characteristics of the measured target in a large dynamic range. Variations, for example, in the vicinity of 0.1m and the distance of 50m, the difference of the reflected signal strength can reach 10 4 -10 5 level; and in order to ensure high-precision distance measurement, it is necessary to make the distance measuring device in a wide dynamic range The optical pulse signal is accurately detected within.
  • An embodiment of the present invention provides an anti-saturation amplifier circuit, including: an operational amplifier, a first resistor, and an amplifier bypass circuit; wherein, one end of the first resistor receives the electrical pulse signal, and the other of the first resistor One end is connected to the reverse input end of the operational amplifier, the forward input end of the operational amplifier is connected to a reference voltage, and the output end of the operational amplifier outputs the amplified electrical pulse signal; the amplifier bypass circuit is connected to the Between the inverting input and output of the operational amplifier.
  • the anti-saturation circuit refers to the use of higher amplification factors for small signals detected in a wide dynamic range signal to ensure accurate measurement of long-distance measurements; for large signals detected, the multiples are quickly reduced to make
  • the overall output amplitude is limited to the normal output range of the system.
  • the saturation output of the operational amplifier When the output of the operational amplifier exceeds the output range, it is called the saturation output of the operational amplifier. It takes recovery time to return to the normal working state after the saturation output of the operational amplifier occurs. That is to say, the saturation output of the operational amplifier will make the system unable to respond quickly and continuously, resulting in a system measurement dead zone; and it will cause distortion of the trailing edge measurement and affect the signal measurement.
  • the anti-saturation amplifier circuit provided by the embodiment of the present invention can effectively avoid the saturation problem of the operational amplifier.
  • the amplifier bypass circuit includes a second resistor; or a circuit in which the second resistor and the third resistor are connected in series.
  • the amplifier bypass circuit further includes a first diode; the first diode is connected in parallel with the second resistor or the third resistor.
  • the anti-saturation amplifier circuit includes a current bypass circuit, connected to one end of the first resistor, for limiting the current passing through the first resistor.
  • the current bypass circuit includes a second diode.
  • the anti-saturation amplifier circuit includes a voltage bypass circuit, connected to the output terminal of the operational amplifier, for limiting the output voltage of the anti-saturation amplifier circuit.
  • the voltage bypass circuit includes a fourth resistor and a third diode, one end of the fourth resistor is connected to the output terminal of the operational amplifier, and the other end of the fourth resistor is connected to the
  • the anode of the third diode also serves as the output of the anti-saturation amplifier circuit, and the cathode of the third diode is grounded.
  • FIG. 1 shows an example of a wiring diagram of an anti-saturation amplifier circuit.
  • the anti-saturation amplifier circuit 100 includes: an operational amplifier U1, a first resistor R1, an amplifier bypass circuit 110, a current bypass circuit 120, and a voltage bypass circuit 130;
  • one end of the first resistor R1 receives the electrical pulse signal Signal_in, and the other end of the first resistor R1 is connected to the inverting input terminal -IN of the operational amplifier U1;
  • the positive input terminal +IN of the operational amplifier U1 is connected to the reference voltage AMP_REF, and the output terminal OUT of the operational amplifier U1 outputs the amplified electrical pulse signal Signal_out;
  • the amplifier bypass circuit 110 is connected between the inverting input terminal -IN and the output terminal OUT of the operational amplifier U1.
  • the amplifier bypass circuit 110 includes a second resistor R2, a third resistor R3 and a diode D2.
  • One end of the third resistor R3 is connected to the inverting input terminal -IN of the operational amplifier U1, and the other end of the third resistor R3 is connected to the second resistor R2 and the diode D2 connected in parallel, that is, the third resistor
  • the other end of R3 is connected to the second resistor R2 and the anode of the diode D2, and the other end of the second resistor R2 and the cathode of the diode D2 are connected to the output terminal OUT of the operational amplifier U1;
  • the current bypass circuit 120 is connected to one end of the first resistor R1.
  • the current bypass circuit 120 includes a diode D1.
  • the anode of the diode D1 is connected to one end of the first resistor R1.
  • the diode D1 Is connected to the reference voltage CLAP_REF;
  • the voltage bypass circuit 130 is connected to the output terminal OUT of the operational amplifier U1.
  • the voltage bypass circuit 130 includes a fourth resistor R4 and a diode D3.
  • One end of the fourth resistor R4 is connected to the operational amplifier U1.
  • the other end of the fourth resistor R4 is connected to the anode of the diode D3, the connection point of the other end of the fourth resistor R4 and the anode of the diode D3 outputs an amplified electrical pulse signal Signal_out, and the diode D3
  • the negative electrode is connected to the reference voltage CLAP_REF_01.
  • the current bypass circuit 120 in the anti-saturation amplifier circuit 100 can ensure that the input signal to the operational amplifier is within a small range to prevent the saturation of the operational amplifier; and the voltage bypass circuit 130 adaptively reduces the gain when the signal is large To avoid saturation of the op amp.
  • the diode D1 in the current bypass circuit 120 is turned on when the voltage value of the electrical pulse signal Signal_in in the signal link is higher than the conduction voltage drop of the diode D1, and The greater the exceeded voltage, the greater the on-current, and the voltage of the electrical pulse signal Signal_in can be clamped near the on-voltage of the diode.
  • the first resistor R1 is located after the diode D1, which is equivalent to converting the current signal into a voltage through the resistor and then clamping.
  • the output signal of the lidar laser sensor is approximately a current signal.
  • FIG. 2 shows an example of the clamping effect of the current bypass circuit according to an embodiment of the present invention, where the solid line is the actual signal, the dotted line is the clamping voltage, and the dotted line It is the signal after clamping.
  • the current bypass circuit 120 may also use a Zener diode or TVS diode; the clamping voltage may be the breakdown voltage of the Zener diode or TVS diode.
  • the voltage bypass circuit 130 composed of the fourth resistor R4 and the diode D3 is provided with the fourth resistor R4 before the diode D3, that is, a voltage divider circuit composed of the fourth resistor R4 and the diode D3, which can ensure a small signal When the signal does not decay, the signal output to the subsequent stage does not exceed the conduction voltage drop of the diode when the signal is larger than the conduction voltage drop of the diode; this can reduce the input voltage of the post-stage op amp and prevent the output of the post-stage op amp saturation.
  • the amplifier bypass circuit 110 includes a second resistor R2, a third resistor R3, and a diode D2.
  • the voltage difference between the second resistor R2 and the diode D2 is small.
  • the diode D2 is not turned on, and the diode
  • the resistance of D2 is larger; when the input signal is larger, the voltage difference between the second resistor R2 and the diode D2 increases to exceed the conduction voltage drop of the diode D2, the diode D2 is turned on, and the second resistor R2 and the diode D2 are connected in parallel
  • the equivalent resistance decreases and the magnification decreases.
  • the larger the input signal the smaller the amplification factor until it is reduced to a minimum amplification factor.
  • FIG. 3 shows an example of a wiring diagram of an amplifier bypass circuit of an embodiment of the present invention.
  • FIG. 4 shows an example of the clamping effect of the amplifier bypass circuit according to an embodiment of the present invention.
  • the solid line is the small signal before amplification
  • the dotted line is Output signal after amplification
  • the solid line is the large signal before amplification
  • the dotted line is the output signal after amplification.
  • 0-level reflection refers to the reflection pulse generated after the laser pulse is generated before flying out of the ranging device. This reflection may be caused by the lens, prism, The inner wall is generated; if the measurement target distance is closer at this time, the front of the pulse reflected by the target object and the rear of the zero-order reflected pulse may overlap to form a continuous pulse, which makes the time position of the target pulse difficult to determine. This results in a measurement dead zone.
  • FIG. 5 shows an example in which the pulses reflected by the 0th order reflection and the target object overlap.
  • FIG. 6 shows a schematic block diagram of a light detection module according to an embodiment of the present invention.
  • the light detection module 600 includes:
  • the photoelectric conversion circuit 610 is used to convert the optical pulse signal reflected by the object into an electrical pulse signal
  • the arithmetic circuit 630 is used for determining the distance between the object and the light detection module according to the n digitized signals.
  • the hierarchical digitization module amplifies and digitizes the optical pulse signals reflected by different objects to different degrees, which can accurately distinguish the 0-level reflected T0 pulse signal and the pulse reflected by the target object to obtain accurate time information, thereby Improve the measurement accuracy of the light detection module.
  • the n+1th stage amplifying circuit is used to amplify the output signal of the nth stage amplifying circuit to obtain the n+th stage Level 1 amplified signal;
  • the n+1th stage digital circuit is connected to the n+1th stage amplification circuit, and is configured to convert the n+1th stage amplification signal into an n+1th stage digital signal.
  • the amplification factors of the N digitizing modules are different.
  • the n-th digitizing circuit includes a time-to-digital converter or an analog-to-digital converter.
  • the analog-to-digital converter converts the n-th amplified signal to an n-th digitized signal based on a predetermined sampling frequency.
  • the time-to-digital converter includes several different sampling thresholds; wherein, the number of sampling thresholds of the n+1th digitizing circuit is greater than the nth The number of sampling thresholds of the level digitizing circuit.
  • the sampling threshold of the n+1th digitizing circuit is greater than the sampling threshold of the nth digitizing circuit.
  • FIG. 7 shows an example of serialization of digital modules in an embodiment of the present invention.
  • N-level amplification circuits N ⁇ 2 among the N digitization modules, and the signals of each level of the amplification circuit can be digitized.
  • the digitalization method includes and is not limited to ADC (Analog to Digital Converter) and TDC (Time to Digital Converter).
  • the amplification factor of the first-stage amplifier circuit is small.
  • the pulse signal output has a smaller amplification factor.
  • the T0 signal reflected by the 0th stage is not amplified much;
  • the signal reflected by the near target object is generally relatively large, and a relatively large pulse signal can be obtained without going through a large amplification factor.
  • the optical signal reflected back is relatively strong, and although it is amplified by a smaller magnification, it is still sufficient for digital circuit acquisition.
  • the T0 signal is smaller than the signal reflected by the nearby target object, and there is sufficient discrimination to facilitate the digital circuit acquisition.
  • the leading edge of the near-zone blind zone signal is less affected by T0, and it can be better collected by the TDC method, as shown in FIG. 8, which shows this An example of the output signal of the first-level digitization module of the embodiment of the invention.
  • the number of sampling thresholds is 4, and the sampling thresholds are Vf01, Vf02, Vf03, and Vf04, and Vf01 ⁇ Vf02 ⁇ Vf03 ⁇ Vf04, because At the output of the first-stage amplifier circuit, the signal reflected by the near target object is sufficiently distinguished from the T0 signal, so it is easy to sample the signal reflected by the near target object by different sampling thresholds, without being affected by the T0 signal. The effect avoids the problem of measurement blind zone, which is beneficial to improve the accuracy of measurement.
  • the output signal of the nth stage amplifier circuit When the output signal of the nth stage amplifier circuit is input to the n+1th stage amplifier circuit, the signal reflected by the target object is further amplified. When the target object is farther, the signal strength reflected by the farther target object is weaker. Enlarge with a larger magnification factor in order to obtain the corresponding time information. It can be seen from this that the output signal of the Nth-stage amplifier circuit is the signal after multi-stage amplification from the first-stage amplifier circuit to the Nth-stage amplifier circuit. It should be noted that when the digitizing modules are connected in series, the amplification factors of the N amplification circuits in the first-stage to N-th stages of amplification circuits may be the same or different, which is not limited herein.
  • the output results of different digital modules can be used to further improve the measurement accuracy of the optical detection module.
  • the arithmetic circuit determines the weights of the N digitized signals according to a predetermined strategy, and obtains the reception time of the received optical pulse signal based on the N digitized signals and the corresponding weights.
  • the predetermined strategy includes: determining the weight of the n-th digitizing circuit according to the intensity of the received optical pulse signal.
  • the digitized information of the output signal of the first-stage amplifier circuit is used when the optical pulse signal is relatively strong in the vicinity; the digitized information of the output signal of the second-stage or N-stage amplifier circuit is used when the distance is longer and the optical pulse signal is smaller information.
  • the test data required by the actual situation and design needs can also be different, and the results of different stages of digitization modules can be used as the data basis for calculating the reception time of the received optical pulse signal. It should be noted that the results of one level of digitization module among the N digitized signals can be used, or the results obtained by synthesizing multiple digitized results and corresponding weights can be used for analysis and calculation to obtain the received optical pulse signal. time.
  • the detection module of the embodiment of the present invention can also collect pulse energy information more accurately through hierarchical amplification and digitization.
  • the anti-saturation amplifier circuit of the embodiment of the present invention may be used, or other forms of amplifier circuits may be used, which is not limited herein.
  • An embodiment of the present invention also provides a distance measuring device, including:
  • Transmitting module used to transmit optical pulse sequence
  • a scanning module used to sequentially change the propagation path of the optical pulse sequence emitted by the transmitting module to different directions to exit;
  • the light detection module as described above, at least part of the light signal reflected back from the object by the light pulse sequence is incident on the photoelectric conversion circuit in the light detection device after passing through the scanning module, and the photoelectric conversion circuit is used to The at least part of the optical signal is converted into an electrical pulse signal.
  • the scanning module includes a moving optical element for changing the propagation direction of the light pulse sequence from the distance measuring module before exiting.
  • the optical element includes a first light refracting element and a second light refracting element disposed oppositely, and the first light refracting element and the second light refracting element each include a pair of opposite non-parallel surfaces ;
  • the scanning module further includes a driving module for driving the first light refractive element and the second light refractive element to rotate at different speeds and/or directions.
  • the optical element further includes a third light refraction element arranged in parallel with the first light refraction element and the second light refraction element.
  • the third light refraction element includes non-parallel To the surface
  • the driving module is also used to drive the third light refracting element to rotate around a rotation axis.
  • the light detection modules provided by the various embodiments of the present invention may be applied to a distance measuring device, and the distance measuring device may be an electronic device such as a laser radar or a laser distance measuring device.
  • the distance measuring device is used to sense external environment information, for example, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target.
  • the distance measuring device can detect the distance between the detecting object and the distance measuring device by measuring the time of light propagation between the distance measuring device and the detection object, that is, Time-of-Flight (TOF).
  • TOF Time-of-Flight
  • the distance measuring device may also detect the distance between the detected object and the distance measuring device through other techniques, such as a distance measuring method based on phase shift measurement, or a distance measuring method based on frequency shift measurement. There are no restrictions.
  • the distance measuring device 900 may include a transmitting circuit 910, a receiving circuit 920, a sampling circuit 930 and an arithmetic circuit 940.
  • the transmission circuit 910 may transmit a sequence of light pulses (for example, a sequence of laser pulses).
  • the receiving circuit 920 can receive the optical pulse sequence reflected by the detected object, and photoelectrically convert the optical pulse sequence to obtain an electrical signal, which can be output to the sampling circuit 930 after processing the electrical signal.
  • the sampling circuit 930 can sample the electrical signal to obtain the sampling result.
  • the arithmetic circuit 940 may determine the distance between the distance measuring device 900 and the detected object based on the sampling result of the sampling circuit 930.
  • the distance measuring device 900 may further include a control circuit 950, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • a control circuit 950 can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • the distance measuring device shown in FIG. 9 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam of light for detection
  • the embodiments of the present application are not limited thereto, and the transmitting circuit
  • the number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit may also be at least two, for emitting at least two light beams in the same direction or respectively in different directions; wherein, the at least two light paths may be simultaneously
  • the shot may be shot at different times.
  • the light-emitting chips in the at least two emission circuits are packaged in the same module.
  • each emitting circuit includes a laser emitting chip, and the die in the laser emitting chips in the at least two emitting circuits are packaged together and housed in the same packaging space.
  • the distance measuring device 900 may further include a scanning module 960 (not shown) for changing at least one laser pulse sequence emitted by the transmitting circuit to change the propagation direction.
  • the module including the transmission circuit 910, the reception circuit 920, the sampling circuit 930, and the operation circuit 940, or the module including the transmission circuit 910, the reception circuit 920, the sampling circuit 930, the operation circuit 940, and the control circuit 950 may be called a measurement A distance module, the distance measuring module may be independent of other modules, for example, the scanning module 960.
  • a coaxial optical path may be used in the distance measuring device, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device.
  • the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance measuring device. 10 shows a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
  • the distance measuring device 1000 includes a distance measuring module 1010, and the distance measuring module 1010 includes a transmitter 1003 (which may include the above-mentioned transmitting circuit), a collimating element 1004, and a detector 1005 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and Optical path changing element 1006.
  • the ranging module 1010 is used to emit a light beam, and receive back light, and convert the back light into an electrical signal.
  • the transmitter 1003 may be used to transmit a sequence of light pulses.
  • the transmitter 1003 may emit a sequence of laser pulses.
  • the laser beam emitted by the transmitter 1003 is a narrow-bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 1004 is disposed on the exit optical path of the emitter, and is used to collimate the light beam emitted from the emitter 1003, and collimate the light beam emitted from the emitter 1003 into parallel light to the scanning module.
  • the collimating element is also used to converge at least a part of the return light reflected by the detection object.
  • the collimating element 1004 may be a collimating lens or other element capable of collimating the light beam.
  • the optical path changing element 1006 is used to combine the transmitting optical path and the receiving optical path in the distance measuring device before the collimating element 1004, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path More compact.
  • the transmitter 1003 and the detector 1005 may use respective collimating elements, and the optical path changing element 1006 is disposed on the optical path behind the collimating element.
  • the light path changing element can use a small area mirror to The transmitting optical path and the receiving optical path are combined.
  • the light path changing element may also use a mirror with a through hole, where the through hole is used to transmit the outgoing light of the emitter 1003, and the mirror is used to reflect the return light to the detector 1005. In this way, it is possible to reduce the blocking of the return light by the support of the small mirror in the case of using the small mirror.
  • the optical path changing element is offset from the optical axis of the collimating element 1004. In some other implementations, the optical path changing element may also be located on the optical axis of the collimating element 1004.
  • the distance measuring device 1000 further includes a scanning module 1002.
  • the scanning module 1002 is placed on the exit optical path of the distance measuring module 1010.
  • the scanning module 1002 is used to change the transmission direction of the collimated light beam 1019 emitted through the collimating element 1004 and project it to the external environment, and project the return light to the collimating element 1004. .
  • the returned light is converged on the detector 1005 via the collimating element 1004.
  • the scanning module 1002 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, diffracting, etc. the light beam.
  • the scanning module 1002 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements.
  • at least part of the optical element is moving, for example, the at least part of the optical element is driven to move by a driving module, and the moving optical element can reflect, refract or diffract the light beam to different directions at different times.
  • multiple optical elements of the scanning module 1002 may rotate or vibrate about a common axis 1009, and each rotating or vibrating optical element is used to continuously change the direction of propagation of the incident light beam.
  • the multiple optical elements of the scanning module 1002 may rotate at different rotation speeds, or vibrate at different speeds.
  • at least part of the optical elements of the scanning module 1002 can rotate at substantially the same rotational speed.
  • the multiple optical elements of the scanning module may also rotate around different axes.
  • the multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning module 1002 includes a first optical element 1014 and a driver 1016 connected to the first optical element 1014.
  • the driver 1016 is used to drive the first optical element 1014 to rotate about a rotation axis 1009 to change the first optical element 1014.
  • the first optical element 214 projects the collimated light beam 219 to different directions.
  • the angle between the direction of the collimated light beam 1019 changed by the first optical element and the rotation axis 1009 changes as the first optical element 1014 rotates.
  • the first optical element 1014 includes a pair of opposed non-parallel surfaces through which the collimated light beam 1019 passes.
  • the first optical element 1014 includes a prism whose thickness varies along at least one radial direction.
  • the first optical element 1014 includes a wedge-angle prism, which aligns the straight beam 1019 for refraction.
  • the scanning module 1002 further includes a second optical element 1015.
  • the second optical element 1015 rotates around a rotation axis 1009.
  • the rotation speed of the second optical element 1015 is different from the rotation speed of the first optical element 1014.
  • the second optical element 1015 is used to change the direction of the light beam projected by the first optical element 1014.
  • the second optical element 1015 is connected to another driver 1017, and the driver 1017 drives the second optical element 1015 to rotate.
  • the first optical element 1014 and the second optical element 1015 may be driven by the same or different drivers, so that the rotation speed and/or rotation of the first optical element 214 and the second optical element 215 are different, thereby projecting the collimated light beam 1019 to the outside space Different directions can scan a larger spatial range.
  • the controller 1018 controls the drivers 1016 and 1017 to drive the first optical element 1014 and the second optical element 1015, respectively.
  • the rotation speeds of the first optical element 1014 and the second optical element 1015 may be determined according to the area and pattern expected to be scanned in practical applications.
  • Drives 1016 and 1017 may include motors or other drives.
  • the second optical element 1015 includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 1015 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 1015 includes a wedge angle prism.
  • the scanning module 1002 further includes a third optical element (not shown) and a driver for driving the third optical element to move.
  • the third optical element includes a pair of opposed non-parallel surfaces through which the light beam passes.
  • the third optical element includes a prism whose thickness varies along at least one radial direction.
  • the third optical element includes a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or turns.
  • each optical element in the scanning module 1002 can project light into different directions, for example, the directions of the light 1011 and 1013, so that the space around the distance measuring device 1000 is scanned.
  • the light 1011 projected by the scanning module 1002 hits the object 1001 to be detected, a part of the light object 1001 is reflected to the distance measuring device 1000 in a direction opposite to the projected light 1011.
  • the returned light 1012 reflected by the detected object 1001 passes through the scanning module 1002 and enters the collimating element 1004.
  • the detector 1005 and the transmitter 1003 are placed on the same side of the collimating element 1004.
  • the detector 1005 is used to convert at least part of the returned light passing through the collimating element 1004 into an electrical signal.
  • each optical element is coated with an antireflection coating.
  • the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 103, which can increase the intensity of the transmitted light beam.
  • a filter layer is plated on the surface of an element on the beam propagation path in the distance measuring device, or a filter is provided on the beam propagation path to transmit at least the wavelength band of the beam emitted by the transmitter, Reflect other bands to reduce the noise caused by ambient light to the receiver.
  • the transmitter 1003 may include a laser diode through which laser pulses in the order of nanoseconds are emitted.
  • the laser pulse receiving time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the distance measuring device 1000 can use the pulse reception time information and the pulse emission time information to calculate the TOF, thereby determining the distance between the detected object 1001 and the distance measuring device 1000.
  • the distance and orientation detected by the distance measuring device 1000 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the distance measuring device of the embodiment of the present invention can be applied to a mobile platform, and the distance measuring device can be installed on the platform body of the mobile platform.
  • a mobile platform with a distance measuring device can measure the external environment, for example, measuring the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera.
  • the distance measuring device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle.
  • the platform body When the distance measuring device is applied to an automobile, the platform body is the body of the automobile.
  • the car may be a self-driving car or a semi-automatic car, and no restriction is made here.
  • the platform body When the distance measuring device is applied to a remote control car, the platform body is the body of the remote control car.
  • the platform body When the distance measuring device is applied to a robot, the platform body is a robot.
  • the distance measuring device is applied to a camera, the platform body is the camera itself.
  • the present invention provides a laser emission solution that meets human eye safety regulations by providing the above-mentioned light emitting device, distance measuring device and mobile platform.
  • the circuit in the above device can ensure that the laser radiation value does not exceed the safety Standard value, so as to ensure the safety of the laser device.

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Abstract

一种光探测模组及测距装置，光探测模组（600）包括：光电转换电路（610），用于将经物体反射回的光脉冲信号转化为电脉冲信号；N个数字化模块（620），N个数字化模块（620）串联或并联连接于光电转换电路（610），用于分别将电脉冲信号转换为N个数字化信号，N≥2；其中，第n个数字化模块（620）包括第n级放大电路和第n级数字化电路，第n级放大电路的输出端连接于第n级数字化电路的输入端，n＝1,2……N；运算电路（630），用于根据n个数字化信号确定物体与光探测模组（600）的距离。光探测模组及测距装置，解决了测量目标距离较近难以确定目标脉冲的时间位置，产生测量盲区的问题，实现光脉冲序列飞行时间的准确检测。

Description

一种光探测模组及测距装置 技术领域
本发明涉及电路技术领域，尤其涉及一种光探测模组及测距装置。
背景技术
激光测距是对外界的感知系统，可以获知发射方向上的空间距离信息。其原理为主动对外发射激光脉冲信号，探测到反射回来的脉冲信号，根据发射—接收之间的时间差，判断被测物体的距离。同光路激光测距系统将不可避免的遇到0级反射问题，即激光脉冲产生后在飞出测距设备之前便产生反射，此反射可能由透镜、棱镜、内壁等产生，若此时测量目标距离较近，则目标反射脉冲前部与0级反射脉冲后部重叠，形成一个连续的脉冲，难以确定目标脉冲的时间位置，产生测量盲区。
发明内容
本发明实施例提供的光探测模组及测距装置，以解决测量目标距离较近难以确定目标脉冲的时间位置，产生测量盲区的问题。
第一方面，本发明提供了一种光探测模组，所述光探测装置包括：
光电转换电路，用于将经物体反射回的光脉冲信号转化为电脉冲信号；
N个数字化模块，所述N个数字化模块串联或并联连接于所述光电转换电路，用于分别将所述电脉冲信号转换为N个数字化信号，N≥2；其中，第n个数字化模块包括第n级放大电路和第n级数字化电路，所述第n级放大电路的输出端连接于所述第n级数字化电路的输入端，n＝1,2……N；
运算电路，用于根据所述n个数字化信号确定所述物体与所述光探测装置的距离。
另一方面，本发明提供了一种测距装置，包括：
发射模块，用于发射光脉冲序列；
扫描模块，用于将所述发射模块发射的光脉冲序列的传播路径依次改变 至不同方向出射；
如上述的光探测模组，所述光脉冲序列经物体反射回的至少部分光信号经过所述扫描模块后入射至所述光探测装置中的光电转换电路，所述光电转换电路用于将所述至少部分光信号转换成电脉冲信号。
本发明实施例通过将检测到的经物体反射的光脉冲序列分级放大和数字化，以解决测量目标距离较近难以确定目标脉冲的时间位置，产生测量盲区的问题，实现光脉冲序列飞行时间的准确检测。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例的一种防饱和放大电路的接线图示例；
图2是本发明实施例的电流旁路电路的钳位效果示例；
图3是本发明实施例的放大器旁路电路的接线图示例；
图4是本发明实施例的放大器旁路电路的钳位效果示例；
图5是0级反射和目标物体反射的脉冲发生重叠的示例；
图6是本发明实施例的一种光探测模组的示意性框图；
图7是本发明实施例的数字化模块串联的示例；
图8是本发明实施例的第1级数字化模块的输出信号示例；
图9是本发明实施例的测距装置的示意性框图；
图10是本发明的测距装置采用同轴光路的一种实施例的示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造 性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在通过测量光脉冲序列的往返时间来测定目标相对距离的测距过程中，由于被测目标的目标距离和反射特性等在大动态范围内变动，经目标反射的光脉冲序列的功率会发生剧烈变化，例如，在0.1m的近处和50m的远处，反射信号强度的差异可达10 4-10 5级别；而为了保证高精度的距离测量，需要使测距装置的能在宽动态范围内准确地检测到光脉冲信号。
本发明实施例提供了一种防饱和放大电路，包括：运算放大器、第一电阻、放大器旁路电路；其中，所述第一电阻的一端接收所述电脉冲信号，所述第一电阻的另一端连接所述运算放大器的反向输入端，所述运算放大器的正向输入端连接参考电压，所述运算放大器的输出端输出放大后的电脉冲信号；所述放大器旁路电路连接于所述运算放大器的反向输入端和输出端之间。
其中，防饱和电路是指在宽动态范围信号中，对于检测到的小信号采用较高的放大倍数，保证远距离测量的准确测量；对于检测到的大信号中将其倍数快速减小，使其输出总体幅度限制在系统的正常输出范围内。而运算放大器输出超过输出范围时称为运算放大器饱和输出，发生运算放大器饱和输出后恢复到正常工作状态需要恢复时间。也就是说，运算放大器饱和输出会使系统不能快速连续响应，从而产生系统测量盲区；且会造成后沿测量的失真，影响信号测量。本发明实施例提供的防饱和放大电路可以有效避免运算放大器的饱和问题。
可选地，所述放大器旁路电路包括第二电阻；或第二电阻和第三电阻串联的电路。
可选地，所述放大器旁路电路还包括第一二极管；所述第一二极管与所述第二电阻或第三电阻并联。
可选地，所述防饱和放大电路包括电流旁路电路，连接于所述第一电阻的一端，用于限制通过所述第一电阻的电流。
可选地，所述电流旁路电路包括第二二极管。
可选地，所述防饱和放大电路包括电压旁路电路，连接于所述运算放大器的输出端，用于限制所述防饱和放大电路的输出电压。
可选地，所述电压旁路电路包括第四电阻和第三二极管，所述第四电阻的一端连接至所述运算放大器的输出端，所述第四电阻的另一端连接至所述第三 二极管的正极并作为所述防饱和放大电路的输出端，所述第三二极管的负极接地。
在一个实施例中，参见图1，图1示出了一种防饱和放大电路的接线图示例。如图1所示，所述防饱和放大电路100，包括：运算放大器U1、第一电阻R1、放大器旁路电路110、电流旁路电路120和电压旁路电路130；
其中，所述第一电阻R1的一端接收电脉冲信号Signal_in，所述第一电阻R1的另一端连接所述运算放大器U1的反向输入端-IN；
所述运算放大器U1的正向输入端+IN连接参考电压AMP_REF，所述运算放大器U1的输出端OUT输出放大后的电脉冲信号Signal_out；
所述放大器旁路电路110连接于所述运算放大器U1的反向输入端-IN和输出端OUT之间，所述放大器旁路电路110包括第二电阻R2、第三电阻R3和二极管D2，所述第三电阻R3的一端连接于所述运算放大器U1的反向输入端-IN，所述第三电阻R3的另一端与并联的所述第二电阻R2和二极管D2连接即所述第三电阻R3的另一端与所述第二电阻R2、二极管D2的正极连接，所述第二电阻R2的另一端、二极管D2的负极与所述运算放大器U1的输出端OUT连接；
所述电流旁路电路120连接于所述第一电阻R1的一端，所述电流旁路电路120包括二极管D1，所述二极管D1的正极连接于所述第一电阻R1的一端，所述二极管D1的负极连接于参考电压CLAP_REF；
所述电压旁路电路130连接于所述运算放大器U1的输出端OUT，所述电压旁路电路130包括第四电阻R4和二极管D3，所述第四电阻R4的一端连接所述运算放大器U1的输出端OUT，所述第四电阻R4的另一端连接二极管D3的正极，所述第四电阻R4的另一端与二极管D3的正极的连接点输出放大后的电脉冲信号Signal_out，所述二极管D3的负极连接参考电压CLAP_REF_01。
其中，防饱和放大电路100中的电流旁路电路120可以保证输入运算放大器的输入信号在较小的范围内，防止运算放大器饱和；而电压旁路电路130是在信号较大时自适应降低增益以避免运算放大器饱和。
如图1所示，在信号链路中，电流旁路电路120中的二极管D1，当信号链路中电脉冲信号Signal_in的电压值高于二极管D1导通压降时，二极管D1导通，且超过的电压越大导通电流也越大，可以将电脉冲信号Signal_in的电 压钳位在二极管的导通电压附近。在电流信号链路中，所述第一电阻R1位于二极管D1之后，相当于将电流信号通过电阻转换为电压，再进行钳位。目前激光雷达激光传感器的输出信号近似为电流信号，输入电流较大时，所述第一电阻R1上产生的压降增大，超过了二极管D1的导通压降时，二极管D1导通，起到了旁路钳位作用，即当输入电流较大时，电流信号链路中有一个电流旁路通路，且电流信号越大通过所示电流旁路通路的电流就越大，限制了通过所述第一电阻R1的最大电电流，如图2所示，图2示出了本发明实施例的电流旁路电路的钳位效果示例，其中实线为实际信号，点线为钳位电压，虚线为钳位之后的信号。
可选地，所述电流旁路电路120还可以采用齐纳二极管或者TVS二极管；钳位电压可以为齐纳二极管或者TVS二极管的击穿电压。
由所述第四电阻R4与二极管D3构成的电压旁路电路130，在二极管D3之前设置所述第四电阻R4，即所述第四电阻R4与二极管D3构成的分压电路，可以保证小信号时不衰减，信号较大超过二极管的导通压降时，输出到后级的信号不超过二极管的导通压降；这样可以减小后级运放的输入电压大小，防止后级运放输出饱和。
所述放大器旁路电路110包括第二电阻R2、第三电阻R3和二极管D2，当输入信号较小时，第二电阻R2和二极管D2两端的电压差较小，此时二极管D2未导通，二极管D2的电阻较大；当输入信号较大时，第二电阻R2和二极管D2两端的电压差增大至超过二极管D2的导通压降时，二极管D2导通，第二电阻R2和二极管D2并联的等效电阻减小，放大倍数减小。输入信号越大，放大倍数越小，直到减小到一个最小的放大倍数。即输入信号为小信号时放大倍数最大，当输入信号逐渐增大时，放大电路的增益逐渐减小到一个最小的放大倍数。可选地，所述放大器旁路电路110还可以省略所述第三电阻R3，因为运算放大器的放大参数不同，可以在更小的放大倍数下保持稳定，则可以省略所述第三电阻R3，如图3所示，图3示出了本发明实施例的放大器旁路电路的接线图示例。当输入信号较小时，二极管D2并未导通，运算放大器U1的增益由第一电阻R1与第二电阻R2决定；当输入信号较大时，二极管D2导通，第二电阻R2和二极管D2并联的等效电阻减小，放大倍数逐渐减小，直到减小到输出信号不会超过二极管的最大导通压降。如图4所示，图4示出了本 发明实施例的放大器旁路电路的钳位效果示例，其中，当输入信号为左侧的小信号时，实线为放大之前的小信号，虚线为放大之后的输出信号当输入信号为右侧的大信号时，实线为放大之前的大信号，虚线为放大之后的输出信号。
经过目标物体反射的光脉冲序列经过放大电路后，脉冲信号中的部分信息可能缺失或者部分缺失了，比如脉冲的能量信息等。而同光路激光测距时将不可避免的遇到0级反射问题，其中，0级反射是指激光脉冲产生后在飞出测距设备之前便产生的反射脉冲，此反射可能由透镜、棱镜、内壁等产生；若此时测量目标距离较近，则目标物体反射的脉冲前部与0级反射脉冲后部可能会发生重叠，形成一个连续的脉冲，这样就使得目标脉冲的时间位置难以确定，从而产生测量盲区。如图5所示，图5示出了0级反射和目标物体反射的脉冲发生重叠的示例。
基于上述考虑，本发明实施例提供了一种光探测模组，参见图6，图6示出了本发明实施例的一种光探测模组的示意性框图。如图6所示，光探测模组600包括：
光电转换电路610，用于将经物体反射回的光脉冲信号转化为电脉冲信号；
N个数字化模块620，所述N个数字化模块串联或并联连接于所述光电转换电路，用于分别将所述电脉冲信号转换为N个数字化信号，N≥2；其中，第n个数字化模块包括第n级放大电路和第n级数字化电路，所述第n级放大电路的输出端连接于所述第n级数字化电路的输入端，n＝1,2……N；
运算电路630，用于根据所述n个数字化信号确定所述物体与所述光探测模组的距离。
其中，当检测到的0级反射的T0脉冲信号和目标物体反射的脉冲，经过放大电路后都被无差别的放大，这样不利于区分0级反射的T0脉冲信号和目标物体反射的脉冲，因此可以在经过放大电路后使得T0信号尽量小一些，以免影响到近处信号的采集，带来盲区。通过分级数字化模块对不同的经物体反射回的光脉冲信号进行不同程度的放大和数字化，可以准确的区分所述0级反射的T0脉冲信号和目标物体反射的脉冲，得到精确的时间信息，从而提高光探测模组的测量精度。
可选地，当所述N个数字化模块串联连接于所述光电转换电路时，所述第n+1级放大电路用于对所述第n级放大电路的输出信号进行放大，得到第n+1级放大信号；
第n+1级数字化电路，连接所述第n+1级放大电路，用于将所述第n+1级放大信号转换为第n+1级数字化信号。
可选地，当所述N个数字化模块并联连接于所述光电转换电路时，所述N个数字化模块的放大倍数不同。
可选地，所述第n级数字化电路包括时间数字转换器或模拟数字转换器。
可选地，所述第n级数字化电路包括模拟数字转换器时，所述模拟数字转换器基于预定的采样频率将所述第n级放大信号转换为第n级数字化信号。
可选地，所述第n级数字化电路包括时间数字转换器时，所述时间数字转换器包含若干个不同的采样阈值；其中，第n+1级数字化电路的采样阈值的个数大于第n级数字化电路的采样阈值的个数。
在一些实施例中，第n+1级数字化电路的采样阈值大于第第n级数字化电路的采样阈值。
在一个实施例中，参见图7，图7示出了本发明实施例的数字化模块串联的示例。如图7所示，N个数字化模块中有N级放大电路(N≥2)，可以将每一级放大电路的信号都进行数字化。其中，所述数字化方法包括且不限于ADC(Analog to Digital Converter，模拟数字转换器)、TDC(Time to Digital Convert，时间数字转换器)。
第1级放大电路的放大倍数较小，当传感器的输出信号经过第1级放大电路后输出的脉冲信号所经过的放大倍数较小，此时0级反射的T0信号没有被放大很多；而当目标物体比较近时，经过近处目标物体反射的信号一般比较大，不需要经过太大放大倍数便可以获得比较大的脉冲信号。也就是说，近处反射回的光信号较强，虽然经过较小放大倍数的放大，但仍然足够数字化电路采集。那么，在第1级放大电路输出处，T0信号便小于经过近处目标物体反射的信号了，有足够的区分度，方便数字化电路采集。以TDC采集方式为例，第1级放大电路的输出信号中，近处盲区信号的前沿受T0影响较小，可以较好的用TDC方法采集，如图8所示，图8示出了本发明实施例的第1级数字化模块 的输出信号示例，采用TDC采样时，采样阈值的个数为4个，采样阈值分别为Vf01、Vf02、Vf03、Vf04，且Vf01＜Vf02＜Vf03＜Vf04，由于在第1级放大电路输出处经过近处目标物体反射的信号与T0信号有足够的区分度，那么容易通过不同的采样阈值对经过近处目标物体反射的信号进行采样，而不受到T0信号的影响，避免了产生测量盲区的问题，有利于提高测量的准确度。
当第n级放大电路的输出信号输入第n+1级放大电路后，经过目标物体反射的信号进一步被放大，当目标物体比较远时，经过较远的目标物体反射的信号强度较弱，需要进行放大倍数较大的放大以便于获取相应的时间信息。由此可知，第N级放大电路的输出信号是经过第1级放大电路至第N级放大电路多级放大之后的信号。需要说明的是，当数字化模块串联时，所述第1级放大电路至第N级放大电路中N个放大电路的放大倍数可以相同，也可以不同，在此不做限制。
因此，根据所述接收的光脉冲信号的强度不同，可以采用不同数字化模块的输出结果以进一步提高光探测模组的测量精度。
可选地，所述运算电路根据预定策略确定所述N个数字化信号的权重，并基于所述N个数字化信号及对应的权重得到接收到的光脉冲信号的接收时间。
可选地，所述预定策略包括：根据所述接收的光脉冲信号的强度确定所述第n级数字化电路的权重。其中，在近处、光脉冲信号比较强烈时，用第1级放大电路的输出信号的数字化信息；更远距离、光脉冲信号较小时，采用第2级或者第N级放大电路输出信号的数字化信息。还可以根据实际情况和设计需要所需要的测试数据不同，可以采用不同级数的数字化模块的结果作为计算接收到的光脉冲信号的接收时间的数据基础。需要说明的是，可以采用N个数字化信号中的一个级别的数字化模块的结果，也可以采用多个数字化结果及相应的权重综合得到的结果进行分析计算得到所述接收到的光脉冲信号的接收时间。
此外，现有技术中较大的光脉冲信号，经过足够大的放大电路后，其脉冲幅度信息都已被“削掉”，相关能量信息也就被淹没掉了。本发明实施例的探测模组通过分级放大和数字化还可以更为准确的采集到脉冲的能量信息。
需要说明的是，本发明实施例的光探测模组中，可以采用本发明实施例的 防饱和放大电路，也可以采用其它形式的放大电路，在此不做限制。
本发明实施例还提供了一种测距装置，包括：
发射模块，用于发射光脉冲序列；
扫描模块，用于将所述发射模块发射的光脉冲序列的传播路径依次改变至不同方向出射；
如上所述的光探测模组，所述光脉冲序列经物体反射回的至少部分光信号经过所述扫描模块后入射至所述光探测装置中的光电转换电路，所述光电转换电路用于将所述至少部分光信号转换成电脉冲信号。
可选地，所述扫描模块包括运动的光学元件，用于改变来自所述测距模组的光脉冲序列的传播方向后出射。
可选地，所述光学元件包括相对设置的第一光折射元件和第二光折射元件，所述第一光折射元件和所述第二光折射元件均包括相背的非平行的一对表面；
所述扫描模块还包括用于驱动所述第一光折射元件与所述第二光折射元件以不同的速度和/或方向旋转的驱动模块。
可选地，所述光学元件还包括与所述第一光折射元件以及所述第二光折射元件并列设置的第三光折射元件，所述第三光折射元件包括相背的非平行的一对表面；
所述驱动模块还用于驱动所述第三光折射元件绕转动轴转动。
本发明各个实施例提供的光探测模组可以应用于测距装置，该测距装置可以是激光雷达、激光测距设备等电子设备。在一种实施例中，测距装置用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息、速度信息等。一种实现方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探测探测物到测距装置的距离。或者，测距装置也可以通过其他技术来探测探测物到测距装置的距离，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。
为了便于理解，以下将结合图9所示的测距装置900对测距的工作流程进 行举例描述。
如图9所示，测距装置900可以包括发射电路910、接收电路920、采样电路930和运算电路940。
发射电路910可以发射光脉冲序列(例如激光脉冲序列)。接收电路920可以接收经过被探测物反射的光脉冲序列，并对该光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样电路930。采样电路930可以对电信号进行采样，以获取采样结果。运算电路940可以基于采样电路930的采样结果，以确定测距装置900与被探测物之间的距离。
可选地，该测距装置900还可以包括控制电路950，该控制电路950可以实现对其他电路的控制，例如，可以控制各个电路的工作时间和/或对各个电路进行参数设置等。
应理解，虽然图9示出的测距装置中包括一个发射电路、一个接收电路、一个采样电路和一个运算电路，用于出射一路光束进行探测，但是本申请实施例并不限于此，发射电路、接收电路、采样电路、运算电路中的任一种电路的数量也可以是至少两个，用于沿相同方向或分别沿不同方向出射至少两路光束；其中，该至少两束光路可以是同时出射，也可以是分别在不同时刻出射。一个示例中，该至少两个发射电路中的发光芯片封装在同一个模块中。例如，每个发射电路包括一个激光发射芯片，该至少两个发射电路中的激光发射芯片中的die封装到一起，容置在同一个封装空间中。
一些实现方式中，除了图9所示的电路，测距装置900还可以包括扫描模块960(未示出)，用于将发射电路出射的至少一路激光脉冲序列改变传播方向出射。
其中，可以将包括发射电路910、接收电路920、采样电路930和运算电路940的模块，或者，包括发射电路910、接收电路920、采样电路930、运算电路940和控制电路950的模块称为测距模块，该测距模块可以独立于其他模块，例如，扫描模块960。
测距装置中可以采用同轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内共用至少部分光路。例如，发射电路出射的至少一路激光脉冲序列经扫描模块改变传播方向出射后，经探测物反射回来的激光脉冲序列经过扫描模块后入射至接收电路。或者，测距装置也可以采用异轴光路，也即测 距装置出射的光束和经反射回来的光束在测距装置内分别沿不同的光路传输。图10示出了本发明的测距装置采用同轴光路的一种实施例的示意图。
测距装置1000包括测距模块1010，测距模块1010包括发射器1003(可以包括上述的发射电路)、准直元件1004、探测器1005(可以包括上述的接收电路、采样电路和运算电路)和光路改变元件1006。测距模块1010用于发射光束，且接收回光，将回光转换为电信号。其中，发射器1003可以用于发射光脉冲序列。在一个实施例中，发射器1003可以发射激光脉冲序列。可选的，发射器1003发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件1004设置于发射器的出射光路上，用于准直从发射器1003发出的光束，将发射器1003发出的光束准直为平行光出射至扫描模块。准直元件还用于会聚经探测物反射的回光的至少一部分。该准直元件1004可以是准直透镜或者是其他能够准直光束的元件。
在图10所示实施例中，通过光路改变元件1006来将测距装置内的发射光路和接收光路在准直元件1004之前合并，使得发射光路和接收光路可以共用同一个准直元件，使得光路更加紧凑。在其他的一些实现方式中，也可以是发射器1003和探测器1005分别使用各自的准直元件，将光路改变元件1006设置在准直元件之后的光路上。
在图10所示实施例中，由于发射器1003出射的光束的光束孔径较小，测距装置所接收到的回光的光束孔径较大，所以光路改变元件可以采用小面积的反射镜来将发射光路和接收光路合并。在其他的一些实现方式中，光路改变元件也可以采用带通孔的反射镜，其中该通孔用于透射发射器1003的出射光，反射镜用于将回光反射至探测器1005。这样可以减小采用小反射镜的情况中小反射镜的支架会对回光的遮挡。
在图10所示实施例中，光路改变元件偏离了准直元件1004的光轴。在其他的一些实现方式中，光路改变元件也可以位于准直元件1004的光轴上。
测距装置1000还包括扫描模块1002。扫描模块1002放置于测距模块1010的出射光路上，扫描模块1002用于改变经准直元件1004出射的准直光束1019的传输方向并投射至外界环境，并将回光投射至准直元件1004。回光经准直元件1004汇聚到探测器1005上。
在一个实施例中，扫描模块1002可以包括至少一个光学元件，用于改变 光束的传播路径，其中，该光学元件可以通过对光束进行反射、折射、衍射等等方式来改变光束传播路径。例如，扫描模块1002包括透镜、反射镜、棱镜、振镜、光栅、液晶、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。一个示例中，至少部分光学元件是运动的，例如通过驱动模块来驱动该至少部分光学元件进行运动，该运动的光学元件可以在不同时刻将光束反射、折射或衍射至不同的方向。在一些实施例中，扫描模块1002的多个光学元件可以绕共同的轴1009旋转或振动，每个旋转或振动的光学元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块1002的多个光学元件可以以不同的转速旋转，或以不同的速度振动。在另一个实施例中，扫描模块1002的至少部分光学元件可以以基本相同的转速旋转。在一些实施例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一个实施例中，扫描模块1002包括第一光学元件1014和与第一光学元件1014连接的驱动器1016，驱动器1016用于驱动第一光学元件1014绕转动轴1009转动，使第一光学元件1014改变准直光束1019的方向。第一光学元件214将准直光束219投射至不同的方向。在一个实施例中，准直光束1019经第一光学元件改变后的方向与转动轴1009的夹角随着第一光学元件1014的转动而变化。在一个实施例中，第一光学元件1014包括相对的非平行的一对表面，准直光束1019穿过该对表面。在一个实施例中，第一光学元件1014包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件1014包括楔角棱镜，对准直光束1019进行折射。
在一个实施例中，扫描模块1002还包括第二光学元件1015，第二光学元件1015绕转动轴1009转动，第二光学元件1015的转动速度与第一光学元件1014的转动速度不同。第二光学元件1015用于改变第一光学元件1014投射的光束的方向。在一个实施例中，第二光学元件1015与另一驱动器1017连接，驱动器1017驱动第二光学元件1015转动。第一光学元件1014和第二光学元件1015可以由相同或不同的驱动器驱动，使第一光学元件214和第二光学元件215的转速和/或转向不同，从而将准直光束1019投射至外界空间不同的方向，可以扫描较大的空间范围。在一个实施例中，控制器1018控制驱动器1016 和1017，分别驱动第一光学元件1014和第二光学元件1015。第一光学元件1014和第二光学元件1015的转速可以根据实际应用中预期扫描的区域和样式确定。驱动器1016和1017可以包括电机或其他驱动器。
在一个实施例中，第二光学元件1015包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第二光学元件1015包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第二光学元件1015包括楔角棱镜。
一个实施例中，扫描模块1002还包括第三光学元件(图未示)和用于驱动第三光学元件运动的驱动器。可选地，该第三光学元件包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第三光学元件包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转动。
扫描模块1002中的各光学元件旋转可以将光投射至不同的方向，例如光1011和1013的方向，如此对测距装置1000周围的空间进行扫描。当扫描模块1002投射出的光1011打到被探测物1001时，一部分光被探测物1001沿与投射的光1011相反的方向反射至测距装置1000。被探测物1001反射的回光1012经过扫描模块1002后入射至准直元件1004。
探测器1005与发射器1003放置于准直元件1004的同一侧，探测器1005用于将穿过准直元件1004的至少部分回光转换为电信号。
一个实施例中，各光学元件上镀有增透膜。可选的，增透膜的厚度与发射器103发射出的光束的波长相等或接近，能够增加透射光束的强度。
一个实施例中，测距装置中位于光束传播路径上的一个元件表面上镀有滤光层，或者在光束传播路径上设置有滤光器，用于至少透射发射器所出射的光束所在波段，反射其他波段，以减少环境光给接收器带来的噪音。
在一些实施例中，发射器1003可以包括激光二极管，通过激光二极管发射纳秒级别的激光脉冲。进一步地，可以确定激光脉冲接收时间，例如，通过探测电信号脉冲的上升沿时间和/或下降沿时间确定激光脉冲接收时间。如此，测距装置1000可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定被探测物1001到测距装置1000的距离。
测距装置1000探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。在一种实施例中，本发明实施例的测距装置可应用于移动平台，测距 装置可安装在移动平台的平台本体。具有测距装置的移动平台可对外部环境进行测量，例如，测量移动平台与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。在某些实施例中，移动平台包括无人飞行器、汽车、遥控车、机器人、相机中的至少一种。当测距装置应用于无人飞行器时，平台本体为无人飞行器的机身。当测距装置应用于汽车时，平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置应用于遥控车时，平台本体为遥控车的车身。当测距装置应用于机器人时，平台本体为机器人。当测距装置应用于相机时，平台本体为相机本身。
本发明通过提供上述光发射装置、测距装置以及移动平台，以提供一种符合人眼安全规定的激光发射方案，当系统发生单一故障时，上述装置中的电路可以保证激光辐射值不超过安规值，从而保证激光装置的使用安全。
本发明实施例中所使用的技术术语仅用于说明特定实施例而并不旨在限定本发明。在本文中，单数形式“一”、“该”及“所述”用于同时包括复数形式，除非上下文中明确另行说明。进一步地，在说明书中所使用的用于“包括”和/或“包含”是指存在所述特征、整体、步骤、操作、元件和/或构件，但是并不排除存在或增加一个或多个其它特征、整体、步骤、操作、元件和/或构件。
在所附权利要求中对应结构、材料、动作以及所有装置或者步骤以及功能元件的等同形式(如果存在的话)旨在包括结合其他明确要求的元件用于执行该功能的任何结构、材料或动作。本发明的描述出于实施例和描述的目的被给出，但并不旨在是穷举的或者将被发明限制在所公开的形式。在不偏离本发明的范围和精神的情况下，多种修改和变形对于本领域的一般技术人员而言是显而易见的。本发明中所描述的实施例能够更好地揭示本发明的原理与实际应用，并使本领域的一般技术人员可了解本发明。
本发明中所描述的流程图仅仅为一个实施例，在不偏离本发明的精神的情况下对此图示或者本发明中的步骤可以有多种修改变化。比如，可以不同次序的执行这些步骤，或者可以增加、删除或者修改某些步骤。本领域的一般技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。

Claims (19)

  1. 一种光探测模组，其特征在于，所述光探测模组包括：
    光电转换电路，用于将经物体反射回的光脉冲信号转化为电脉冲信号；
    N个数字化模块，所述N个数字化模块串联或并联连接于所述光电转换电路，用于分别将所述电脉冲信号转换为N个数字化信号，N≥2；其中，第n个数字化模块包括第n级放大电路和第n级数字化电路，所述第n级放大电路的输出端连接于所述第n级数字化电路的输入端，n＝1,2……N；
    运算电路，用于根据所述n个数字化信号确定所述物体与所述光探测装置的距离。
  2. 如权利要求1所述的光探测模组，其特征在于，当所述N个数字化模块串联连接于所述光电转换电路时，所述第n+1级放大电路用于对所述第n级放大电路的输出信号进行放大，得到第n+1级放大信号；
    第n+1级数字化电路，连接所述第n+1级放大电路，用于将所述第n+1级放大信号转换为第n+1级数字化信号。
  3. 如权利要求1所述的光探测模组，其特征在于，当所述N个数字化模块并联连接于所述光电转换电路时，所述N个数字化模块的放大倍数不同。
  4. 如权利要求1-3中任一项所述的光探测模组，其特征在于，所述第n级数字化电路包括时间数字转换器或模拟数字转换器。
  5. 如权利要求4所述的光探测模组，其特征在于，所述第n级数字化电路包括模拟数字转换器时，所述模拟数字转换器基于预定的采样频率将所述第n级放大信号转换为第n级数字化信号。
  6. 如权利要求4所述的光探测模组，其特征在于，所述第n级数字化电路包括时间数字转换器时，所述时间数字转换器包含若干个不同的采样阈值；其中，第n+1级数字化电路的采样阈值的个数大于第n级数字化电路的采样阈值的个数。
  7. 如权利要求1所述的光探测模组，其特征在于，所述运算电路根据预定策略确定所述N个数字化信号的权重，并基于所述N个数字化信号及对应的权重得到接收到的光脉冲信号的接收时间。
  8. 如权利要求7所述的光探测模组，其特征在于，所述预定策略包括：根据所述接收的光脉冲信号的强度确定所述第n级数字化电路的权重。
  9. 如权利要求1所述的光探测模组，其特征在于，所述第n级放大电路包括运算放大器、第一电阻、放大器旁路电路；其中，所述第一电阻的一端接收所述电脉冲信号，所述第一电阻的另一端连接所述运算放大器的反向输入端，所述运算放大器的正向输入端连接参考电压，所述运算放大器的输出端输出放大后的电脉冲信号；所述放大器旁路电路连接于所述运算放大器的反向输入端和输出端之间。
  10. 如权利要求9所述的光探测模组，其特征在于，所述放大器旁路电路包括第二电阻；或第二电阻和第三电阻串联的电路。
  11. 如权利要求10所述的光探测模组，其特征在于，所述放大器旁路电路还包括第一二极管；所述第一二极管与所述第二电阻或第三电阻并联。
  12. 如权利要求9所述的光探测模组，其特征在于，所述第n级放大电路包括电流旁路电路，连接于所述第一电阻的一端，用于限制通过所述第一电阻的电流。
  13. 如权利要求12所述的光探测模组，其特征在于，所述电流旁路电路包括第二二极管。
  14. 如权利要求9所述的光探测模组，其特征在于，所述第n级放大电路包括电压旁路电路，连接于所述运算放大器的输出端，用于限制所述第n级放 大电路的输出电压。
  15. 如权利要求14所述的光探测模组，其特征在于，所述电压旁路电路包括第四电阻和第三二极管，所述第四电阻的一端连接至所述运算放大器的输出端，所述第四电阻的另一端连接至所述第三二极管的正极并作为所述第n级放大电路的输出端，所述第三二极管的负极接地。
  16. 一种测距装置，其特征在于，包括：
    发射模块，用于发射光脉冲序列；
    扫描模块，用于将所述发射模块发射的光脉冲序列的传播路径依次改变至不同方向出射；
    如权利要求1-15中任一所述的光探测模组，所述光脉冲序列经物体反射回的至少部分光信号经过所述扫描模块后入射至所述光探测装置中的光电转换电路，所述光电转换电路用于将所述至少部分光信号转换成电脉冲信号。
  17. 根据权利要求16所述的测距装置，其特征在于，所述扫描模块包括运动的光学元件，用于改变来自所述测距模组的光脉冲序列的传播方向后出射。
  18. 根据权利要求10所述的测距装置，其特征在于，所述光学元件包括相对设置的第一光折射元件和第二光折射元件，所述第一光折射元件和所述第二光折射元件均包括相背的非平行的一对表面；
    所述扫描模块还包括用于驱动所述第一光折射元件与所述第二光折射元件以不同的速度和/或方向旋转的驱动模块。
  19. 根据权利要求11所述的测距装置，其特征在于，所述光学元件还包括与所述第一光折射元件以及所述第二光折射元件并列设置的第三光折射元件，所述第三光折射元件包括相背的非平行的一对表面；
    所述驱动模块还用于驱动所述第三光折射元件绕转动轴转动。
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