WO2021103937A1 - Single-photon distance measuring device, electronic module, and mounting and debugging method therefor - Google Patents

Abstract

A single-photon distance measuring device, an electronic module, and a mounting and debugging method therefor. The device comprises a device base (100), a motor (200) mounted on the device base (100), and a radar movement (300) mounted on the device base (100). The radar movement (300) is transmittingly connected to the motor (200), and the motor (200) drives the radar movement (300) to rotate by means of a transmission mechanism (201). The radar movement (300) comprises a processing control panel (301) mounted on the device base (100), a radar ray machine (302) mounted on the upper end of the processing control panel (301), a receiving lens (303) mounted on the radar ray machine (302) and electrically connected to the processing control panel (301), a transmitting lens (304) electrically connected to the processing control panel (301) and located at a side edge of the receiving lens (303), a transmitting and timing circuit board (305) mounted on the upper end of the processing control panel (301) and electrically connected to the processing control panel (301), and a single-photon chip mounted on the transmitting and timing circuit board (305). Compared with conventional TDC+APD solutions, the device has a higher precision and better performance, can achieve high-precision and high-frequency distance measurement, and can be applied to distance measurement products such as sweeper radars.

Description

Single-photon ranging device, electronic module and installation and debugging method thereof

Cross-references to related applications

This disclosure claims the priority of the Chinese patent application filed with the Chinese Patent Office on November 25, 2019, with the application number CN201911167110.6 and titled "Single-photon ranging device and electronic module and its installation and debugging method", all of which The content is incorporated into this disclosure by reference.

Technical field

The present disclosure relates to the technical field of radar ranging, in particular to a single-photon ranging device, an electronic module and an installation and debugging method thereof.

Background technique

In the current technology, lidar measures the distance mainly in two ways: triangle and TOF (Time Of Flight). However, both of the above two methods have some shortcomings, the application range of triangulation is limited, only short distances can be measured, and the accuracy is poor.

The TOF scheme has two schemes: phase and pulse. The pulse scheme is widely used in the radar market. The pulse scheme is characterized by high precision, strong ranging ability and strong anti-noise ability; the pulse scheme is mainly composed of the transmitting module, the receiving module, and the timing module. The control module is composed of, among them, the transmitting module uses a pulsed laser LD (laser Diode) to emit laser pulses, the receiving module uses an avalanche diode (APD) to receive the signal transmitted by LD, the processing control module uses a single-chip microcomputer, and the timing module uses TDC (Time-to-Digital). converter). Working principle: When the pulsed laser LD emits the laser, TDC starts timing. The laser diffuses reflection on the surface of the object to be measured. The device APD receives the signal emitted by the LD, after the circuit amplifies, compares the output to the TDC, and the TDC stops timing. At this time, TDC records the time t1 from laser emission to reception, according to the formula: distance=speed*time (L=V*T), the speed of light defaults to C=3*10^8m/s, and the distance between two points is L=C*t1/ 2. The single-chip microcomputer reads the TDC data, calculates the distance between the two points, and then outputs it to the display screen or other external equipment.

For the above solution, the MCU used to process the control module sends the start signal START as the TDC start timing signal, and the TDC detects the rising edge of the received signal as the end timing signal STOP. By calculating the time difference between STOP and START, the calculation signal is calculated from The time difference between the completion of the reception. When there are targets with different reflectivity at the same distance, the received signal strength will change. A target with a high reflectivity will have a strong signal, and a target with a low reflectivity will have a weak signal. When the signal strength is different at the same position and the comparator threshold is fixed, the time counted by the TDC is two different values. Therefore, the leading edge position of the signal is different, resulting in a larger accuracy deviation, which cannot meet high-precision ranging.

The information disclosed in the background art section is only intended to deepen the understanding of the overall background art of the present disclosure, and should not be regarded as an acknowledgement or any form of suggestion that the information constitutes the prior art already known to those skilled in the art.

Based on the above-mentioned reasons, the applicant proposed a single-photon ranging device, an electronic module and an installation and debugging method thereof, which aims to solve the above-mentioned problems.

Summary of the invention

In order to meet the above requirements, the first purpose of the present disclosure is to provide a single-photon ranging device, which aims to achieve high-precision, high-frequency ranging, which can be used for sweeper radar, unmanned guided vehicles, automatic guided vehicles, and multiple Ranging products such as line radar.

The second objective of the present disclosure is to provide an electronic module of a single-photon ranging device.

The third objective of the present disclosure is to provide a method for installing and debugging a single-photon ranging device.

In order to achieve the above objectives, the present disclosure adopts the following technical solutions:

On the one hand, the present disclosure proposes a single-photon ranging device, including a device base, a motor mounted on the device base, and a radar core mounted on the device base; the radar core is connected to the motor in transmission, the The motor drives the radar movement to rotate through the transmission mechanism;

The radar core includes a processing control board installed on the device base, a radar optical engine installed on the upper end of the processing control board, a receiving lens installed on the radar optical engine and electrically connected to the processing control board, and the processing control board electrically connected The transmitting lens connected and located on the side of the receiving lens, the transmitting & timing circuit board mounted on the upper end of the processing control board and electrically connected to the processing control board, and the single photon chip mounted on the transmitting & timing circuit board.

In a possible implementation, the device base is provided with a mounting cavity configured to install the radar movement, and the device base is provided with a mounting hole configured to install a motor, and the motor is connected to the device base through a fastener. The frame is fixedly connected.

In a possible embodiment, the transmission mechanism includes a pulley connected to the output shaft of the motor, and a transmission belt sleeved on the pulley.

In a possible implementation manner, the receiving lens and the transmitting lens are fixedly connected with the radar light machine by dispensing glue.

In a possible embodiment, the processing circuit board is fixed to the device base frame by fasteners.

As an important part of the aforementioned single-photon ranging device, the ranging device of this solution uses a single-photon chip as a signal receiving and signal processing device. As the core part of high-precision ranging, the single-photon chip occupies an important position in the above-mentioned ranging device.

On the other hand, the present disclosure also discloses the electronic module of the single-photon ranging device, including a transmitting module, a timing module, and a processing control module coupled with the transmitting module and the timing module; the processing control module includes a processing control board, so The timing module includes a single photon chip and a receiving lens, and the transmitting module includes a pulse laser and a transmitting lens.

In a possible implementation manner, the processing control module emits a laser control signal, the pulsed laser cooperates with the emission mirror to emit laser, and the single-photon chip starts timing;

When the laser light reaches the single-photon chip through reflection, the single-photon chip records the time from laser emission to reception, and the processing control module reads the data of the single-photon chip and calculates the distance between the device and the object.

In a possible implementation, the distance between the device and the object is the product of the speed of light and half the time from laser emission to reception.

In another aspect, the present disclosure also provides an installation and debugging method of the above-mentioned single-photon ranging device, which includes the following steps:

Push the motor against one end of the device base frame, and lock the screw to fix the motor and the device base frame;

Install the processing control board into the installation cavity of the device base frame and fix it with screws;

Fix the receiving lens with glue on the radar light machine;

Install the emission & timing circuit board on the processing control board, use the processing control board to control the emission & timing circuit board, and drive the emission laser to work; use the camera to observe the size of the emission spot on the computer, and adjust the front and back positions of the emission lens to make the emission spot Adjust to the minimum and fix the emission lens by dispensing glue;

Place the target at the first threshold distance from the device, and by moving the launch & timing circuit board, the processing control board can receive the valid data at the first threshold distance; if the processing control board receives the valid data, the glue will be fixed to launch & launch. Timing circuit board;

Place a target at the second threshold distance from the device, align it with the target at the second threshold distance, test the accuracy of the product, use the host computer to compensate for the accuracy error, and store it in the device;

Put the rotating belt into the pulley connected to the motor, lock the upper cover of the device on the device base, and complete the entire assembly of the device.

In a preferred embodiment, the first threshold distance is 8 meters, and the second threshold distance is 1 meter.

Compared with the prior art, the beneficial effects of the present disclosure are:

On the one hand, there are only two conditions for the triggering of a single photon chip -> Yes\No, so in the same position, different reflectivity targets, for this solution, there is only the case of whether it is received, there is no receiving The problem of signal size. However, when the TDC+APD in the prior art is used as a receiving system, the timing accuracy is related to the strength of the received signal, and different reflectivity targets will cause a large deviation in accuracy. Therefore, the single-photon ranging device of this scheme has higher accuracy and stronger performance than the traditional TDC+APD scheme;

On the other hand, the single-photon chip used in this solution can be designed with optical noise and/or electrical noise as the trigger threshold, and the chip algorithm is optimized, so there is no problem of misoperation. Each time ranging only needs to complete one ranging to get the target data. However, the TDC+APD solution requires multiple measurements, and the average value is obtained after filtering. The time is longer than this solution. Obviously, this solution is suitable for high-speed and high-precision products;

On the other hand, the single-photon chip presents a linear accuracy change when the temperature changes, and the distance does not change due to the strength of the signal. Through the temperature sensor, find the change curve, you can add the accuracy change offset in the algorithm to compensate the accuracy error caused by the temperature change. However, the TDC+APD solution in the prior art is difficult to maintain stable product accuracy due to the variation of discrete materials and APD gain.

In addition, the receiving module of this solution only needs to use a single photon chip, but in the TDC+APD solution, TDC chips, photosensitive devices APD, comparators, amplifier circuits, resistors and capacitors are required. Obviously, this solution is compared to The existing technology saves a lot of costs. The receiving size of this solution is much smaller than the TDC+APD solution. In product design, this solution has a higher level of integration, has space advantages, can be smaller, and has a wider range of applications.

The present disclosure will be further described below in conjunction with the drawings and specific embodiments.

Description of the drawings

Fig. 1 is a schematic structural diagram of a specific embodiment of a single-photon ranging device of the present disclosure;

Fig. 2 is a schematic diagram of the device base frame structure of the device of Fig. 1;

3 is a schematic diagram of the frame composition of an electronic module of a single-photon ranging device of the present disclosure;

4 is a schematic diagram of the working logic of a single-photon chip of a single-photon ranging device of the present disclosure;

FIG. 5 is a graph showing the volt-ampere characteristic curve of an avalanche photodiode of a single-photon chip of a single-photon ranging device of the present disclosure.

Reference number

100 Device base 101 Installation cavity

102 Installation holes 103 Fasteners

200 Motor 201 Transmission mechanism

2011 Pulleys Drive belts in 2012

300 Radar movement 301 Processing control board

302 Radar optical machine 303 Receiving lens

304 Launching lens 305 Launching & timing circuit board

400 Structural base 401 Ladder

500 Transmitting module 600 Timing module

700 Processing control module

Detailed ways

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present disclosure.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise" and/or "Counterclockwise" and other directions indicated Or the positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation Therefore, it cannot be understood as a limitation of the present disclosure.

In addition, the terms "first" and/or "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with "first" and/or "second" may explicitly or implicitly include one or more of these features. In the description of the present disclosure, "plurality" means two or more than two, unless otherwise specifically defined.

In the present disclosure, unless expressly stipulated and defined otherwise, the terms "installed", "connected", "connected" and/or "fixed" shall be interpreted broadly, for example, it may be connected or detachable. Connected or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediary, and it can be a connection between two elements or an interaction relationship between two elements. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present disclosure can be understood according to specific circumstances.

In the present disclosure, unless otherwise clearly defined and defined, the "on" or "under" of the first feature on the second feature may include direct contact between the first and second features, or include whether the first and second features are in direct contact with each other. Direct contact but contact through another feature between them. Moreover, the "above", "above" and "above" of the first feature on the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the first feature is higher in level than the second feature. The “below”, “below” and “below” of the second feature of the first feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean specific features described in conjunction with the embodiment or example , Structures, materials, or characteristics are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above-mentioned terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can join and combine different embodiments or examples described in this specification.

On the one hand, the structure shown in FIG. 1 and FIG. 2 is a single-photon ranging device proposed in this disclosure, including a device base 100, a motor mounted on the device base 100 and rotatably connected to the device base 100 200, a radar core 300 installed on the device base 100; the radar core 300 is in transmission connection with a motor 200, and the motor 200 drives the radar core 300 to rotate through a transmission mechanism 201;

The radar core 300 includes a processing control board 301 installed on the device base 100, a radar optical engine 302 installed on the upper end of the processing control board 301, and a receiving lens installed on the radar optical engine 302 and electrically connected to the processing control board 301 303, the transmitting lens 304 electrically connected to the processing control board 301 and located on the side of the receiving lens 303, the transmitting & timing circuit board 305 installed on the upper end of the processing control board 301 and electrically connected to the processing control board 301, and installed on the transmitting & Timing circuit board 305 single photon chip.

Wherein, the radar core 300 is the core of the ranging device of the solution, including but not limited to the above-mentioned devices.

Specifically, the radar core 300 can be understood as a composite body including a plurality of electronic components, which is provided with a structural base 400 configured to install electronic components (wherein the structural base 400 is fixedly connected to the radar core 300, and The device base 100 rotates with the geometric center of the processing control board 301 as the center of the circle. The mounting cavity 101 is also substantially located at the upper end of the structural base 400). The processing control board 301 and/or the radar optical engine 302 are all in accordance with the industrial The general principles of design are installed on the structure.

As a preferred embodiment, a single photon chip is used as a signal receiving and signal processing device, including a receiver, a received signal comparison circuit, and a counter. As shown in Fig. 4, it is the working logic diagram of the single photon chip.

Among them, the receiver: SPAD (Single Photon Avalanche Diode), which is an avalanche diode that works in Geiger mode with extremely high gain, and is usually called a single photon detector.

As shown in Figure 5, the volt-ampere characteristic curve of avalanche photodiodes. In Geiger mode, the avalanche photodiode absorbs photons and generates electron-hole pairs. Under the action of a strong electric field generated by a high reverse bias voltage, electron-hole pairs are generated. It is accelerated to obtain sufficient energy, and then collides with the crystal lattice to form a chain effect, resulting in the formation of a large number of electron-hole pairs, triggering an avalanche phenomenon, leading to an exponential increase in current. At this time, the gain of SPAD is theoretically infinite, and a single photon can saturate the photocurrent of SPAD. In the production design process of avalanche photodiodes, by detecting the detection efficiency of SPAD and the size of the dark count, the corresponding circuit is designed inside SPAD to ensure that after SPAD detects the laser energy of the corresponding wavelength, it can output a binary signal to ensure the accuracy of the signal Sex.

In order to explain the working principle of avalanche photodiodes, Photon Detection Efficiency (PDE) is one of the parameters of SPAD, which represents the average probability that photons can trigger an avalanche and be detected after entering SPAD, as an evaluation of SPAD's ability to detect single-photon signals The important standard of. The PDE of the active area is equal to the product of the external quantum efficiency and the probability of avalanche, and its approximate expression is:

PDE=η·Ptrigger=η·(1-exp(-V/VB))

Ptrigger represents the probability of an avalanche breakdown of a photon, which is mainly affected by the over-bias voltage. Within a certain range, the PDE will increase with the increase in the over-bias voltage, but it will also cause an increase in the dark count and affect the noise of the detector. Characteristics, the reduction of the dark count is mainly achieved by lowering the temperature. The lower the operating temperature, the smaller the dark count. However, due to the limitations of actual conditions, the device cannot be operated at too low temperature; the external quantum efficiency η is mainly related to the junction area It is related to the diffusion length of minority carriers.

In order to explain the working principle of avalanche photodiodes, the multiplication factor is also an important part of the avalanche photodiode. Among them, the multiplication factor refers to the ratio of the avalanche current to the previous current after the SPAD absorbs photons. It reflects the amplification of the signal by the detector. ability. The multiplication factor of SPAD theory is infinite, and it is generally more than 10000 in actual test. It can reach saturation within 1ps after an avalanche.

In the work of SPAD, dark counting is needed. Dark counting means that in the field of single-photon detection, stray light (non-signal light) and electrical noise may also be considered as effective light signals by single-photon detectors. In the field, this kind of misjudgment is called dark counting. Under normal circumstances, thermal noise and tunneling effect both generate dark carriers, which are the main noise source. Dark carriers can also cause SPAD avalanches, but the detection circuit cannot distinguish it from the avalanche caused by incident light. As a result, they are also counted, so a false photon count is formed. Therefore, finding a way to reduce the dark count is a very important point in the SPAD design process.

Secondly, also in the work of SPAD, photons can trigger an avalanche after entering the SPAD. In order to ensure the normal operation of the SPAD, a special circuit will control the reverse bias of the SPAD to drop below the avalanche voltage to quench the avalanche, and then control the SPAD to reset. The reverse bias voltage is restored to the initial state to detect the subsequent photons. During the period from the start of avalanche quenching to the end of reset, SPAD cannot sense other photons, so it becomes dead time. The dead time has an important influence on the detection frequency and photon detection efficiency. The smaller the dead time, the higher the detection efficiency and the fewer the number of missed photons.

In the working logic of the single photon chip, in the received signal comparison circuit, the reference signal is compared with the received signal, and the effective signal is output to the TDC timing circuit to complete the signal acquisition. After the receiver SPAD detects the signal reflected by the target, it will process it internally and convert it into a signal, and output it to the receiving and processing signal comparison circuit. Thanks to the powerful gain effect of SPAD in Geiger mode, the signal can be Output in binary form, the rising edge of the signal is less than 1ps, so as to achieve accurate detection of signals with different reflectivity.

Also in the working logic of the single-photon chip, the time from the start of transmitting the pulse to the receiving of the end pulse is recorded, and the function is to accumulate the pulses output by the discriminator and display it. The TDC timing unit is mainly used. At the same time as the transmission signal START is sent, the TDC starts counting, and when the end signal STOP is received, the timer stops, and the counter sends and outputs the measured count value.

Based on the working logic of the various components of the single-photon chip, the single-photon chip is adopted as an important hardware means for implementing distance measurement in this solution, so that the distance-measuring device of this solution can achieve higher accuracy and economy compared with the prior art. The cost and receiving size are much smaller than the TDC+APD solution, the integration is higher, the space advantage, the size is small, and the application range is wide.

As a preferred embodiment, the friction force between the structural base 400 and the device base 100 needs to be kept at a low level to prevent the radar core 300 from being unable to rotate.

In the embodiment shown in FIG. 2, as an alternative to the device base, the device base 100 is provided with a mounting cavity 101 configured to install the radar core 300, and the device base 100 is provided with The mounting hole 102 of the motor 200 is installed, and the motor 200 is fixedly connected to the device base frame 100 through a fastener 103.

Wherein, the fastener 103 may be, but not limited to, bolts, studs, screws, nuts, self-tapping screws, wood screws, washers, retaining rings, pins, rivets, welding nails, or assemblies and connection pairs.

The embodiment shown in FIG. 2 is a possible implementation of the solution. The transmission mechanism 201 includes a pulley 2011 connected to the output shaft of the motor 200, and a transmission belt 2012 sleeved on the pulley 2011;

As a necessary feature of the transmission connection, the structure base 400 is provided with a step 401 configured to install the transmission belt 2012, and the device base frame 100 is equipped with a device upper cover (not shown in the figure), and the device upper cover is provided with It is configured to limit the annular protrusion of the transmission belt 2012, and the upper end of the step 401 is in contact with the annular protrusion.

As a preferred embodiment, the receiving lens 303, the transmitting lens 304 and the radar optical engine 302 are fixedly connected by dispensing glue.

In a possible implementation manner, the processing circuit board 301 is fixed to the device base frame 100 (here, it is fixed to the structural base 400 rotatably connected to the device base frame 100) through fasteners. Wherein, the fastener may be, but not limited to, bolts, studs, screws, nuts, self-tapping screws, wood screws, washers, retaining rings, pins, rivets, welding nails, or assemblies and connecting pairs.

On the other hand, as shown in FIG. 3, the present disclosure also discloses the electronic module of the aforementioned single-photon ranging device, including a transmitting module 500, a timing module 600, and a processing control module coupled with the transmitting module 500 and/or the timing module 600 700; The processing control module 700 includes a processing control board, the timing module 600 includes a single photon chip and a receiving lens, and the transmitting module 500 includes a pulse laser and a transmitting lens.

Specifically, the processing control module 700 sends a control signal to the timing module, the timing module 600 returns data to the processing control module 700, and the transmitting module 500 receives the laser emission signal from the processing control module 700,

As a basis for the implementation of the above-mentioned modules, the processing control module 700 emits laser control signals, the pulsed laser cooperates with the emission mirror to emit lasers, and the single-photon chip starts timing;

When the laser light reaches the single-photon chip after reflection, the single-photon chip records the time from laser emission to reception, and the processing control module 700 reads the data of the single-photon chip and calculates the distance between the device and the object.

The distance between the device and the object is the product of the speed of light and half the time from laser emission to reception.

Specifically, the single photon chip records the time t1 from laser emission to reception, according to the speed formula: distance = speed * time (L = V * T), the speed of light defaults to C = 3 * 10^8m/s, at this time the distance between two points (Device to object) L=C*t1/2, get the distance between two points, and then output to the display screen or other external equipment to realize the distance measurement.

In another aspect, the present disclosure also provides an installation and debugging method of the above-mentioned single-photon ranging device, which includes the following steps:

Push the motor against one end of the device base frame, and lock the screw to fix the motor and the device base frame;

Install the processing control board into the installation cavity of the device base frame and fix it with screws;

Fix the receiving lens with glue on the radar light machine;

Install the emission & timing circuit board on the processing control board, use the processing control board to control the emission & timing circuit board, and drive the emitting laser to work; use the camera to observe the size of the emission spot on the computer, and adjust the front and back positions of the emission lens to make the emission spot Adjust to the minimum and fix the emission lens by dispensing glue;

Place the target at the first threshold distance from the device, and by moving the launch & timing circuit board, the processing control board can receive the valid data at the first threshold distance; if the processing control board receives the valid data, the glue will be fixed to launch & launch. Timing circuit board;

Place a target at the second threshold distance from the device, align it with the target at the second threshold distance, test the accuracy of the product, use the host computer to compensate for the accuracy error, and store it in the device;

Put the rotating belt into the pulley connected to the motor, lock the upper cover of the device on the device base, and complete the entire assembly of the device.

In a preferred embodiment, the first threshold distance is 8 meters, and the second threshold distance is 1 meter.

As the basis of the installation and debugging method, the radar optical machine in this scheme is responsible for measuring the distance, and the distance from the optical machine to the measured target can be measured, and the sampling frequency is 8k;

The motor rotates at a speed of 5-10 Hz and is connected to the radar light engine through a rotating belt to drive the light engine to rotate. In the process of rotation, the radar optical machine measures all the distances of the target launched and returned from 0-360°;

The processing control module sends the measured data to the upper computer or other receiving device through the serial port.

Specifically, the debugging steps of this solution are also partially implemented based on the above-mentioned electronic module, and the structural embodiment of the present disclosure can be used as the actual carrier of the above-mentioned module.

It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned electronic module can refer to the corresponding description in the foregoing method embodiment. For the convenience and brevity of the description, it will not be repeated here.

A person of ordinary skill in the art can be aware that the modules and algorithm steps of the examples described in the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both, in order to clearly illustrate the hardware and software Interchangeability, in the above description, the composition and steps of each example have been generally described in accordance with the function. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present disclosure. Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the above described device and module can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed modules may be implemented in other ways. For example, the module embodiments described above are only illustrative. For example, the division of each module is only a logical function division, and there may be other division methods in actual implementation. For example, more than one module or component can be combined or integrated into another system, or some features can be omitted or not implemented.

The steps in the method of the embodiments of the present disclosure can be adjusted, merged, and deleted in order according to actual needs.

For those skilled in the art, various other corresponding changes and deformations can be made based on the technical solutions and concepts described above, and all these changes and deformations should fall within the protection scope of the claims of the present disclosure.

Claims (10)

1. A single-photon ranging device, which is characterized in that it comprises a device base, a motor installed on the device base, a radar movement mounted on the device base and rotatably connected with the device base; the radar movement and the motor In a transmission connection, the motor drives the radar movement to rotate through a transmission mechanism;

   The radar core includes a processing control board installed on the device base, a radar optical engine installed on the upper end of the processing control board, a receiving lens installed on the radar optical engine and electrically connected to the processing control board, and the processing control board electrically connected The transmitting lens connected and located on the side of the receiving lens, the transmitting & timing circuit board mounted on the upper end of the processing control board and electrically connected to the processing control board, and the single photon chip mounted on the transmitting & timing circuit board.
2. The single-photon distance measuring device according to claim 1, wherein the device base is provided with a mounting cavity configured to install a radar movement, and a mounting hole configured to install a motor; the motor passes through a fastener It is fixedly connected with the device base frame.
3. The single-photon distance measuring device according to claim 2, wherein the transmission mechanism comprises a pulley connected to the output shaft of the motor, and a transmission belt sleeved on the pulley.
4. The single-photon distance measuring device according to claim 1, wherein the receiving lens and the transmitting lens are fixedly connected with the radar optical machine by dispensing glue.
5. The single-photon distance measuring device according to claim 1, wherein the processing circuit board is fixed to the device base frame by a fastener.
6. The single-photon ranging device according to claim 1, wherein the electronic module of the single-photon ranging device includes a transmitting module, a timing module, and a processing control module coupled with the transmitting module and the timing module; the processing The control module includes a processing control board, the timing module includes a single photon chip and a receiving lens, and the transmitting module includes a pulse laser and a transmitting lens.
7. The single-photon distance measuring device according to claim 6, wherein the processing control module emits a laser control signal, the pulsed laser cooperates with the emitting lens to emit laser, and the single-photon chip starts timing;

   When the laser light reaches the single-photon chip through reflection, the single-photon chip records the time from laser emission to reception, and the processing control module reads the data of the single-photon chip and calculates the distance between the device and the object.
8. The single-photon distance measuring device according to claim 7, wherein the distance between the device and the object is the product of the speed of light and half of the time from laser emission to reception.
9. The method for installing and debugging a single-photon ranging device according to claim 1, characterized in that it comprises the following steps:

   Push the motor against one end of the device base frame, and lock the screw to fix the motor and the device base frame;

   Install the processing control board into the installation cavity of the device base frame and fix it with screws;

   Fix the receiving lens with glue on the radar light machine;

   Install the emission & timing circuit board on the processing control board, use the processing control board to control the emission & timing circuit board, and drive the emission laser to work; use the camera to observe the size of the emission spot on the computer, and adjust the front and back positions of the emission lens to make the emission spot Adjust to the minimum and fix the emission lens by dispensing glue;

   Place the target at the first threshold distance from the device, and by moving the launch & timing circuit board, the processing control board can receive the valid data at the first threshold distance; if the processing control board receives the valid data, the glue will be fixed to launch & launch. Timing circuit board;

   Place a target at the second threshold distance from the device, align it with the target at the second threshold distance, test the accuracy of the product, use the host computer to compensate for the accuracy error, and store it in the device;

   Put the rotating belt into the pulley connected to the motor, lock the upper cover of the device on the device base, and complete the entire assembly of the device.
10. The installation and debugging method according to claim 9, wherein the first threshold distance is 8 meters, and the second threshold distance is 1 meter.

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