WO2021212915A1 - Dispositif et procédé de mesure de distance laser - Google Patents

Dispositif et procédé de mesure de distance laser Download PDF

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Publication number
WO2021212915A1
WO2021212915A1 PCT/CN2020/141731 CN2020141731W WO2021212915A1 WO 2021212915 A1 WO2021212915 A1 WO 2021212915A1 CN 2020141731 W CN2020141731 W CN 2020141731W WO 2021212915 A1 WO2021212915 A1 WO 2021212915A1
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WIPO (PCT)
Prior art keywords
light source
light
emitted
distance measuring
array
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PCT/CN2020/141731
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English (en)
Chinese (zh)
Inventor
何燃
朱亮
王瑞
闫敏
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深圳奥锐达科技有限公司
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Publication of WO2021212915A1 publication Critical patent/WO2021212915A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak

Definitions

  • This application relates to the field of laser technology, and in particular to a laser ranging device and method.
  • a laser ranging device based on the time-of-flight principle usually includes a laser and a sensor.
  • the laser emits a pulsed beam to illuminate the target field of view, and the sensor collects the reflected beam, and calculates the time required for the beam to be reflected from being emitted to being received.
  • the calculated time is used to calculate the distance of the target object; while the structured light distance measurement system processes the reflected beam pattern and uses trigonometry to calculate the distance of the target object.
  • the structured light ranging scheme has limited measurement distance and is only suitable for closer scenes.
  • the distance measurement capability and accuracy of distance measurement solutions based on the time-of-flight principle are affected to a certain extent by the peak power of the laser.
  • the higher the peak power of the laser the longer the detectable distance; while the narrow pulse width can improve the timing accuracy, but when the pulse width is reduced to a certain extent, the peak power will be weakened, so it is difficult to take into account both ranging accuracy and measurement.
  • Distance capacity is affected to a certain extent by the peak power of the laser.
  • the purpose of the present application is to provide a laser ranging device and method to solve at least one of the above-mentioned background technical problems.
  • An embodiment of the application provides a laser ranging device, including: a transmitting module, the transmitting module includes a first light source, a beam combining element, and a second light source; wherein the beam combining element is used to emit the first light source The first light beam is coupled together to form the second light source, the second light source is used to emit the second light beam toward the target area; a receiving module, the receiving module includes a pixel array composed of a plurality of pixels; a control and processing circuit , The control and processing circuit is respectively connected with the transmitting module and the receiving module, so as to synchronize the trigger signal of the transmitting module and the receiving module to calculate the flight time required by the light beam from emission to reception, And calculate the distance of the target object according to the flight time.
  • the beam combining element includes a plurality of input ports and one or more output ports for coupling peak powers of at least two of the first light beams together to form the second light beam.
  • the second light source is used to emit line beams; or, the second light sources are arranged in a linear manner to form a one-dimensional second light source line array, and the one-dimensional second light source line array is used to emit lines beam.
  • the transmitting module further includes a scanning unit, and the scanning unit receives and deflects the line beam to emit a third beam to the target area.
  • the transmitting module may simultaneously emit multiple line beams, and the multiple line beams are deflected by the scanning unit to realize sub-area scanning of the target area.
  • the second light sources are arranged in a regular manner to form a two-dimensional second light source surface array, and the two-dimensional second light source surface array is used to emit spot pattern light beams.
  • the second light sources in the two-dimensional second light source surface array have a one-to-one correspondence with pixels in the pixel array.
  • the laser emitting module further includes a scanning unit that receives the spot pattern light beam emitted by the two-dimensional second light source surface array and deflects it toward the target area at a small angle. Emit the third beam.
  • control and processing circuit regulates the light emission of the first light source to control the light emitted by the second light source.
  • the embodiment of the present application also provides a laser ranging method, which includes the following steps:
  • the beam is emitted to the target area through the emitting module, wherein the emitting module includes a first light source array, a beam combining element, and a second light source array; the beam combining element is used to emit the first light source array emitted by the first light source array.
  • the light beams are coupled together to form the second light source array, and the second light source array is used to emit a second light beam toward the target area;
  • the receiving module includes a pixel array composed of a plurality of pixels
  • the trigger signal of the transmitting module and the receiving module is synchronized by the control and processing circuit to calculate the flight time required for the light beam from emission to reflection back to being received, and the distance of the target object is calculated according to the flight time.
  • An embodiment of the application provides a laser ranging device, including: a transmitting module, the transmitting module includes a first light source, a beam combining element, and a second light source; wherein the beam combining element is used to emit the first light source The first light beam is coupled together to form the second light source, the second light source is used to emit the second light beam toward the target area; a receiving module, the receiving module includes a pixel array composed of a plurality of pixels; a control and processing circuit , The control and processing circuit is respectively connected with the transmitting module and the receiving module, so as to synchronize the trigger signal of the transmitting module and the receiving module to calculate the flight time required for the light beam from emission to reception, And calculate the distance of the target object according to the flight time.
  • the light energy of the second light source is greater than that of the first light source.
  • the peak power of the light beam emitted by the second light source is greater than that of the light beam emitted by the first light source. Peak power, so as to achieve the advantages of high peak power of the emitted beam under narrow pulse width, and by setting the arrangement of the second light source, combined with the scanning element to achieve different scanning and ranging methods, so that the laser ranging device can simultaneously improve the measurement Range accuracy and ranging capability.
  • Fig. 1 is a schematic diagram of a laser emitting unit according to an embodiment of the present application.
  • Fig. 2 is a schematic diagram of a laser emitting module according to an embodiment of the present application.
  • Fig. 3 is a schematic diagram of a laser emitting module according to another embodiment of the present application.
  • Fig. 4 is a schematic diagram of a laser distance measuring device according to an embodiment of the present application.
  • Fig. 5 is a flowchart of a laser ranging method according to another embodiment of the present application.
  • Fig. 6 is a schematic diagram of an electronic device using the laser distance measuring device of Fig. 4.
  • connection can be used for fixing or circuit connection.
  • first and 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. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • the laser emitting unit 100 includes a first light source array 101, a beam combining element 102, a second light source array 103, and a driver 104.
  • the first light source array 101 includes a plurality of first light sources 1011, and the first light sources 1011 are configured to emit a first light beam toward a target area.
  • the first light source 1011 may be a light emitting diode (LED), a laser diode (LD), an edge emitting laser (EEL), a vertical cavity surface emitting laser (VCSEL), or the like.
  • the multiple first light sources 1011 in the first light source array 101 are arranged on a substrate in any arrangement (not shown).
  • the arrangement can be regular or irregular; the substrate can be a semiconductor substrate, a metal substrate, etc.;
  • the light beam emitted by a light source 1011 may be visible light, infrared light, ultraviolet light, and the like.
  • the first light source array 101 is an array light source chip composed of multiple VCSEL sub-light sources arranged on a semiconductor substrate.
  • the first light source 1011 emits light under the modulation drive of the driver 104, such as amplitude modulation, phase modulation, frequency modulation, and pulse modulation.
  • the beam combining element 102 includes an input port and an output port.
  • the first light beams emitted by at least two first light sources 1011 are combined into a beam of light (which can be called a combined beam) through the input port and the beam combining element 102, and the combined light beam is output through the output port.
  • a second light source 1031 is formed. Multiple groups of first light sources 1011 form multiple second light sources 1031 under the action of multiple beam combining elements 102, multiple second light sources 1031 form a second light source array 103, and the second light source array 103 outwards Emit a second light beam.
  • the beam combining element 102 includes multiple input ports and one output port; in some embodiments, the beam combining element 102 includes multiple input ports and multiple output ports, and multiple groups of first light sources 1011 are driven by the driver 104 The light beam is emitted downward and input into the beam combining element 102, and is output from multiple output ports at the same time to form a corresponding second light source 1031.
  • the beam combining element 102 may be one of a fiber coupler, a beam combiner, and a wavelength division multiplexer.
  • the beam combining element 102 is an all-in-one fiber coupler.
  • the beam combining element 102 may be a Powell prism.
  • the light beam emitted by a point light source passes through the Powell prism to form a uniform line beam. Based on this, the first light beams emitted by at least two first light sources are passed through the Powell prism. After being coupled together to form a second light source, the second light source is used to emit a second light beam, that is, to emit a line beam.
  • the first light source 1011 has the same structure and performance parameters. Preferably, the first light source 1011 has a smaller pulse width.
  • the peak powers of the light beams emitted by the multiple first light sources 1011 are coupled together, so that the first light source 1011 has the same structure and performance parameters.
  • the peak power of the light beam emitted by the second light source 1031 is greater than the peak power of the light beam emitted by the first light source 1011.
  • the pulse width and frequency are the same, the light intensity of the light beam emitted by the second light source 1031 is greater than the light intensity of the light beam emitted by the first light source 1011.
  • every four first light sources 1011 form a second light source 1031 via a beam combining element 102, a plurality of second light sources 1031 form a second light source array, and the second light source array faces the target The area emits the second light beam.
  • the peak power of the first light source 1011 is 100 W
  • the peak power of the coupled second light source 1031 is about 400 W.
  • any number of first light sources can be combined into one second light source, and the beam combining element can be set to be multiple, respectively corresponding to the formation of multiple light sources.
  • a second light source it can also be designed as a beam combining element with multiple input ends and multiple output ends to form multiple second light sources.
  • the light source, the beam combining element, and the number of input ports and output ports of the beam combining element are not particularly limited; at the same time, the configuration relationship between the input ports and output ports of the beam combining element and the first light source and the second light source It is not particularly limited.
  • multiple groups of first light sources may share the same beam combining element, and a single first light source in each group of first light sources corresponds to input through an input end of the beam combining element; of course, the output of the beam combining element
  • the terminal may also be configured such that each output terminal corresponds to one second light source, or the same output terminal corresponds to multiple second light sources. No matter what configuration is adopted, as long as it does not deviate from the main creative concept of this application, it should fall within the scope of protection of this application.
  • the driver 104 is used to control the first light source 1011 to emit light so as to control the light emitted by the second light source 1031.
  • the light beams can be grouped or emitted as a whole.
  • the peak power of the second light source 1031 can be adjusted by adjusting the number or peak power of the light beams emitted by the first light source 1011. The light intensity of the second light beam is emitted.
  • the first light source 1011 can be controlled to turn off, for example, two of them can be turned off to reduce the intensity of light emitted by the second light source 1031, or the peak power of each first light source 1011 can be reduced, resulting in the first light source 1011.
  • the peak power of the second light source 1031 is reduced, thereby reducing the light intensity of the emitted light beam.
  • the driver 104 may also be a part of the control and processing circuit.
  • the first light source 1011 is adjusted to achieve the control of the light intensity of the light beam emitted by the second light source 1031; in specific applications, reasonable configuration can be made according to actual needs to achieve adaptive adjustment, thereby effectively reducing energy consumption and improving Detection accuracy.
  • the second light sources 1031 in the second light source array 103 may be arranged regularly or irregularly.
  • the second light source array 103 is a one-dimensional light source array.
  • the second light source array 103 may also be a two-dimensional light source array.
  • a second light source is formed by coupling a plurality of first light sources together, so that the light energy of the second light source is greater than that of the first light source, and the peak power of the light beam emitted by the second light source is greater than that under the same pulse width.
  • the first light source emits the peak power of the light beam, and the light intensity of the second light beam is greater than the light intensity of the first light beam, thereby achieving the advantage of high peak power of the emitted light beam under a narrow pulse width.
  • a method for manufacturing a transmitting unit which includes the following steps:
  • the substrate is a semiconductor substrate; the first light source is arranged on the semiconductor substrate to form a first light source array.
  • a beam combining element is provided.
  • the beam combining element includes an input port and an output port. At least two first light beams are collected through the input port and combined into one beam, and output through the output port to form a second light source; wherein, a plurality of second light sources form a second light source array , Used to emit the second beam.
  • the second light beam is a light beam emitted into the space of the target area to illuminate the target object.
  • it further includes the following steps:
  • a driver is provided for controlling the light emission of the first light source in the first light source array, so as to control the light emitted by the second light source.
  • the beam combining element couples the peak powers of at least two first light beams together to form a second light beam, so that the light intensity of the second light beam is greater than that of the first light beam.
  • the beam combining element includes a plurality of the input ports and one or more of the output ports.
  • a plurality of the first light sources are arranged on the substrate in an arbitrary arrangement to form a first light source array; and a plurality of the second light sources are arranged in a regular/or irregular manner to form a first light source array.
  • Two light source array Referring to FIG. 2, as another embodiment of the present application, a laser emitting module is also provided.
  • FIG. 2 is a schematic diagram of a laser emitting module according to another embodiment of the present application.
  • the laser emitting module 20 includes a laser emitting unit 200 and Scanning unit 204.
  • the laser emitting unit 200 includes a first light source array 201, a second light source array 203, a beam combining element 202, and a driver (not shown).
  • the first light source array 201 includes a plurality of first light sources 2011, and the first light sources 2011 are configured to emit a first light beam toward a target area.
  • the first light source 2011 may be a light emitting diode (LED), a laser diode (LD), an edge emitting laser (EEL), a vertical cavity surface emitting laser (VCSEL), or the like.
  • the multiple first light sources 2011 in the first light source array 201 are arranged on a substrate in any arrangement (not shown), the arrangement may be regular or irregular; the substrate may be a semiconductor substrate, a metal substrate, etc.;
  • the light beam emitted by the first light source 2011 may be visible light, infrared light, ultraviolet light, and the like.
  • the first light source array 201 is an array light source chip composed of multiple VCSEL sub-light sources arranged on a semiconductor substrate.
  • the first light source 201 emits light under the modulation drive of the driver, such as amplitude modulation, phase modulation, frequency modulation, and pulse modulation.
  • the beam combining element 202 includes an input port and an output port; in the embodiment shown in FIG. 2, the beam combining element 202 includes a plurality of input ports and an output port, and combines the first light beams emitted by at least two first light sources 2011 into one The beam output forms a second light source 2031.
  • multiple groups of first light sources 2011 form multiple second light sources 2031 under the action of multiple beam combining elements 202, and multiple second light sources 2031 form a second light source array 203; preferably, the second light source array
  • the second light sources 2031 in 203 are regularly arranged.
  • the beam combining element 202 includes multiple input ports and multiple output ports, and multiple groups of first light sources 2011 emit light beams driven by the driver and input into the beam combining element 202, and output from multiple output ports at the same time to form a corresponding second light source 2031.
  • the second light sources 3031 are arranged in a linear manner to form a one-dimensional second light source array 203.
  • Fig. 2 shows a one-dimensional line light source array regularly arranged in a row.
  • it may also be a one-dimensional line light source array regularly arranged in a row. As shown in FIG. 2, every ten first light sources 2011 form a second light source 2031 after passing through a beam combining element 202, a plurality of second light sources 2031 form a one-dimensional second light source array 203, and the second light source array 203 faces the target area The second line beam is emitted. In this way of emitting the line beam, the length of the line beam is determined by the number of second light sources. It is understandable that the numbers in this embodiment are only illustrative.
  • any number of first light sources can be combined to form a first light source array, and the beam combining element can be set to be multiple, respectively corresponding to form Each second light source; can also be designed as a beam combining element with multiple input ends and output ends to form multiple second light sources.
  • the scanning unit 204 receives the light beam emitted by the second light source array 203 and emits a third light beam after performing deflection scanning. By controlling the scanning unit 204 to continuously deflect, a continuous scanning line can be obtained to form a scanning projection pattern 205 in the target space. Each illuminating spot (represented by a hollow circle in FIG. 2) in the scan line is reflected by the target object and then imaged onto the corresponding pixel or pixel unit (super pixel) in the sensor array.
  • the control and processing circuit can control the corresponding pixels of the third light beam to be turned on to receive the light beam after being reflected by the target area during each scan, while other pixels are turned off, which effectively reduces the system power consumption and reduces the interference of adjacent pixels.
  • the scanning unit 204 can be a liquid crystal spatial light modulator, an acousto-optic modulator, a MEMS galvanometer, a rotating prism pair, a single prism + a motor, a reflective two-dimensional OPA device, a liquid crystal metasurface device (LC-Metasurface) and other devices.
  • the scanning unit 204 is a MEMS galvanometer, and the MEMS galvanometer is deflected under the control of the driver to reflect the one-dimensional light beam projected on the MEMS galvanometer into the target scene to form a two-dimensional projection pattern, and the image is reflected by the target. In the two-dimensional sensor array, the entire field of view is finally scanned.
  • the scanning resolution is determined by the interval between consecutive scan lines.
  • the scan resolution can be increased by reducing the interval between consecutive scan lines.
  • One-dimensional linear scanning can be used to obtain sufficient
  • the spatial resolution is simpler than the two-dimensional scanning operation.
  • the second light source array may include a plurality of line light source arrays, and the emitted light beams can be deflected by the scanning unit to realize scanning of multiple regions at the same time, so as to increase the scanning speed.
  • the second light source array includes multiple one-dimensional second light source arrays with a certain interval between each other, and simultaneously emits multiple second line beams toward the target area, and respectively emits multiple third line beams outward after passing through the scanning unit.
  • the light beam realizes the sub-area scanning of the target area, and each one-dimensional second light source array scans a sub-target area correspondingly.
  • the sensor array is also correspondingly divided into a plurality of sub-sensor arrays, and receives the second light beams emitted by the corresponding line light source.
  • the scanning speed is effectively increased and the frame rate is improved.
  • the beam combining element may be a Powell prism
  • the first light beams emitted by at least two first light sources are coupled together after passing through the Powell prism to form a second light source
  • the second light source is used to emit the second light beam, That is, it is used to emit a line beam.
  • the scanning unit receives the line beam emitted by the second light source and performs deflection scanning to obtain a continuous scanning line to form a scanning projection pattern in the target space.
  • multiple groups of first light sources at different positions can be designed to emit first light beams through Powell prisms to form multiple second light sources. Each second light source is used to emit a line beam, and multiple second light sources emit multiple light sources. After the line beam passes through the scanning unit, the target area is scanned in different areas.
  • the transmitting module 20 further includes a beam splitting unit (not shown).
  • the beam splitting unit splits a column of second light beams emitted by the second light source array into multiple columns of second light beams. The beam is deflected to scan multiple areas at the same time.
  • the beam splitting unit may be a diffractive optical element, a grating, an optical mask, a metasurface optical element, or any combination of optical devices that can achieve beam splitting.
  • FIG. 3 is a schematic diagram of a laser emitting module according to another embodiment of the application.
  • the laser emitting module 30 includes a laser emitting unit 300.
  • the light beams emitted by multiple groups of first light sources 3011 are coupled through the beam combining element 302 and output to form multiple second light sources 3031, and multiple second light sources 3031 form an area array.
  • the light source array 303 preferably, a plurality of second light sources 3031 are arranged in a regular manner to form a two-dimensional area array light source array 303, and the two-dimensional area array light source array 303 projects a regular spot pattern light beam toward the target scene.
  • the solid line is used in FIG.
  • the hollow circle indicates that each light beam is imaged onto the corresponding pixel after being reflected by the target, and the pixel unit receives the photons in the reflected light beam and forms a response signal.
  • the area of the field of view is measured by using the area array light source array, and there is no need to set up complicated scanning elements.
  • the second light source array and the sensor array are designed to have the same shape and size, and the second light source and the sensor have a one-to-one correspondence.
  • the light beam emitted by each light source is reflected by the target and then imaged onto the corresponding pixel, which is the effective volume of the ranging system.
  • the control and processing circuit can control part of the second light source and the corresponding part of the sensor to turn on, so as to realize the scanning of the designated area.
  • the transmitting module 30 further includes a scanning unit 304, which deflects the second light beam emitted by the second light source 3031 in a certain direction at a small angle and then emits the third light beam outward; preferably, the small angle is smaller than The angle between two adjacent second beams, the projection pattern beam formed by the deflected third beam projected into the target space is located between the projection pattern beams formed by the two adjacent second beams, as shown in Figure 3
  • the dashed hollow circle indicates that the projection pattern 305 projected to the target scene has a higher density, thereby improving the resolution of the system. It is understandable that in practical applications, the deflection direction of the light beam can be arbitrarily set according to actual needs.
  • the scanning unit 304 can be one of a liquid crystal spatial light modulator, an acousto-optic modulator, a MEMS galvanometer, a rotating prism pair, a single prism + motor, a reflective two-dimensional OPA device, a liquid crystal metasurface device (LC-Metasurface) and other devices.
  • a liquid crystal spatial light modulator an acousto-optic modulator
  • MEMS galvanometer a rotating prism pair
  • a single prism + motor a single prism + motor
  • a reflective two-dimensional OPA device a liquid crystal metasurface device (LC-Metasurface) and other devices.
  • LC-Metasurface liquid crystal metasurface
  • the transmitting module 30 may further include a beam splitting unit (not shown).
  • the beam splitting unit receives the second light beam emitted by the second light source 3031 and performs replication and splitting to form a larger number of second light beams. The latter second beam is deflected and projected to the target field of view by the scanning unit, thereby obtaining a larger field of view angle and higher resolution.
  • the beam splitting unit may be a diffractive optical element, a grating, an optical mask, a metasurface optical element, or any combination of optical devices that can achieve beam splitting.
  • the light emitted by the first light source can be adjusted to control the light emitted by the second light source.
  • the output power of the second light source can be adjusted by adjusting the number or output power of the emitted light beams from the first light source, thereby regulating the light emitted by the light source. strength.
  • reducing the light intensity of the emitted second light beam By adjusting the first light source to control the intensity of the beam emitted by the second light source, reasonable configuration can be made according to actual needs, and even adaptive adjustment can be realized, which effectively reduces energy consumption and can improve detection accuracy.
  • FIG. 4 is a schematic diagram of a laser ranging device according to an embodiment of the application.
  • the laser ranging device 40 includes a transmitting module 41, a receiving module 42 and a control and processing circuit 43; wherein the transmitting module 41 is in any of the foregoing embodiments
  • the described emission module is used to emit a light beam 50 to the target area 20.
  • the light beam is emitted into the target area space to illuminate the target object in the space.
  • At least part of the emitted light beam 50 is reflected by the target area 20 to form a reflected light beam 60.
  • the receiving module 42 After the time delay, at least part of the reflected light beam 60 is received by the receiving module 42.
  • the control and processing circuit 43 is respectively connected with the transmitting module 41 and the receiving module 42 to synchronize the trigger signals of the transmitting module 41 and the receiving module 42 to calculate the time required for the light beam to be received from the transmission and reflection, that is, the transmission light beam 50 and the reflected light beam 60 According to the flight time t, the distance D of the corresponding point on the target object can be calculated by the following formula:
  • the emitting module 41 includes a laser emitting unit 411, a emitting optical element 412, and a driver 413.
  • the laser emitting unit 411 is a one-dimensional or two-dimensional light source array composed of multiple light sources, where the light source can be a light emitting diode (LED), a laser diode (LD), an edge emitting laser (EEL), a vertical cavity surface emitting laser (VCSEL) ) Etc.;
  • the light source array is a VCSEL array light source chip formed by generating multiple VCSEL light sources on a single semiconductor substrate.
  • the arrangement of the light sources in the light source array can be regular or irregular, and the light beam emitted by the light source can be visible light, infrared light, ultraviolet light, etc.
  • the laser emitting unit 411 emits light beams outward under the control of the driver 413. In some embodiments, the emitting unit 411 emits a pulsed beam to the outside under the control of the driver 413. It is understandable that a part of the control and processing circuit 43 or a sub-circuit independent of the control and processing circuit 43 can also be used to control the emission unit 411 to emit the relevant light beam.
  • the emitting optical element 412 receives the light beam emitted from the emitting unit 411, shapes it and projects it to the target area.
  • the transmitting optical element 412 receives the pulsed light beam from the light source array of the transmitting unit 411, and optically modulates the pulsed light beam, such as diffraction, refraction, reflection, etc., and then emits the modulated light beam into the space.
  • the transmitting optical element 412 may be one or more combinations of lenses, liquid crystal elements, diffractive optical elements, microlens arrays, metasurface optical elements, masks, mirrors, MEMS galvanometers, and the like.
  • the receiving module 42 includes a receiving unit 421, a receiving optical element 422 and a processing circuit 423.
  • the receiving unit 421 includes a two-dimensional sensor array composed of multiple sensors.
  • each sensor also referred to as a pixel
  • the sensor can be a single photon avalanche photodiode (SPAD) or an avalanche photodiode (APD).
  • the receiving optical element 122 is used for receiving and guiding at least part of the reflected light beam reflected by the target to the receiving unit 421.
  • the receiving optical element 422 includes a lens unit, a filter, and the like.
  • the processing circuit 423 processes the signal of the light beam collected by the sensor.
  • the sensor array may be an array unit composed of SPAD, and the SPAD outputs a photon signal in response to a single incident photon.
  • the processing circuit 423 receives the photon signal and performs signal processing to obtain the flight time of the light beam. Specifically, the processing circuit 423 calculates the number of collected photons to form continuous time bins. These time bins are connected together to form a statistical histogram for reproducing the time series of reflected light pulses.
  • the reflected light beam is identified by peak matching and filter detection. The time of flight from launch to reception.
  • the processing circuit 423 includes a signal amplifier, a time-to-digital converter (TDC), a digital-to-analog converter (ADC), and other devices. It can be understood that the processing circuit 423 may also be a part of the control and processing circuit 43.
  • TDC time-to-digital converter
  • ADC digital-to-analog converter
  • the control and processing circuit 43 synchronizes the trigger signals of the transmitting unit and the receiving unit, and calculates the distance information of the target to be measured based on the flight time of the reflected light beam.
  • the control and processing circuit 43 may be an independent dedicated circuit, such as a dedicated SOC chip, an FPGA chip, an ASIC chip, etc., or it may include a general-purpose processing circuit.
  • the laser ranging device 40 further includes a memory for storing a pulse encoding program, and the encoding program is used to control the excitation time, emission frequency, etc. of the beam emitted by the laser emitting unit 411.
  • Another embodiment of the present application also provides a laser ranging method. As shown in FIG. 5, the method includes the following steps:
  • 501 Transmit a light beam to a target area through a transmitting module, wherein the transmitting module includes a first light source array, a beam combining element, and a second light source array; specifically, the beam combining element is used to couple the first light beam emitted by the first light source array to Form a second light source array together, and the second light source array is used to emit a second light beam toward the target area;
  • the transmitting module includes a first light source array, a beam combining element, and a second light source array; specifically, the beam combining element is used to couple the first light beam emitted by the first light source array to Form a second light source array together, and the second light source array is used to emit a second light beam toward the target area;
  • the beam combining element includes an input port and an output port, wherein the first light beams emitted by at least two first light sources are combined into a beam of light (which can be called a combined beam) through the input port and the beam combining element, and the combined beam is output through the output port A second light source is formed, and multiple groups of first light sources form multiple second light sources under the action of multiple beam combining elements, multiple second light sources form a second light source array, and the second light source array emits a second light beam outward.
  • the beam combining element includes multiple input ports and one output port; of course, the beam combining element may also include multiple input ports and multiple output ports, and multiple groups of light beams emitted by the first light source are input to the beam combining element. , Simultaneously output from multiple output ports to form a corresponding second light source.
  • the first light source has a smaller pulse width
  • the peak power of the multiple first light sources is coupled together after the beam combining element, so that the peak power of the second light source is greater than that of the first light source. Peak power.
  • the light intensity of the light beam emitted by the second light source is greater than the light intensity of the light beam emitted by the first light source, so as to achieve the advantage of high peak power of the emitted light beam under a narrow pulse width, so that the distance measuring device can be used.
  • an electronic device is also provided.
  • the electronic device may be a desktop, a desktop-mounted device, a portable device, a wearable device or a vehicle-mounted device, a robot, and the like.
  • the electronic device 600 includes a housing 61, a screen 62, and the laser ranging device described in the foregoing embodiment; wherein, the laser emitting module of the laser ranging device
  • the receiving module and the receiving module are arranged on the same surface of the electronic device for emitting light beams to the target object and receiving the light beams reflected by the target object to form an electrical signal.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un dispositif de mesure de distance laser (40) comprenant : un module d'émission (41), un module de réception (42), et un circuit de commande et de traitement (43). Le module d'émission (41) comprend des premières sources de lumière, un élément de combinaison de faisceaux et une seconde source de lumière. L'élément de combinaison de faisceaux couple les faisceaux émis par les premières sources de lumière pour former une seconde source de lumière de façon à émettre un second faisceau. Le module de réception (42) comprend un réseau de pixels constitué d'une pluralité de pixels. Le circuit de commande et de traitement (43) est utilisé pour synchroniser des signaux de déclenchement du module d'émission (41) et de module de réception (42) pour calculer le temps de vol requis par le faisceau de l'émission à la réception, et calculer la distance d'un objet cible en fonction du temps de vol. Le dispositif couple une pluralité de premières sources de lumière ensemble pour former la seconde source de lumière, et augmente l'énergie lumineuse et la puissance de crête du faisceau émis, de telle sorte que le faisceau émis a l'avantage d'une puissance de crête élevée sous une largeur d'impulsion étroite. En combinaison avec un élément de balayage, différents modes de mesure de distance basés sur le balayage sont obtenus, de telle sorte que le dispositif de mesure de distance laser peut améliorer à la fois la précision de mesure de distance et la capacité de mesure de distance.
PCT/CN2020/141731 2020-04-20 2020-12-30 Dispositif et procédé de mesure de distance laser WO2021212915A1 (fr)

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