WO2021227202A1 - 探测装置及方法 - Google Patents

探测装置及方法 Download PDF

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Publication number
WO2021227202A1
WO2021227202A1 PCT/CN2020/097331 CN2020097331W WO2021227202A1 WO 2021227202 A1 WO2021227202 A1 WO 2021227202A1 CN 2020097331 W CN2020097331 W CN 2020097331W WO 2021227202 A1 WO2021227202 A1 WO 2021227202A1
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Prior art keywords
circuit
signal
phase
light
signals
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PCT/CN2020/097331
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English (en)
French (fr)
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雷述宇
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宁波飞芯电子科技有限公司
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Priority to US17/924,500 priority Critical patent/US20230204735A1/en
Publication of WO2021227202A1 publication Critical patent/WO2021227202A1/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
    • 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
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/50—Transmitters
    • H04B10/516—Details of coding or modulation
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4913—Circuits for detection, sampling, integration or read-out
    • G01S7/4914—Circuits for detection, sampling, integration or read-out of detector arrays, e.g. charge-transfer gates
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/50—Transmitters
    • H04B10/516—Details of coding or modulation
    • H04B10/548—Phase or frequency modulation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/50—Transmitters
    • H04B10/516—Details of coding or modulation
    • H04B10/548—Phase or frequency modulation
    • H04B10/556—Digital modulation, e.g. differential phase shift keying [DPSK] or frequency shift keying [FSK]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/50—Transmitters
    • H04B10/516—Details of coding or modulation
    • H04B10/548—Phase or frequency modulation
    • H04B10/556—Digital modulation, e.g. differential phase shift keying [DPSK] or frequency shift keying [FSK]
    • H04B10/5561—Digital phase modulation

Definitions

  • This application relates to the field of detection technology, and in particular to a detection device and method.
  • DTOF direct-TOF
  • the emitted light signal is periodically modulated, and the phase of the reflected light signal relative to the emitted light signal is modulated.
  • the measurement technique in which the delay is measured and the flight time is calculated by the phase delay is called the ITOF (Indirect-TOF) technique.
  • ITOF Indirect-TOF
  • modulation and demodulation it can be divided into continuous wave (CW) modulation and demodulation mode and pulse modulation (Pulse Modulated, PM) modulation and demodulation mode.
  • CW continuous wave
  • PM Pulse Modulated
  • the ITOF scheme can also achieve high precision and high Sensitive distance detection program, so the application of ITOF program has also been more widely used.
  • the distance information of the target can be obtained according to the phase ranging algorithm.
  • the phase ranging algorithm For example, the simplest two-phase method, Or you can also use a three-phase four-phase method or even a five-phase scheme to obtain distance information.
  • a four-phase algorithm is used as an example. At least two exposures are required (in order to ensure measurement accuracy, four exposures are usually required)
  • there are differences in the results as described before when outputting information from different taps in order to ensure the results in the ranging or image acquisition process
  • the accuracy of the system is in urgent need of a solution that can solve the above problems.
  • the purpose of this application is to provide a detection device and method in view of the above-mentioned shortcomings in the prior art, so as to solve the technical problem that the detection distance of the existing detection device is not far enough.
  • an embodiment of the present application provides a detection device, including: a light source, the light source is operable to emit light to illuminate an object to be detected;
  • a receiving part having a photoelectric conversion module configured to obtain the amount of light of the light source reflected by the detected object, and the photoelectric conversion module can generate corresponding photo-generated electrons according to the amount of received light;
  • the receiving part further includes a first circuit and a second circuit configured to convert incident light into respective electrical signals, wherein the first circuit is configured to receive the first modulation signal, and the second circuit is configured to receive the second modulation signal. Signal, wherein the first circuit and the second circuit are configured to generate respective electrical signals according to the first modulation signal and the second modulation signal;
  • the controller can be electrically connected to the light source emitting light to illuminate the object to be detected, and at the same time, the controller can also be electrically connected to the receiving part, and the receiving part can receive the same phase as the light signal emitted by the light source Or multiple receiving control signals with different phases, and obtaining at least one electrical signal corresponding to the same phase receiving control signal through the two circuits;
  • the information acquisition unit can obtain the target information of the detected object according to the electrical signals of the same phase reception control signal obtained by the two circuits respectively.
  • the multiple reception control signals that have the same phase or different phases as the light signal emitted by the light source are four different phase reception control signals.
  • the electrical signals corresponding to the in-phase received control signal are at least summed.
  • the multiple reception control signals of the same phase or different phases include four phase signals of 0°, 90°, 180°, and 270°, and the light receiving unit receives control signals for at least one of the phases.
  • the electrical signals corresponding to the reflected light of the same phase are obtained through the two circuits respectively.
  • the two circuits respectively obtain different electrical signals corresponding to each phase of the multiple received control signals of the same phase or different phases.
  • the first modulation signal and the second modulation signal are reciprocal for at least a part of the time period.
  • the light source includes at least four output lights of the same duration, and the circuit modulation signals corresponding to the two received control signals with a phase difference of 180° are reciprocal signals.
  • the circuit modulation signals corresponding to the two received control signals with a phase difference of 90° have a first time interval between them, and both of them are received by the receiving unit receiving the first modulation signal and the second modulation signal.
  • the first circuit and the second circuit are converted into different electrical signals.
  • the first circuit and the second circuit are connected to the same pixel unit, and receive the first modulation signal and the second modulation signal to generate respective electrical signals.
  • the receiving part includes a plurality of the pixel units arranged in an array.
  • an embodiment of the present application provides a detection method, which is applied to the detection device described in the above-mentioned first aspect, and the detection method includes:
  • the receiving part is controlled by the control signal to obtain the light quantity of the light source reflected by the detected object, and the photoelectric conversion module in the receiving part can generate corresponding photo-generated electrons according to the received light quantity;
  • the receiving part further includes a first circuit and a second circuit configured to convert incident light into respective electrical signals, wherein the first circuit is configured to receive the first modulation signal control, and the second circuit is configured to receive the second Modulation signal control, wherein the first circuit and the second circuit are configured to generate respective electrical signals according to the first modulation signal and the second modulation signal;
  • a controller that controls the light source to emit light to illuminate the object to be detected can also control the receiving unit, which can receive multiple receivers with the same phase or different phases as the light signal emitted by the light source Control signal control, and obtain at least one electrical signal corresponding to the same phase reception control signal through the two circuits;
  • the information acquisition unit can obtain the target information of the detected object according to the electrical signals of the same phase reception control signal obtained by the two circuits respectively.
  • the multiple reception control signals that have the same phase or different phases as the light signal emitted by the light source are four different phase reception control signals.
  • the electrical signals corresponding to the in-phase received control signal are at least summed.
  • the multiple reception control signals of the same phase or different phases include four phase signals of 0°, 90°, 180°, and 270°, and the light receiving unit receives control signals for at least one of the phases.
  • the electrical signals corresponding to the reflected light of the same phase are obtained through the two circuits respectively.
  • the two circuits respectively obtain different electrical signals corresponding to each phase of the multiple received control signals of the same phase or different phases.
  • the first modulation signal and the second modulation signal are reciprocal for at least a part of the time period.
  • the light source includes at least four output lights of the same duration, and the circuit modulation signals corresponding to the two received control signals with a phase difference of 180° are reciprocal signals.
  • the circuit modulation signals corresponding to the two received control signals with a phase difference of 90° have a first time interval between them, and both of them are received by the receiving unit receiving the first modulation signal and the second modulation signal.
  • the first circuit and the second circuit are converted into different electrical signals.
  • the first circuit and the second circuit are connected to the same pixel unit, and receive the first modulation signal and the second modulation signal to generate respective electrical signals.
  • the receiving part includes a plurality of the pixel units arranged in an array.
  • An embodiment of the present application provides a detection device and method, the detection device includes: a light source, the light source is operable to emit light to illuminate an object to be detected;
  • a receiving part having a photoelectric conversion module the receiving part is configured to obtain the amount of light of the light source reflected by the detected object, and the photoelectric conversion module can generate corresponding photo-generated electrons according to the amount of received light;
  • the receiving The section further includes a first circuit and a second circuit configured to convert incident light into respective electrical signals, wherein the first circuit is configured to receive the first modulation signal, and the second circuit is configured to receive the second modulation signal, wherein , The first circuit and the second circuit are configured to generate respective electrical signals according to the first modulation signal and the second modulation signal;
  • the controller can be electrically connected to the light source to emit light to illuminate the object to be detected, and at the same time
  • the controller may also be electrically connected to the receiving part, and the receiver may receive a plurality of receiving control signals with the same phase or different phases as the light signal emitted by the light source, and obtain at least one identical signal through the two circuits.
  • the electrical signal corresponding to the phase reception control signal; the information acquisition unit can obtain the target information of the detected object according to the electrical signals of the same phase reception control signal obtained by the two circuits, respectively, so that the two Each circuit obtains at least one electrical signal corresponding to the receiving control signal of the same phase. That is to say, for the completely same emitted light reflected by the target and received by different circuits, it can be understood that it is obtained by different taps and performed in the subsequent circuit. Operational processing, the two electrical signal values of the same signal can finally be used for certain calculations, including the difference value and other solutions to obtain the final more accurate information, so that the detector has the maximum accuracy in the quality of the image obtained or the distance measured. Sexual improvement.
  • FIG. 1 is a schematic diagram of functional modules of a detection device provided by an embodiment of the application.
  • FIG. 2 is a schematic diagram of the work of a receiving unit provided by an embodiment of this application.
  • FIG. 3 is a schematic diagram of the work of an information acquisition unit provided by an embodiment of this application.
  • FIG. 4 is a schematic diagram of a control sequence diagram provided by an embodiment of the application.
  • FIG. 5 is a schematic diagram of another control sequence provided by an embodiment of the application.
  • FIG. 6 is a schematic diagram of yet another control sequence provided by an embodiment of this application.
  • FIG. 7 is a schematic flowchart of a detection method provided by an embodiment of this application.
  • FIG. 8 is a schematic flowchart of another detection method provided by an embodiment of the application.
  • FIG. 9 is a schematic flowchart of another detection method provided by an embodiment of this application.
  • FIG. 1 is a schematic diagram of functional modules of a detection device provided by an embodiment of the application.
  • the detection device includes a light source 110, a controller 120, a receiving unit 130, and an information acquisition unit 140.
  • the light source 110 may be configured as a continuous light emitting unit or an array type light source system, which may be a semiconductor laser, It can also be an LED or other pulse-modulated light source.
  • a semiconductor laser is used as the light source, a vertical-cavity surface-emitting laser (VCSEL) or an edge-emitting semiconductor laser (EEL) can be used.
  • VCSEL vertical-cavity surface-emitting laser
  • EEL edge-emitting semiconductor laser
  • the receiving unit 130 includes a photoelectric conversion module, which has a photoelectric conversion function, which can be realized by a photodiode (PD), and can be specifically a charge-coupled device (CCD), a complementary metal oxide semiconductor (Complementary Metal Oxide). Semiconductor, CMOS), and its type is not specifically limited here.
  • a photoelectric conversion module which has a photoelectric conversion function, which can be realized by a photodiode (PD), and can be specifically a charge-coupled device (CCD), a complementary metal oxide semiconductor (Complementary Metal Oxide). Semiconductor, CMOS), and its type is not specifically limited here.
  • the controller 120 controls the light source to emit different times of emitted light.
  • the controller 120 delays the phase difference from the emitted light to 0°, 180°, 90°, and 270, respectively.
  • °The light reflected by the detected object 150 corresponding to different phase delays is obtained at four values.
  • the reflected light forms incident light in the receiving part 130, and then undergoes photoelectric conversion by the receiving part to generate different information.
  • the 0° and 180° two-phase schemes are used to obtain the information of the detected object.
  • the solution is not specifically limited in the present invention, and the acquired target information may be image information of the target, distance information or contour information of the target, etc., and the present invention is not specifically limited either.
  • the multi-tap structure can have an independent tap for each phase, four phase taps and a pixel unit.
  • Phase connection can be direct connection or transfer connection through an intermediate medium), or two phases can share a tap, for example, 0° and 90° share a tap, 180° and 270° share a tap, so the design can not only To achieve the purpose of reliable transmission of information, it can further ensure the optimization of pixel size design and layout structure.
  • Multi-tap connection on a pixel achieves the effect of efficiently obtaining target information (such as distance, depth, contour or image, etc.) .
  • the light source 110 emits emitted light
  • the receiving unit 130 is controlled by the controller 120 to obtain the light reflected by the detected object 150 at a predetermined delay phase, for example, four different delay phases, from the emitted light.
  • the reflected light forms incident light in the receiving part 130.
  • the solution does not make special requirements for the light source.
  • the light emitted by the light source each time is the same light and there is no phase difference, which avoids the need to adjust the lighting state parameters of the light source device during use.
  • the error is caused, and the implementation of the equipment is very simple, which ensures the reliability of the entire detection equipment system.
  • the realization of the phase delay is implemented in the receiving part and the controller, and the controller can be integrated in the receiving part to ensure The system structure is simple and efficient.
  • the use of a multi-phase delay receiving scheme in the receiving part also avoids the need to emit light for each phase at the transmitting end. For example, in the four-phase scheme, we can get 0 in one transmission. ° and 180 ° phase delay target information, which enables the entire ranging system to achieve high-efficiency ranging targets.
  • the light emitted by the light source 110 and reflected by the detected object 150 is converted into photo-generated electrons (or photo-generated charges) in the photoelectric conversion module of the receiving part.
  • the first circuit or the second circuit mentioned here includes the charge or electron transfer channel inside the pixel
  • the first electron transfer channel or the second electron transfer channel in the pixel are respectively transferred to different
  • the external physical circuit part of the (the first circuit or the second circuit also includes the first physical circuit part and the second physical circuit part outside the pixel), and then undergoes the physical scheme calculation inside the pixel (for example, using a charge storage unit: Capacitors, etc.) or digital operations (for example, a structure that integrates a sensor and a computing unit into an integrated chip), or performing physical operations or digital operations on subsequent ADCs or other circuit parts, the present invention does not limit specific implementation solutions.
  • the controller 120 controls the light source 110 to emit the emitted light, and after it is reflected by the detected object 150, the controller 120 controls the receiving unit 130 to receive with two phase delays, for example The two phase delays of 0° and 180° of the above four phases are received.
  • the photoelectric conversion module in the receiving part 130 converts the delayed phase optical signal into photo-generated electrons in the pixel, and the tap of the first circuit receives the first modulation
  • the signal transfers the photo-generated electrons converted from the 0° phase of the pixel in the photoelectric conversion module to form an electrical signal.
  • This electrical signal is output by the first circuit.
  • the photo-generated electrons converted in the photoelectric conversion module with a phase of 180° are transferred to form an electrical signal, which is output by the second circuit. It is also possible that each phase delay corresponds to a tap.
  • 0° and 90° share a floating diffusion node (FD), and 180° and 270° share a floating diffusion node (FD).
  • the specific operation is Using a floating diffusion node does not mean sharing a fixed floating diffusion node.
  • Two floating diffusion nodes that share a phase delay can be interchanged.
  • the electrical signals corresponding to the 0° and 180° phase delays can be obtained in one light source emission, and in the next control of the controller, the 90° and 270° phase delays of the four phases
  • the photoelectric conversion module in the receiving unit 130 converts the delayed phase light signal into photo-generated electrons in the pixel, and the tap of the first circuit receives the first modulation signal, and converts the 90° phase in the pixel into the photoelectric conversion module.
  • the photo-generated electrons are transferred to form an electrical signal. This electrical signal is output by the first circuit.
  • the tap of the second circuit receives the second modulation signal. Signal, this electrical signal is output by the second circuit, in this mode the information corresponding to 90° and 270° is obtained at one time.
  • the controller 120 can also control the light source 110 to output the emitted light, and control at least two phase delays of 0° and 180° among the four phases for reception.
  • the photoelectric conversion module in the receiving unit 130 transmits the delayed phase light signal in the pixel It is converted into photo-generated electrons.
  • the tap of the first circuit receives the first modulation signal and transfers the photo-generated electrons converted by the 180° phase in the photoelectric conversion module to form an electrical signal. This electrical signal is output by the first circuit.
  • the taps of the two circuits receive the second modulation signal, transfer the photo-generated electrons converted by the 0° delay phase of the pixel in the photoelectric conversion module to form an electrical signal, which is output by the second circuit, so far, the two circuits are realized separately Obtain at least one electrical signal corresponding to the same phase receiving control signal.
  • at least two electrical signals obtained by the two circuits can be calculated to obtain target information, such as image or distance information. Use the signals obtained by the two circuits to perform the following operations:
  • the 90° and 270° delayed phase results are obtained through similar schemes, and can be corrected by calculations similar to Equation 1, and the corrected results can be used in the final target information acquisition.
  • the corrected results can be used in the detection of the detection device.
  • the process result can also be directly used in the specific expression of the final image or distance calculation.
  • the present invention does not limit the specific implementation.
  • f(0°) refers to the final information result corresponding to the 0° phase that needs to be corrected.
  • f(0°_1) refers to the information result corresponding to the 0° phase obtained by the first circuit
  • f(0°_2) refers to the information result corresponding to the 0° phase obtained by the second circuit
  • m, n, l, h can be [-1, 1] The correction coefficient of the value in the interval.
  • the phase delay of the receiving phases of 0° and 180° has a phase difference of 180°;
  • the modulation signals corresponding to the two delayed receiving phases in the first circuit and the second circuit are reciprocal signals, that is to say In the first period of time, when the 0° phase delay receives the electrical signal output through the first circuit or the second circuit, the corresponding 180° delay reception on the pixel does not output the electrical signal through any of the above two circuits.
  • the opposite operation is performed in the other time period.
  • the same operation is performed for the phase difference of 180° and the phase delay of 90° and the receiving phase of 270°. In this way, the circuit modulation signal corresponding to the phase difference of 180° is obtained.
  • the reciprocal signal scheme achieves the effect of obtaining signal reliability and efficient operation of the system when multi-phase sharing taps or floating diffusion (FD) or other circuit elements is achieved.
  • the phase information with a phase difference of 90° has the first time interval when obtaining phase information.
  • This time interval is an autonomous adjustment time interval within the system, which can be designed according to the reset sequence to ensure the reliability of the output of different phase signals.
  • the charge is allocated to the first tap and the second tap according to the distance to the object, by using all eight detections (for each One phase signal obtains the electrical signal corresponding to the phase delay through two circuits), the signal executes the calculation of the depth representing the distance to the object, and the electrical information of different phases can be output through two different circuits,
  • the accumulated charge signal can be used to calculate the phase difference of the optical signal between the laser imaging radar and the target based on the 4 sets of integrated charges during the distance acquisition process. Taking sinusoidal modulated light as an example, the phase difference between the echo signal corresponding to the modulated light and the transmitted signal for:
  • c is the speed of light and f is the laser frequency emitted by the light source 110.
  • f is the laser frequency emitted by the light source 110.
  • the case where the light emitted by the light source 110 is a square wave can be divided into different cases.
  • the final distance information is obtained according to the following calculation method:
  • Q 0° , Q 90° , Q 180° and Q 270° are the electrical signals converted by the receiving circuit corresponding to different phase delays
  • c is the speed of light
  • different circuits including the internal charge transfer channel of the pixel and the pixel The external physical circuit part
  • the results obtained by the two circuits for the same phase of the received signal processing are also different.
  • r1 refers to the electrical signal value converted by the first circuit by the 0° delay phase actually substituted into the distance calculation formula
  • Q 0° refers to the value obtained without considering the difference between the first circuit and the second circuit under ideal conditions
  • the ideal calculation true value of ⁇ Q1 refers to the deviation electrical signal value generated when the 0° delay phase signal is converted by the first circuit.
  • the electrical signal corresponding to the 180° delay phase is calculated.
  • Each symbol in the formula represents the meaning The meaning is similar to the 0° delay phase calculation formula, which will not be repeated here.
  • the value of ⁇ Q1 can be a linear function relationship or a multiple function relationship. The value can be simulated according to the actual situation.
  • the deviation electrical signal is It is very difficult to obtain in actual use.
  • each of the four different delay phases can be obtained by the first circuit and the second circuit to obtain two electrical signal values, and then use the arithmetic average solution (or similar algorithm) ) To obtain the electrical signal value finally substituted into the expression, which can be expressed by the following formula:
  • the signals obtained by the two circuits are added and operated. After the addition operation, the results obtained by the same phase in different circuit outputs are superimposed. On this basis, the influencing factors ⁇ Q1 and ⁇ Q2 are also superimposed, so in the result Considering the difference of the same phase of the output of different circuits, the accurate distance result can be obtained by using the superimposed result in the subsequent distance calculation, which is explained by the formula 4 of square wave detection:
  • the sum result can be directly used in the final distance acquisition without averaging, and the final accurate distance information can be obtained.
  • the result can be obtained through the accumulation of physical capacitor charges or through the subsequent digital operation of the arithmetic circuit.
  • the difference operation of different phases is involved, so the offset caused by the alignment comparator can be eliminated.
  • it can also remove the transfer function mismatch phenomenon caused by the difference of non-ideal factors such as taps.
  • the deviation charge caused by function mismatch can also be classified as a linear or non-linear relationship. Its fundamental principle is similar to the charge difference caused by offset. It can also be used similar to the value obtained by two channels in image sensing applications. Correction to obtain the most accurate value is as the previous Relation 1 scheme.
  • the receiving module 130 contains a first circuit and a second circuit.
  • the first circuit can receive the first modulated signal. Under the control of the signal, the The photo-generated electrons generated by the photoelectric conversion module inside the part 130 can be transferred by the first circuit to form a first electrical signal.
  • the first circuit includes the electron transfer channel in the pixel unit and the physical circuit part outside the pixel unit.
  • the first modulation The signal can be a physical device or device in the first circuit such as a modulation grid.
  • the modulation signal generated by the controller realizes that different photo-generated electrons are transferred from the first circuit or the second circuit to form a corresponding electrical signal.
  • the second modulation The basic principle of the signal acting on the second circuit is similar to that of the first circuit, and will not be repeated here.
  • the same pixel can also be connected to more circuits to obtain more electrical signals, which will not be repeated here.
  • the first circuit and the second circuit can be directly connected to the same pixel unit. Through the time-sharing output of the pixel unit, more pixels can be detected for the detected object, which ensures the accuracy of detection. In addition, multiple such pixels
  • the formation of the entire pixel array realizes high-efficiency detection and targeted detection, as well as simultaneous detection of multiple targets.
  • Figure 3 shows an electrical signal obtained by different circuits (the first circuit and the second circuit are taken as examples here, but the specific implementation is not limited to only two circuit output signals) to obtain the detected object 150
  • the first electrical signal may include the electrical signals output by the first circuit corresponding to different phase delays, for example, the first electrical signal may include 0°, 90°, 180° and 270° four-phase delay correspondence
  • the second electrical signal may also include four electrical signals corresponding to the four-phase delay of 0°, 90°, 180°, and 270°.
  • the information acquisition unit 140 follows the first circuit and the first circuit At least one electrical signal corresponding to the same phase reception control signal obtained by the two circuits is used to obtain the final target information, wherein the at least one same phase reception control signal can be any one or more of the four phases mentioned above, and the four-phase method can be used to achieve measurement.
  • the method shown in Equation 1 can also be used to correct at least part of the information obtained in the entire pixel array to obtain the information required for the calculation of the final target information (distance or image, etc.), that is, the first
  • the electrical signal and the second electrical signal can be used in the calculation of the final target information, or can be directly calculated in a physical or digital manner to obtain the final target information according to the four-phase distance measurement formula described above. It is defined that the electrical signal obtained through the first circuit or the second circuit is directly used for the target information of the detected object is directly used for the final calculation.
  • Figures 4 and 5 show a schematic diagram of using a light source 110 to emit square emission light for detection. Take two phases and two taps as an example for illustration.
  • 401 and 501 represent two light source emissions.
  • the emitted light, 402 and 502 represent the echo signal obtained after the emitted light is reflected by the target
  • Q 0°,r1 represents the first electrical signal corresponding to the 0°phase delay output by the first circuit
  • Q 180°,r2 represents The second electrical signal corresponding to the 180° phase delay output through the second circuit
  • Q 0°,r2 represents the second electrical signal corresponding to the 0° phase delay output through the second circuit
  • Q 0°,r1 represents The first electrical signal corresponding to the 180° phase delay output by the first circuit, it can be clearly seen from Fig.
  • the 0° delay phase refers to the phase that is controlled by the controller 130 and does not have any delay with the emitted light.
  • the receiver control signal and other delay phases have the same meaning as 0°.
  • the four electrical signals obtained are processed in the information acquisition unit 140, and the final target information can be obtained in the manner described above.
  • Fig. 6 illustrates a timing diagram of implementing two circuits on a four-phase basis to obtain the first signal and the second signal corresponding to different phases respectively.
  • the exposure time refers to the duration of the receiving part receiving the light reflected by the detected object 150, FD
  • the reset time refers to the time for the pixel to perform an initialization reset after receiving the reflected light during the exposure time and converting it into photo-generated electrons by the photoelectric conversion unit and then transferring the output electrical signal through the first circuit or the second circuit.
  • a square wave is used as an example.
  • the four-phase scheme is used in ranging High efficiency can be achieved in the process, combined with the present invention to correct the obtained value of at least one phase, or use the first electrical signal and the second electrical signal output by the two channels of each of the four phases, using the aforementioned square wave
  • the ranging formula can obtain accurate distance information of the detected object and eliminate the influence of transfer function parameter mismatch or circuit offset.
  • FIG. 7 illustrates the steps of the implementation of the present invention.
  • the S101 controller 120 controls the light source 110 to emit light to be square wave, triangle wave, sine wave, etc. There is no specific limitation here, and the field of view is illuminated under the action of the emitted light.
  • the detected object 150 reflects the emitted light to form a reflected light echo.
  • the S102 controller 120 controls the receiver 130 to receive the reflected light echo with a control signal with a different phase delay from the light source 110.
  • the S103 receiving unit 130 obtains the electrical signal corresponding to at least one phase control signal of the multiple received signals of the same phase or different phases through two circuits, wherein multiple received signals of the same phase or different phases refer to the same phase and different phases.
  • the S104 information acquisition unit 140 obtains target information of the detected object 150 according to at least one electrical signal corresponding to the same phase control signal obtained by the two circuits. At least one electrical signal corresponding to the same phase control signal can be used in the middle or final calculation of target information acquisition. The solution of using this electrical signal in a physical or digital manner has also been explained before, and will not be repeated here.
  • Figure 8 illustrates the steps of another implementation of the present invention. Similar to the steps shown in Figure 7, Figure 8 further defines a scheme for obtaining target information using a four-phase scheme. For the implementation of the corresponding steps, refer to Figure 7 The steps are not repeated here.
  • Figure 9 illustrates the steps of another implementation of the present invention. Similar to the steps shown in Figures 7 and 8, the method of obtaining target information using the four-phase scheme is further defined in Figure 9 and four delay phases are defined. For each phase of, the corresponding electrical signal is obtained by two circuits, and the implementation of the corresponding steps can refer to the steps described in FIG. 7, which will not be repeated here.

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Abstract

一种探测装置及使用该探测装置的探测方法，装置包括光源（110）、包含光电转化模块的接收部（130），接收部（130）还包含接收第一调制信号的第一电路和接收第二调制信号的第二电路，控制器（120）可控制光源（110）发射照射光，并产生不同相位的多个延时控制相位信号，接收部（130）的第一和第二调制电路输出至少一个相同相位接收控制信号对应的电信号，信息获取单元（140）依据两个电路分别获得的相同相位接收控制信号的电信号获得被探测物（150）的目标信息，该探测装置和探测方法实现了多个延时相位接收控制信号和第一第二电路的电信号值可以获得更高效精准的被探测物的目标信息。

Description

探测装置及方法
相关申请的交叉引用
本申请要求于2020年05月13日提交中国专利局的申请号为CN202010403369.2、名称为“探测装置及方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及探测技术领域，特别涉及一种探测装置及方法。
背景技术
在探测技术领域越来越多的技术不断被推出，为了保证图像或者测距等应用领域的高效快速探测的目标，越来越多的器件被设计为包含多个抽头(两个或者两个以上)的结构，其可分时段工作对于与其连接的像素单元中产生的光生电子进行读取，多抽头被合理安排时可以实现芯片内或者其构成的接收部高效工作，然而对于由不同抽头所摄取的信号存在由于各种因素导致的偏差，即使对于相同的返回光入射产生的光生电子也存在由不同抽头所输出值存在差异，这一现象将在图像获取或者测距中产生重要的影响。
近年来，随着半导体技术的进步，用于测量到物体的距离的测距模块的小型化已经取得了进展。因此，例如，已经实现了在诸如所谓的智能电话等移动终端中安装测距模块，所述智能电话是具有通信功能的小型信息处理装置随着科技的进步，在距离或者深度信息探测过程中，经常使用的方法为飞行时间测距法(Time of flight，TOF)，其原理是通过给目标物连续发送光脉冲，然后用传感器接收从物体返回的光，通过探测光脉冲的飞行(往返)时间来得到目标物距离，在TOF技术中直接对光飞行时间进行测量的技术被称为DTOF(direct-TOF)；对发射光信号进行周期性调制，通过对反射光信号相对于发射光信号的相位延迟进行测量，再由相位延迟对飞行时间进行计算的测量技术被成为ITOF(Indirect-TOF)技术。按照调制解调类型方式的不同可以分为连续波(Continuous Wave，CW)调制解调方式和脉冲调制(Pulse Modulated，PM)调制解调方式，更进一步采用ITOF的方案也能够获得高精度和高灵敏度的距离检测方案，所以ITOF方案应用也获得了更为广泛的应用。
为了获得高效的测量结果和芯片更高的集成化，比较多采用两抽头或者以上的方式来实现测距，可以按照相位测距算法获得目标物的距离信息，例如最简单的采用两相位方法、或者还可以采用三相位四相位方法甚至是5相位方案进行距离信息的获得，此处以一种四相位的算法为例，至少需要进行两次曝光(为了保证测量精度，通常需要进行四次曝光)才能完成对四个相位数据的采集输出一帧深度图像，因而难以获得较高的帧频，同时不同抽头输出信息时存在如之前所述的结果差异，为了在测距或者图像获取过程中保证结果的准确性，亟需一种能够解决上述问题的方案。
发明内容
本申请的目的在于，针对上述现有技术中的不足，提供一种探测装置及方法，以解决现有的探测装置探测距离不够远的技术问题。
为实现上述目的，本申请实施例采用的技术方案如下：
第一方面，本申请实施例提供了一种探测装置，包括：光源，所述光源可操作以发射光来照明被探测物；
具有光电转化模块的接收部，所述接收部被配置成获得由所述被探测物反射的所述光源的光量，所述光电转化模块可依据所接收的光量生成对应的光生电子；
所述接收部还包括配置成将入射光转换为各自的电信号的第一电路和第二电路，其中，第一电路被配置为接收第一调制信号，第二电路被配置为接收第二调制信号，其中，第一电路和第二电路被配置为根据第一调制信号和第二调制信号来生成各自的电信号；
控制器，可电性连接所述光源发射光来照明所述被探测物，同时所述控制器还可电性连接所述接收部，所述接收部可接收与所述光源发射光信号同相位或者不同相位的多个接收控制信号，并通过所述两个电路分别获得至少一个相同相位接收控制信号对应的电信号；
信息获取单元，可依据所述两个电路分别获得的相同相位接收控制信号的电信号获得所述被探测物的目标信息。
可选地，与所述光源发射光信号同相位或者不同相位的多个接收控制信号为四个不同相位接收控制信号。
可选地，获得所述目标信息运算过程中，所述同相位接收控制信号对应的电信号至少进行求和处理。
可选地，所述同相位或者不同相位的多个接收控制信号包括0°，90°，180°和270°四个相位信号，所述光接收部对于所述相位中的至少一个接收控制信号通过两个电路分别获得相同相位反射光对应的电信号。
可选地，所述两个电路分别获得所述同相位或者不同相位的多个接收控制信号的每一个相位对应的不同电信号。
可选地，所述第一调制信号在至少部分时间段内与所述第二调制信号互逆。
可选地，所述光源至少包含四次输出相同持续时间的发射光，且所述相位差为180°的两个接收控制信号对应的电路调制信号为互逆信号。
可选地，所述相位差为90°的两个接收控制信号对应的电路调制信号之间具有第一时间间隔，且均由所述接收部内接收所述第一调制信号和第二调制信号的所述第一电路和所述第二电路转化为不同的电信号。
可选地，所述第一电路和第二电路与相同的像素单元连接，并接收第一调制信号和接收第二调制信号，生成各自的电信号。
可选地，所述接收部包括多个阵列排布的所述像素单元。
第二方面，本申请实施例提供了一种探测方法，应用于上述第一方面所述的探测装置，所述探测方法包括：
接收部被在控制信号控制下获得由所述被探测物反射的所述光源的光量，接收部中的光电转化模块可依据所接收的光量生成对应的光生电子；
所述接收部还包括配置成将入射光转换为各自的电信号的第一电路和第二电路，其中，第一电路被配置为接收第一调制信号控制，第二电路被配置为接收第二调制信号控制，其中，第一电路和第二电路被配置为根据第一调制信号和第二调制信号来生成各自的电信号；
控制器，控制光源发射光来照明所述被探测物，同时所述控制器还可控制所述接收部，所述接收部可接收与所述光源发射光信号同相位或者不同相位的多个接收控制信号控制，并通过所述两个电路分别获得至少一个相同相位接收控制信号对应的电信号；
信息获取单元，可依据所述两个电路分别获得的相同相位接收控制信号的电信号获得所述被探测物的目标信息。
可选地，与所述光源发射光信号同相位或者不同相位的多个接收控制信号为四个不同相位接收控制信号。
可选地，获得所述目标信息运算过程中，所述同相位接收控制信号对应的电信号至少进行求和处理。
可选地，所述同相位或者不同相位的多个接收控制信号包括0°，90°，180°和270°四个相位信号，所述光接收部对于所述相位中的至少一个接收控制信号通过两个电路分别获得相同相位反射光对应的电信号。
可选地，所述两个电路分别获得所述同相位或者不同相位的多个接收控制信号的每一个相位对应的不同电信号。
可选地，所述第一调制信号在至少部分时间段内与所述第二调制信号互逆。
可选地，所述光源至少包含四次输出相同持续时间的发射光，且所述相位差为180°的两个接收控制信号对应的电路调制信号为互逆信号。
可选地，所述相位差为90°的两个接收控制信号对应的电路调制信号之间具有第一时间间隔，且均由所述接收部内接收所述第一调制信号和第二调制信号的所述第一电路和所述第二电路转化为不同的电信号。
可选地，所述第一电路和第二电路与相同的像素单元连接，并接收第一调制信号和接收第二调制信号，生成各自的电信号。
可选地，所述接收部包括多个阵列排布的所述像素单元。
本申请的有益效果是：
本申请实施例提供的一种探测装置及方法，该探测装置包括：光源，所述光源可操作以发射光来照明被探测物；
具有光电转化模块的接收部，所述接收部被配置成获得由所述被探测物反射的所述光源的光量，所述光电转化模块可依据所接收的光量生成对应的光生电子；所述接收部还包括配置成将入射光转换为各自的电信号的第一电路和第二电路，其中，第一电路被配置为接收第一调制信号，第二电路被配置为接收第二调制信号，其中，第一电路和第二电路被配置为根据第一调制信号和第二调制信号来生成各自的电信号；控制器，可电性连接所述光源发射光来照明所述被探测物，同时所述控制器还可电性连接所述接收部，所述接收器可接收与所述光源发射光信号同相位或者不同相位的多个接收控制信号，并通过所述两个电路分别获得至少一个相同相位接收控制信号对应的电信号；信息获取单元，可依据所述两个电路分别获得的相同相位接收控制信号的电信号获得所述被探测物的目标信息，如此，实现在接收部获得由两个电路分别获得至少一个相同相位接收控制信号对应的电信号，也就是说对于完全相同的发射光由目标反射后被不同的电路所接收，可以理解为由不同的抽头获得并在后续电路中进行运算处理，最终可以利用相同信号的两次电信号值进行一定的运算，包括差值等方案获得最终更准确的信息，使得探测器在获得图像的质量或者测量的距离上均有最大限度的准确性提升。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，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相关的附图。
图1为本申请实施例提供的一种探测装置的功能模块示意图；
图2为本申请实施例提供的一种接收部工作示意图；
图3为本申请实施例提供的一种信息获取单元工作的示意图；
图4为本申请实施例提供的一种控制时序图示意图；
图5为本申请实施例提供的另一种控制时序示意图；
图6为本申请实施例提供的又一种控制时序示意图；
图7为本申请实施例提供的一种探测方法的流程示意图；
图8为本申请实施例提供的另一种探测方法的流程示意图；
图9为本申请实施例提供的又一种探测方法的流程示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚和完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
图1为本申请实施例提供的一种探测装置的功能模块示意图。如图1所示，该探测装置包括：光源110、控制器120、接收部130和信息获取单元140，其中光源110可以配置为发射连续光的单元或者阵列型光源系统，其可以为半导体激光器，也可以是LED或者其他可以脉冲调制的光源，当采用半导体激光器作为光源时，可以采用垂直腔面发射激光器VCSEL(Vertical-cavity surface-emitting laser)或者边发射半导体激光器EEL(edge-emitting laser)，此处仅为示例性说明并不作具体限定，光源110输出的光的波形也不进行限定，可以为方波、三角波或者正弦波等。接收部130包含光电转换模块，其具有光电转化功能可以由光电二极管(Photo-Diode，PD)实现，可以具体为感光耦合元件(Charge-coupled Device，CCD)，互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)，此处也不具体限定其类型。
控制器120控制所述光源出不同次数的发射光，接收部130在与光源110发射发射光时刻控制器120在与所述发射光相位差延时分别为0°、180°、90°和270°四个值时分别获得不同相位延时对应的经被探测物150反射回的光，所述反射回的光在接收部130形成入射光，进而经过接收部光电转化生成不同的信息，在某些情况下也使用0°和180°两相位方案实现被探测物的信息获取，也有文献公开了0°、120°和240°三相位获得目标信息，甚至有 文献也公开了五相位差延时方案，本发明并不具体限定，获取的目标信息可以为目标的图像信息也可以为目标的距离信息或轮廓信息等，本发明也不具体限定。以下为了说明具体技术问题以四相位的飞行时间获取距离的方案为例进行存在问题和解决方案的具体阐述，多抽头结构可以为每个相位具有独立的一个抽头，四个相位抽头和一个像素单元相连接(可以为直接连接或者为通过中间介质转接连接)，也可以为两个相位共用一个抽头，例如0°和90°共用一个抽头，180°和270°共用一个抽头，这样设计不仅能够实现可靠性传输信息的目的，还进一步能够保证像元尺寸设计和布局结构的最优化，多抽头连接在一个像元上实现了高效获得目标信息(例如距离、深度、轮廓或图像等)的效果。
在前述基础上，光源110发出发射光，接收部130通过控制器120控制，在与所述发射光具有预定延迟相位例如四个不同的延迟相位下获得经被探测物150反射的光，返回的反射光在接收部130形成入射光，方案对于光源并不做特殊要求，每次光源发射的光为相同的光不存在相位差异，避免了由于光源设备在使用过程中由于发光状态参数需要调整而引起的误差，并且设备的实现也非常简单，保证了整个探测设备系统的可靠性，本方案中对于相位延时的实现在接收部和控制器内进行实现，可以在接收部中集成控制器保证了系统结构的简便和高效性，另外在接收部采用多相位延迟接收方案也避免了需要在发射端对于每一个相位都需要发射发射光，例如对于四相位方案中我们可以在一次发射中获得0°和180°两个相位延迟的目标物信息，这使得整个测距系统能够实现高效测距的目标。光源110发射的经过被探测物150反射的光，在接收部的光电转化模块内转化为光生电子(或者光生电荷)，光生电子经过抽头的调制，在器件内部按照第一电路或者第二电路的部分转移电荷(此处所提到的第一电路或者第二电路包含像元内部的电荷或者电子转移通道)，经过像元内的第一电子转移通道或者第二电子转移通道被分别传输到不同的外部实体电路部分(第一电路或者第二电路也包含了像元外部的第一实体电路部分和第二实体电路部分)，之后经过在像元内部的物理方案运算(例如使用电荷存储单元：电容等)或者数字运算(例如将传感器和运算单元集成为一体芯片的结构)，或者在后续的ADC或者其他的电路部进行物理运算或者数字运算，本发明并不限定具体的实现方案。
以四相位两抽头结构为例进行说明，其中0°和90°共用一个抽头，180°和270°共用一个抽头为例(但是具体的操作中共用一个抽头并不意味着共用一个固定的抽头，两个相位延时共用的抽头可以进行互换)，控制器120控制光源110发射发射光，其经过被探测物150反射之后，控制器120控制接收部130以两个相位延时进行接收，例如上述四相位中的0°和180°两个相位延时进行接收，接收部130中的光电转化模块将延时相位光信号在像元中转化为光生电子，第一电路的抽头接收第一调制信号，将像元中的0°相位在光电转化模块转化的光生电子转移，形成电信号，这一电信号由第一电路输出，第二电路的抽头接收第二调制信号，将像元中的180°相位在光电转化模块转化的光生电子转移，形成电信号，这一电信号由第二电路输出。也可以每个相位延时对应一个抽头，在第一电路中0°和90°共用一个浮动扩散节点(FD)，而180°和270°共用一个浮动扩散节点(FD)，但是具体的操作中共用一个浮动扩散节点并不意味着共用一个固定的浮动扩散节点，两个相位延时共用的浮动扩散节点可以进行互换。在这一实施例中0°和180°相位延时对应的电信号可以在一次光源发射中被获得，而在下一次控制器的控制中，四相位中的90°和270°两个相位延时进行接收，接收部130中的光电转化模块将延时相位光信号在像元中转化为光生电子，第一电路的抽头接收第一调制信号，将像元中的90°相位在光电转化模块转化的光生电子转移，形成电信号，这一电信号由第一电路输出，第二电路的抽头接收第二调制信号，将像元中的270°相位在光电转化模块转化的光生电子转移，形成电信号，这一电信号由第二电路输出，在这一模式下90°和270°对应的信息被一次性获得。最后控制器120还可以控制光源110输出发射光，并至少控制四相位中的0°和180°两个相位延时进行接收，接收部130中的光电转化模块将延时相位光信号在像元中转化为光生电子，第一电路的抽头接收第一 调制信号，将像元中的180°相位在光电转化模块转化的光生电子转移，形成电信号，这一电信号由第一电路输出，第二电路的抽头接收第二调制信号，将像元中的0°延迟相位在光电转化模块转化的光生电子转移，形成电信号，这一电信号由第二电路输出，至此实现了两个电路分别获得至少一个相同相位接收控制信号对应的电信号的效果，在进行最终的目标信息运算过程中可以对于两个电路获得的至少两个电信号进行运算以获得目标信息，例如对于图像或者距离信息可以利用两个电路获得的信号进行如下运算：
f(0°)＝mf(0°_1)+nf(0°_2)；
f(180°)＝lf(180°_1)+hf(180°_2)；    (1)
90°和270°延迟相位结果通过类似的方案获得，并且可以进行类似于式1的运算进行修正，并将该修正结果用于最终的目标信息获得中，该修正结果可以为探测装置探测中的过程结果，也可以直接用在最终图像或者距离运算的具体表达式中，本发明并不限定具体实现方式，式中，f(0°)指需要被修正的0°相位对应的最终信息结果，f(0°_1)指第一电路获得的0°相位对应的信息结果，f(0°_2)指第二电路获得的0°相位对应的信息结果，其中m，n，l，h可以为[-1，1]区间内取值的修正系数。
以上实施例中相位延时为0°和180°的接收相位，其相位差为180°；两个延时接收相位在第一电路和第二电路对应的调制信号为互逆信号，也就是说在第一时间段0°相位延时接收通过第一电路或者第二电路输出电信号时，该像元上对应的180°延时接收不通过上述两个电路的任何电路输出电信号，而在另一时间段正好执行相反的操作，对于相位差为180°的相位延时为90°和270°的接收相位也进行相同操作，如此获得了相位差为180°接收相位对应的电路调制信号为互逆信号的方案，实现了多相位共用抽头或者浮动扩散(FD)或者其他电路元件时信号可靠性获取和系统高效工作的效果，相位差为90°的相位信息获取时具有第一时间间隔，该时间间隔为系统内部的自主调整时间间隔，可依据复位时序来配合设计，保证了不同相位信号结果输出的可靠性。
以下结合TOF测距中多抽头中所存在的技术问题和解决方案进行进一步说明，当根据到物体的距离将电荷分配给第一抽头和第二抽头时，通过使用全部的八个检测(对于每一个相位信号均通过两个电路获得相位延时对应的电信号)，信号执行对表示到所述物体的所述距离的深度进行计算的运算，通过两个不同电路可以输出不同相位的电信息，例如累积的电荷量信号，在距离获取过程中可以利用可根据4组积分电荷计算光信号在激光成像雷达与目标之间往返的相位差
Figure PCTCN2020097331-appb-000001
以正弦调制光为例，调制光所对应的回波信号与发射信号之间的相位差
Figure PCTCN2020097331-appb-000002
为：
Figure PCTCN2020097331-appb-000003
上式2中Q 0°、Q 90°、Q 180°和Q 270°分别为不同相位延时对应的接收部电路转化出来的电信号，结合距离与相位差之间的关系，可以获得最终的距离结果：
Figure PCTCN2020097331-appb-000004
上式3中c为光速，f为光源110发射的激光频率，对于光源110发射光为方波的情况可以分为不同情况，按照如下的计算方法获得最终的距离信息：
当Q 0°>Q 180°且Q 90°>Q 270°时，
Figure PCTCN2020097331-appb-000005
当Q 0°<Q 180°且Q 90°>Q 270°时，
Figure PCTCN2020097331-appb-000006
当Q 0°<Q 180°且Q 90°<Q 270°时，
Figure PCTCN2020097331-appb-000007
当Q 0°>Q 180°且Q 90°<Q 270°时，
Figure PCTCN2020097331-appb-000008
上述方波进行距离计算的式4-7中，Q 0°、Q 90°、Q 180°和Q 270°分别为不同相位延时对应的接收部电路转化出来的电信号，c为光速，f为激光频率，当然在一些特殊的情况下也有公司直接采用正弦波的方法近似计算方波的距离，在进行四相位测距过程中，会涉及到由不同电路(包含像素内部电荷转移通道和像素外部实体电路部分)输出不同相位延时信号的结果，然而在实际使用过程中由于列线和比较器的延迟和offset等的影响，由两个电路对于相同相位接收信号处理获得的结果也存在差异，例如将这些影响归类到Q 0°,Q 180°的固有偏差电子数为△Q1，△Q2，则实际有中Q 0°,Q 180°获得的电子数存在一定的偏差，例如通过第一电路和第二电路分别获得的四个相位延时对应的电信号分别为：
Q 0°，r1＝Q 0°+△Q1；Q 180°，r2＝Q 180°+△Q2；   (8)
式8中的Q 0°，r1指实际代入距离运算公式中的0°延时相位经第一电路转换的电信号值，Q 0°指理想情况下不考虑第一电路和第二电路差异获得的理想计算真值，△Q1指对于0°延时相位信号由第一电路转化时所产生的偏差电信号值，，式8中180°延时相位对应的电信号计算式中各符号代表含义与0°延时相位计算式含义类似，此处不再进行赘述，△Q1值可以为一次函数关系式也可以为多次函数关系式，具体依据实际情况可以模拟该值，该偏差电信号在实际使用中非常难以获得，因此在此条件下将不同相位通过不同延时相位转化的电信号实际值代入距离求解公式中会产生一定的偏差，造成最终的距离计算不准确，本发明的方案中为了解决这一技术问题，可以将不同的四个延时相位中的每一个延时相位分别由第一电路和第二电路均获得两个电信号值，再利用算数平均方案(或者类似的算法)获得最终代入表达式中的电信号值，可以用下式表达：
Figure PCTCN2020097331-appb-000009
也就是由两个电路获得的信号进行加和运算，经过加和运算之后相同相位在不同的电路输出获得的结果被叠加，在此基础上影响因素△Q1和△Q2也被叠加，因此在结果中考虑了不同电路输出相同相位的差异，而将叠加之后的结果用于后续的距离计算中可以获得准确的距离结果，以方波探测的式4情况来进行说明：
当Q 0°>Q 180°且Q 90°>Q 270°时，
Figure PCTCN2020097331-appb-000010
上式10中在最终的距离获取中可以直接使用加和结果而不进行平均亦可获得最终准确的距离信息，实现可以通过物理电容电荷累加的结果也可以通过后续的运算电路进行数字运算获得，在计算中由于涉及到不同相位的作差运算，因而由于列线比较器等引起的offset可以被消除，另一方面也可以去除由于抽头等非理想因素差异而产生的传递函数失配现象，传递函数失配引起的偏差电荷也可以被归类为线性或者非线性关系式，其去根本原理与offset引起的电荷差异相类似，也可以采用类似于图像传感应用时利用两通道获得的值来修正获得最准确的值如之前关系式1的方案。
图2示出了一种接收部130内部信号传递和连接关系示意图，接收模块130内部包含有第一电路和第二电路，第一电路可以接收第一调制信号，在该信号的控制下，接收部130内部的光电转化模块产生的光生电子可以被第一电路转移，形成第一电信号，如之前所述第一电路包含像素单元内电子转移通道和像素单元外的实体电路部分，第一调制信号可以为第一电路中的实体设备或装置例如调制栅，通过控制器所产生的调制信号，实现了不同的光生电子由第一电路或者第二电路转移，形成对应的电信号，第二调制信号作用于第二电路的基本原理与第一电路类似，此处不再赘述，当然同一像元也可以连接更多的电路，获得更多的电信号，此处也不再赘述，上述的第一电路和第二电路可以直接连接至相同的像素单元，通过像素单元的分时输出，可以实现更多像元对于被探测物的探测，保证了探测的准确性，另外多个这种像元形成整个像元阵列实现了高效探测和针对性探测，也可实现多目标同时探测。
图3示出了一种通过不同电路(此处以第一电路和第二电路两个电路为例进行说明，但是具体实现并不限于只有两个电路输出信号)获得的电信号来获得被探测物150结果信息的示意图，第一电信号可以包含不同相位延时对应的由第一电路输出的电信号，例如第一电信号可以包含0°、90°、180°和270°四相位延时对应的四个电信号，同理，第二电信号也可以包含0°、90°、180°和270°四相位延时对应的四个电信号，信息获取单元140依照所述第一电路和第二电路获得的至少一个相同相位接收控制信号对应的电信号来获取最终的目标信息，其中至少一个相同相位接收控制信号可以为上述四相位中的任何一个或多个，利用四相位方法可以实现测距的高效性，也可以利用如式1所示的方法对于整个像素阵列中至少部分获得的信息进行修正，得到最终目标信息(距离或图像等)计算所需要的信息，也就是所述第一电信号和第二电信号可以用于最终目标信息的计算过程中也可以为按照例如之前所述的四相位方法测距公式直接在物理或者数字方式下计算获得最终的目标信息，此处并不限定通过第一电路或者第二电路获得的电信号直接用于被探测物的目标信息是直接用于最终运算的。
图4和图5示出了一种利用光源110发射方形发射光进行探测的示意图，以两个相位两个抽头为例进行说明，在图4和图5中401和501代表两次光源发射的发射光，402和502代表发射光经过目标反射之后获得的回波信号，Q 0°,r1代表了经过第一电路输出的0°相位延时对应的第一电信号，Q 180°,r2代表了经过第二电路输出的180°相位延时对应的第二电信号，Q 0°,r2代表了经过第二电路输出的0°相位延时对应的第二电信号，Q 0°,r1代表了经过第 一电路输出的180°相位延时对应的第一电信号，由图4和图5可以明显地看出0°延时相位指由控制器130控制的与发射光不存在任何延迟的接收器控制信号，其他延时相位与0°具有相同的含义，将获得的四个电信号在信息获取单元140中进行处理，按照之前所阐述的方式可以获得最终的目标信息。
图6示意出在四相位基础上实现两个电路分别获取不同相位对应的第一信号和第二信号的时序图，其中曝光时间指接收部接收经过被探测物150反射回光的持续时间，FD复位时间指对于像元在曝光时间接收完反射光，并经光电转换单元转化为光生电子再经过第一电路或者第二电路转移输出电信号后，对于像元进行一个初始化复位的时间，发射激光指以某一频率输出发射光，此处以方波为例进行说明，实际可以发射正弦波、三角波等的波形，Q 0°,r1、Q 180°,r2、Q 90°,r1、Q 270°,r2、Q 0°,r2、Q 180°,r1、Q 90°,r2、Q 270°,r1与图4与图5中含义类似，此处不再一一解释，四相位方案在测距过程中能够实现高效性，结合本发明对于至少之一相位的获得值进行修正，或者利用四个相位中每一相位的两个通道输出的第一电信号和第二电信号，使用前述方波测距公式可以获得准确的被探测物的距离信息，消除了传递函数参数失配或者电路offset等等影响。
图7示意了本发明实现的方式步骤，S101控制器120控制光源110发射光可以为方波、三角波或者正弦波等等此处并不具体限制，在发射光的作用下视场被照亮，被探测物150对发射光反射，从而形成反射光回波，S102控制器120在控制光源发射发射光的同时，以与光源110具有不同相位延时的控制信号控制接收部130接收反射光的回波，S103接收部130通过两个电路分别获得多个相同相位或者不同相位接收信号中的至少一个相位控制信号对应的电信号，其中多个相同相位或者不同相位接收信号指相同相位和不同相位的延时控制信号为多个，例如四延时相位的数量为四个，S104信息获取单元140依据两个电路分别获得的至少一个相同相位控制信号对应的电信号获得被探测物150的目标信息，至少一个相同相位控制信号对应的电信号可以在目标信息获取的中间或者最终计算中被利用，之前也阐述了物理方式或者数字方式利用此电信号的方案，在此不再进行赘述。
图8示意了本发明又一实现的方式步骤，与图7所示的步骤类似，在图8中进一步限定了利用四相位方案获得目标信息的方案，对应步骤的实现方式可以参照图7所述的步骤，此处也不再进行赘述。
图9示意了本发明又一实现的方式步骤，与图7和图8所示的步骤类似，在图9中进一步限定了利用四相位方案获得目标信息的方案，并且限定了四个延时相位的每一个相位均由两个电路获得对应的电信号，对应步骤的实现方式可以参照图7所述的步骤，此处也不再进行赘述。
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。以上所述仅为本申请的优选实施例而已，并不用于限制 本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (20)

  1. 一种探测装置，其特征在于包括：
    光源，所述光源可操作以发射光来照明被探测物；
    具有光电转化模块的接收部，所述接收部被配置成获得由所述被探测物反射的所述光源的光量，所述光电转化模块可依据所接收的光量生成对应的光生电子；
    所述接收部还包括配置成将入射光转换为各自的电信号的第一电路和第二电路，其中，第一电路被配置为接收第一调制信号，第二电路被配置为接收第二调制信号，其中，第一电路和第二电路被配置为根据第一调制信号和第二调制信号来生成各自的电信号；
    控制器，可电性连接所述光源发射光来照明所述被探测物，同时所述控制器还可电性连接所述接收部，所述接收部可接收与所述光源发射光信号同相位或者不同相位的多个接收控制信号，并通过所述两个电路分别获得至少一个相同相位接收控制信号对应的电信号；
    信息获取单元，可依据所述两个电路分别获得的相同相位接收控制信号的电信号获得所述被探测物的目标信息。
  2. 如权利要求1所述的探测装置，其特征在于，与所述光源发射光信号同相位或者不同相位的多个接收控制信号为四个不同相位接收控制信号。
  3. 如权利要求1所述的探测装置，其特征在于，获得所述目标信息运算过程中，所述同相位接收控制信号对应的电信号至少进行求和处理。
  4. 如权利要求1所述的探测装置，其特征在于所述同相位或者不同相位的多个接收控制信号包括0°，90°，180°和270°四个相位信号，所述光接收部对于所述相位中的至少一个接收控制信号通过两个电路分别获得相同相位反射光对应的电信号。
  5. 如权利要求1所述的探测装置，其特征在于，所述两个电路分别获得所述同相位或者不同相位的多个接收控制信号的每一个相位对应的不同电信号。
  6. 如权利要求1所述的探测装置，其特征在于，所述第一调制信号在至少部分时间段内与所述第二调制信号互逆。
  7. 如权利要求1所述的探测装置，其特征在于，所述光源至少包含四次输出相同持续时间的发射光，且所述相位差为180°的两个接收控制信号对应的电路调制信号为互逆信号。
  8. 如权利要求7所述的探测装置，其特征在于，所述相位差为90°的两个接收控制信 号对应的电路调制信号之间具有第一时间间隔，且均由所述接收部内接收所述第一调制信号和第二调制信号的所述第一电路和所述第二电路转化为不同的电信号。
  9. 如权利要求1所述的探测装置，其特征在于，所述第一电路和第二电路与相同的像素单元连接，并接收第一调制信号和接收第二调制信号，生成各自的电信号。
  10. 如权利要求9所述的探测装置，其特征在于，所述接收部包括多个阵列排布的所述像素单元。
  11. 一种探测方法，其特征在于，应用于上述权利要求1-10任一项所述的探测装置，所述探测方法包括：
    接收部被在控制信号控制下获得由所述被探测物反射的所述光源的光量，接收部中的光电转化模块可依据所接收的光量生成对应的光生电子；
    所述接收部还包括配置成将入射光转换为各自的电信号的第一电路和第二电路，其中，第一电路被配置为接收第一调制信号控制，第二电路被配置为接收第二调制信号控制，其中，第一电路和第二电路被配置为根据第一调制信号和第二调制信号来生成各自的电信号；
    控制器，控制光源发射光来照明所述被探测物，同时所述控制器还可控制所述接收部，所述接收部可接收与所述光源发射光信号同相位或者不同相位的多个接收控制信号控制，并通过所述两个电路分别获得至少一个相同相位接收控制信号对应的电信号；
    信息获取单元，可依据所述两个电路分别获得的相同相位接收控制信号的电信号获得所述被探测物的目标信息。
  12. 如权利要求11所述的探测方法，其特征在于，与所述光源发射光信号同相位或者不同相位的多个接收控制信号为四个不同相位接收控制信号。
  13. 如权利要求11所述的探测方法，其特征在于，获得所述目标信息运算过程中，所述同相位接收控制信号对应的电信号至少进行求和处理。
  14. 如权利要求11所述的探测方法，其特征在于，其特征在于所述同相位或者不同相位的多个接收控制信号包括0°，90°，180°和270°四个相位信号，所述光接收部对于所述相位中的至少一个接收控制信号通过两个电路分别获得相同相位反射光对应的电信号。
  15. 根据权利要求11所述的探测方法，其特征在于，所述两个电路分别获得所述同相位或者不同相位的多个接收控制信号的每一个相位对应的不同电信号。
  16. 根据权利要求15所述的探测方法，其特征在于，所述第一调制信号在至少部分时间段内与所述第二调制信号互逆。
  17. 根据权利要求11所述的探测方法，其特征在于，所述光源至少包含四次输出相同持续时间的发射光，且所述相位差为180°的两个接收控制信号对应的电路调制信号为互逆信号。
  18. 根据权利要求17所述的探测方法，其特征在于，所述相位差为90°的两个接收控制信号对应的电路调制信号之间具有第一时间间隔，且均由所述接收部内接收所述第一调制信号和第二调制信号的所述第一电路和所述第二电路转化为不同的电信号。
  19. 根据权利要求11所述的探测方法，其特征在于，所述第一电路和第二电路与相同的像素单元连接，并接收第一调制信号和接收第二调制信号，生成各自的电信号。
  20. 根据权利要求19所述的探测方法，其特征在于，所述接收部包括多个阵列排布的所述像素单元。
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