WO2022021797A1 - Système de mesure de distance et procédé de mesure de distance - Google Patents

Système de mesure de distance et procédé de mesure de distance Download PDF

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Publication number
WO2022021797A1
WO2022021797A1 PCT/CN2020/141722 CN2020141722W WO2022021797A1 WO 2022021797 A1 WO2022021797 A1 WO 2022021797A1 CN 2020141722 W CN2020141722 W CN 2020141722W WO 2022021797 A1 WO2022021797 A1 WO 2022021797A1
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WIPO (PCT)
Prior art keywords
sub
light source
pixel array
array
pixel
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PCT/CN2020/141722
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English (en)
Chinese (zh)
Inventor
苏健
朱亮
闫敏
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深圳奥锐达科技有限公司
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Publication of WO2022021797A1 publication Critical patent/WO2022021797A1/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
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • 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
    • 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
    • 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
    • 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
    • G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement

Definitions

  • the present application relates to the technical field of optical ranging, and in particular, to a distance measurement system and a measurement method.
  • the time of flight principle can be used to measure the distance of the target to obtain a depth image containing the depth value of the target, and the distance measurement system based on the time of flight principle has been widely used in consumer electronics, unmanned aerial vehicles, AR/VR and other fields.
  • the distance measurement system based on the time-of-flight principle usually includes an emitter and a collector. The emitter is used to emit a pulsed beam to illuminate the target field of view, and the collector is used to collect the reflected beam, and the time required for the beam to be reflected and received is calculated to calculate the object. distance.
  • collectors in distance measurement systems based on the time-of-flight principle include pixel arrays, in particular, pixel arrays based on single-photon avalanche photodiodes (SPADs).
  • SPADs also known as Geiger Mode Avalanche Photodiodes (GM-APDs)
  • GM-APDs Geiger Mode Avalanche Photodiodes
  • the SPAD array is connected to a time-to-digital converter (TDC) and outputs photonic signals to the TDC.
  • TDC time-to-digital converter
  • the purpose of the present application is to provide a distance measurement system and a measurement method to solve at least one of the above background technical problems.
  • An embodiment of the present application provides a distance measurement system, including an emitter and a collector arranged along a baseline, and a processing circuit connected to the emitter and the collector; wherein the emitter includes a light source array composed of multiple light sources, The light source array includes a plurality of sub-light source arrays, and the sub-light source arrays are configured to be turned on one by one along the baseline direction for emitting spot light beams; the collector includes a pixel array composed of a plurality of pixels, and the pixel array includes a plurality of sub-light sources.
  • the processing circuit includes a plurality of sub-processing circuits, the sub-processing circuits One-to-one connection with the sub-pixel array to control the pixels in the sub-pixel array to start collecting photons in the reflected beam, and calculate the spot beam according to the photon signal output by the sub-pixel array The time-of-flight from emission to reflection back being acquired.
  • the sub-light source array includes a row or a column of light sources; the sub-light source array is activated in sub-periods one by one under the control of the driving circuit to project the spot beam to the target field of view; wherein, in a measurement stage only A sub-light source array is activated until all sub-light source arrays are activated to complete the scanning of the entire target field of view.
  • the scanning direction of the light source array is the same as the baseline direction.
  • the pixel array is disposed in the same plane as the processing circuit.
  • a diffractive optical element is also included, and the spot light beam emitted by the sub-light source array is replicated by the diffractive optical element and projected into the target field of view to form two sets of spot projection patterns, so as to scan the target field of view synchronously of the two regions.
  • the pixel array is divided into a first pixel array and a second pixel array, each pixel array includes a plurality of the sub-pixel arrays; the processing circuit is correspondingly divided into a first processing circuit and a second processing circuit Each processing circuit includes a plurality of the sub-processing circuits; the first processing circuit and the second processing circuit are respectively arranged on both sides of the pixel array and are respectively connected with the first pixel array and the second pixel array.
  • the pixel arrays are connected in a one-to-one correspondence, and are used for receiving the photon signals output by the pixels in the corresponding sub-pixel array and calculating the flight time of the light beam.
  • the embodiment of the present application also provides a distance measurement method, comprising the following steps:
  • the transmitter includes a light source array composed of a plurality of light sources, and the light source array includes a plurality of the sub-light source arrays;
  • the processing circuit is configured to include a plurality of the sub-processing circuits; wherein the sub-pixel array is connected to the sub-processing circuits in a one-to-one correspondence.
  • step S10 the sub-light source arrays are turned on one by one along the baseline direction to emit spot beams, until all sub-light source arrays are activated, and the scanning of the target field of view is completed; Or the spot light beams emitted by the light sources in the same row are all incident on some pixels in the same sub-pixel array, and the flight time of the light beams is calculated by the same sub-processing circuit.
  • Embodiments of the present application further provide a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein, when the processor executes the computer program, at least A distance measurement method is realized, and the distance measurement method includes the following steps: S10, controlling the sub-light source arrays in the transmitter to be turned on one by one, and emitting a spot beam toward the target field of view; wherein, the transmitter includes a plurality of light sources.
  • a light source array the light source array includes a plurality of the sub-light source arrays; S20, controlling the pixels in the sub-pixel array of the collector to start to collect the photons in the reflected speckle beam, and form a photon signal; wherein, the The collector includes a pixel array composed of a plurality of pixels, and the pixel array includes a plurality of the sub-pixel arrays; S30. Use the sub-processing circuit in the processing circuit to receive the photon signal output by the corresponding sub-pixel array, and The time-of-flight of the speckle beam from being emitted to being collected is calculated from the photon signal.
  • An embodiment of the present application provides a distance measurement system, including an emitter and a collector arranged along a baseline, and a processing circuit; wherein the emitter includes a light source array composed of multiple light sources, the light source array includes multiple sub-light source arrays, and the sub-light sources The array is configured to be turned on one by one along the baseline direction to emit the spot beams; the collector includes a pixel array composed of a plurality of pixels, the pixel array includes a plurality of sub-pixel arrays, and the plurality of sub-pixel arrays are configured to collect the spot beams reflected by the target object to be tested.
  • the photons in the beam of the beam are reflected and a photon signal is formed;
  • the processing circuit includes a plurality of sub-processing circuits, and the sub-processing circuits are connected with the sub-pixel array in one-to-one correspondence to control the activation of the pixels in the sub-pixel array, collect photons in the reflected beam, and calculate the flight time.
  • the measurement system of the embodiment of the present application improves the spatial resolution, solves the problem of superpixel overlap, and improves the distance measurement accuracy; at the same time, the readout circuit and the pixel array are designed on the same plane, which reduces the TDC circuit and the histogram circuit. , effectively reducing the cost and complexity of the process.
  • FIG. 1 is a schematic diagram of a distance measurement system according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a light source array of a distance measurement system according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a pixel unit of a distance measurement system according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a projected speckle pattern of a distance measurement system according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a pixel unit of a distance measurement system according to another embodiment of the present application.
  • FIG. 6 is a flowchart of a distance measurement method according to still another embodiment of the present application.
  • connection can be used for either a fixing function or a circuit connecting function.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first”, “second” may expressly or implicitly include one or more of that feature. In the description of the embodiments of the present application, “plurality” means two or more, unless otherwise expressly and specifically defined.
  • the distance measurement system 10 includes a transmitter 11 , a collector 12 , and a processing circuit 13 connected to the transmitter 11 and the collector 12 respectively.
  • the transmitter 11 is used to emit a light beam 30 to the target area 20, and the light beam is emitted into the space of the target area to illuminate the target object in the space; at least part of the emitted light beam 30 is reflected by the target area 20 to form a reflected beam 40, and the reflected beam 40 At least a part of the light beams are received by the collector 12;
  • the processing circuit 13 is connected to the transmitter 11 and the collector 12 respectively, and synchronizes the trigger signals of the transmitter 11 and the collector 12 to calculate the time required for the beam to be received from emission to reflection , namely the flight time t between the emitted light beam 30 and the reflected light beam 40, and further, the distance D of the corresponding point on the target object can be calculated by the following formula:
  • the transmitter 11 includes a light source 111, an emission optical element 112, a driver 113, and the like.
  • the light source 111 may be a light emitting diode (LED), a laser diode (LD), an edge emitting laser (EEL), a vertical cavity surface emitting laser (VCSEL), etc., or a one-dimensional or two-dimensional light source composed of multiple light sources array.
  • the light source array is a VCSEL array light source chip formed by generating multiple VCSEL light sources on a single semiconductor substrate, and the arrangement of the light sources in the light source array may be regular or irregular.
  • the light beam emitted by the light source 111 may be visible light, infrared light, ultraviolet light, or the like.
  • the light source 111 emits light beams outward under the control of the driver 113 .
  • the light source 111 emits a pulsed beam at a certain frequency (pulse period) under the control of the driver 113, which can be used in direct time-of-flight (Direct TOF) measurement, and the frequency is set according to the measurement distance.
  • a part of the processing circuit 13 or a sub-circuit existing independently of the processing circuit 13 can also be used to control the light source 111 to emit light beams.
  • the emission optical element 112 receives the light beam emitted from the light source 111 and shapes it to project it onto the target area.
  • the transmitting optical element 112 receives the pulsed light beam from the light source 111, performs optical modulation on the pulsed light beam, such as modulation of diffraction, refraction, reflection, etc., and then emits the modulated light beam into space, such as a focused beam, Flood beams, structured light beams, etc.
  • the emission optical element 112 may be one or a combination of one or more of a lens, a liquid crystal element, a diffractive optical element, a microlens array, a metasurface optical element, a mask, a mirror, a MEMS galvanometer, and the like.
  • the collector 12 includes a pixel unit 121, a filter unit 122 and a receiving optical element 123; wherein, the receiving optical element 123 is used to receive at least part of the light beam reflected back by the target and guide it to the pixel unit 121, and the filter unit 122 is used to filter out the background light or stray light.
  • the pixel unit 121 includes a two-dimensional pixel array composed of a plurality of pixels; in some embodiments, the pixel unit 121 is a pixel array composed of a single-photon avalanche photodiode (SPAD), and the SPAD can respond to an incident single photon and output A signal indicating the time of arrival of the received photon response at each SPAD enables the acquisition of weak optical signals and the calculation of time of flight using methods such as time-correlated single photon counting (TCSPC).
  • TCSPC time-correlated single photon counting
  • a readout circuit (not shown in the figure) composed of one or more of a signal amplifier, a time-to-digital converter (TDC), a digital-to-analog converter (ADC) and other devices connected to the pixel unit 121 .
  • TDC time-to-digital converter
  • ADC digital-to-analog converter
  • These circuits can be integrated with the pixel, as a part of the pixel unit, or as a part of the processing circuit 13 , and will be regarded as a part of the processing circuit 13 for ease of description later.
  • the processing circuit 13 synchronizes the trigger signals of the transmitter 11 and the collector 12, processes the photon signal of the pixel collected beam, and calculates the distance information of the target to be measured based on the flight time of the reflected beam.
  • the SPAD outputs a photon signal in response to an incident single photon
  • the processing circuit 13 receives the photon signal and performs signal processing to obtain the time-of-flight of the light beam.
  • the processing circuit 13 calculates the number of collected photons to form continuous time bins, and these time bins are connected together to form a statistical histogram to reproduce the time series of reflected light beams, and use peak matching and filter detection to identify the reflected light beam from emission to reflection Returns the received flight time.
  • the processing circuit 13 may be an independent dedicated circuit, such as a dedicated SOC chip, an FPGA chip, an ASIC chip, etc., or may include a general-purpose processing circuit.
  • the distance measurement system 10 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 light beam emitted by the light source 111 .
  • the distance measurement system 10 may further include devices such as a color camera, an infrared camera, and an IMU, and the combination with these devices can realize more abundant functions, such as 3D texture modeling, infrared face recognition, SLAM and other functions.
  • devices such as a color camera, an infrared camera, and an IMU, and the combination with these devices can realize more abundant functions, such as 3D texture modeling, infrared face recognition, SLAM and other functions.
  • the transmitter 11 and the collector 12 may also be arranged in a coaxial form, that is, the two are realized by optical devices with reflection and transmission functions, such as a half mirror and the like.
  • FIG. 2 is a schematic diagram of a light source array in an embodiment of the present application.
  • the light source array 21 is configured to be composed of a plurality of light sources 213 arranged on a single substrate (or on multiple substrates); wherein, the light source array 21 may be one-dimensional or two-dimensional, and may be regularly arranged It can also be arranged irregularly.
  • the light source array 21 is an array VCSEL chip composed of a plurality of VCSEL light sources arranged on a semiconductor substrate.
  • the light source array 21 can emit light beams of any wavelength, such as visible light, infrared light, ultraviolet light, and the like.
  • the light source array 21 emits light under the modulation driving of the driving circuit (which may be a part of the processing circuit 13 ), such as continuous wave modulation, pulse modulation, etc.
  • the light source array 21 can also emit light in groups under the control of the driving circuit.
  • the light source array 21 is configured to include a plurality of sub-light source arrays 211, 212; each sub-light source array includes a row or a column of light sources, which needs to be set according to the direction of the baseline.
  • the sub-light source arrays are activated one by one under the control of the driving circuit to project the spot beams to the target field of view, and only one sub-light source array is activated in a measurement stage until all sub-light source arrays are activated, and the entire target field of view is completed. Scanning; wherein, the scanning direction of the light source array (the activation sequence of the sub-light source array) is the same as the baseline direction (the connection line between the emitter and the collector).
  • the sub-light source array is configured to include a row of light sources, and the sub-light source array is sequentially activated in the y direction to complete a frame of scanning.
  • the light source array 21 includes 4 ⁇ 5 light sources, and each sub-light source array includes 5 light sources.
  • each sub-light source array may also be disposed on a separate substrate, and controlled by different driving circuits to emit light in groups.
  • the present application will be described in detail by taking the base line direction as the y direction as an example, and the vertical base line direction is set as the x direction.
  • FIG. 3 is a schematic diagram of a pixel unit in an embodiment of the present application.
  • the pixel unit includes a pixel array 31 and a processing circuit 32 , wherein the pixel array 31 includes a two-dimensional array composed of a plurality of pixels 312 , and the processing circuit 32 includes an array processing circuit composed of a plurality of TDC circuits 321 and a plurality of histogram circuits 322 .
  • the pixel array 31 is used to collect at least part of the light beams reflected back by the target object and generate corresponding photon signals, and the processing circuit 32 is used to process the photon signals to draw a histogram reflecting the pulse waveform emitted by the light source in the transmitter; further , you can also calculate the flight time according to the histogram, and finally output the result.
  • the pixel array 31 and the processing circuit 32 are disposed in the same plane, the pixel array 31 is configured to include a plurality of sub-pixel arrays 311 ; the processing circuit 32 is configured to include a plurality of sub-processing circuits 323 , each sub-pixel array 311 Connected to each sub-processing circuit 323 in a one-to-one correspondence, when any pixel in the sub-pixel array 311 receives a photon and generates a photon signal, the sub-processing circuit 323 can calculate the flight time corresponding to the photon signal.
  • the number of sub-pixel arrays 311 is determined by the number of spot beams emitted by the transmitter in one measurement stage.
  • the spot beam when the transmitter 11 emits a spot beam to the object to be measured, the spot beam is reflected by the object to be measured, and the pixel unit in the collector 12 will guide the spot beam to the corresponding pixel, wherein the configuration of a single spot beam
  • the imaging light spot is incident on the "combined pixel" composed of the corresponding multiple pixels.
  • a single spot corresponds to a composite pixel consisting of 4 pixels.
  • the size of the combined pixel can be specifically set according to the actual situation, and includes at least one pixel.
  • the light spot will shift along the baseline direction. This requires setting a pixel area (called a super pixel) composed of a plurality of pixels exceeding the number of combined pixels for receiving the reflected speckle beam.
  • a super pixel a pixel area
  • the ranging range and baseline length of the system need to be considered, so that the combined pixels corresponding to the spots reflected by objects at different distances within the measurement range all fall into the superpixel area.
  • the reflected light spot is imaged to one side of the superpixel (left or right, depending on the relative position of the emitter and collector) when the target is at the minimum range, and when the target is at the maximum range When the reflected light spot is imaged to the other side of the superpixel.
  • an off-axis scanning distance measurement method is also provided.
  • the control method includes the following steps:
  • the transmitter includes a light source array composed of a plurality of light sources, and the light source array includes a plurality of the sub-light source arrays.
  • the collector includes a pixel array composed of a plurality of pixels, and the pixel array includes a plurality of the sub-pixel arrays.
  • the processing circuit is configured to include a plurality of sub-processing circuits, and each sub-pixel array is connected to each sub-processing circuit in a one-to-one correspondence.
  • the sub-processing circuit can calculate the Get the time of flight corresponding to the photon signal.
  • the first sub-light source array 211 emits 5 spot beams.
  • the first sub-processing circuit 323 is used to calculate the flight time of the speckle light beam 213; in the second measurement stage, the second sub-light source The array 212 emits 5 spot light beams.
  • the corresponding first sub-pixel array 311 opens the super pixel 314 for collecting the reflected light beam. Assuming that the reflected light beam is imaged on the combined pixel 316, the first The sub-processing circuit 323 is used to calculate the time of flight of the speckle beam 214 . Until all sub-light source arrays are activated, the scanning distance measurement of the target field of view is completed. During the scanning measurement process, the sub-light source arrays are turned on one by one along the y direction to emit light beams.
  • the light beams emitted by the light sources in the same column in the light source array are all incident on some pixels in the same sub-pixel array, and the same sub-processing circuit calculates the flight of the beam. time.
  • the working modes of other sub-pixel arrays are the same, and are not repeated here. It can be understood that the position of the superpixel corresponding to each light spot can be pre-calibrated and stored in the memory for recall when the system performs distance measurement.
  • FIG. 4 is a schematic diagram of a projected speckle pattern in an embodiment of the present application.
  • the transmitter 11 includes a light source array 21 and a diffractive optical element (not shown).
  • the diffractive optical element is used for duplicating the spot beam emitted by the light source array 21 and projecting it into the target field of view to form multiple projection spots, and the spot beam reflected by the target is received by the collector 12 .
  • a dual-line scanning distance measurement system is further proposed.
  • the spot beam projected by the light source array 21 is replicated by the diffractive optical element, and the quantity of the spot beam projected to the target field of view is regulated by designing the diffractive optical element design process.
  • the spot beam projected by the light source array 21 is replicated in the y-direction through diffractive optical elements into -1 order, 0 order, and 1 order, and there is a 50% overlap between the two adjacent orders, resulting in the middle 0 order being Therefore, in the y direction, the number of spot beams emitted by the light source array 21 is twice as large, and in the x direction, any series can be reproduced without overlapping between adjacent ones, for example, in the x direction, it can also be reproduced as - Level 1, Level 0, Level 1, the number of duplicated spots is 3 times the original.
  • the speckle projection pattern projected to the target field of view based on this design is shown in Fig. 4, including 8 ⁇ 15 speckles.
  • the driving circuit controls the first sub-light source column 211 to emit five spot light beams, they are copied by the diffractive optical element and then projected into the target field of view to form two sets of spot projection patterns 41 and 42 to scan the two areas in the target field of view synchronously
  • the target field of view is divided into upper and lower field of view areas, which are respectively denoted as the first field of view and the second field of view.
  • the number of spot beams enables simultaneous scanning of both fields of view.
  • FIG. 5 is a schematic diagram of a pixel unit according to another embodiment of the present application.
  • the pixel unit includes a pixel array and a processing circuit, wherein the pixel array is divided into upper and lower regions, denoted as a first pixel array 51 and a second pixel array 52 respectively, and the first and second pixel arrays 51 and 52 respectively include a plurality of sub-regions.
  • the processing circuits are correspondingly divided into a first processing circuit 53 and a second processing circuit 54, and each processing circuit includes a plurality of sub-processing circuits 533 and 544;
  • the first pixel array and the second pixel array are connected in a one-to-one correspondence, and are used for receiving the photon signals output by the pixels in the corresponding sub-pixel array and calculating the flight time of the light beam.
  • the number of sub-pixel arrays is determined by the number of spot beams projected onto the field of view in a single measurement.
  • the configurations of the first and second sub-pixel circuits and the first and second processing circuits are the same.
  • the specific working mode is the same as the working mode of the embodiment shown in FIG. 3.
  • the sub-light source array is controlled to be turned on one by one along the baseline direction to emit spot beams toward the target field of view;
  • the photon in the speckle beam is generated and the photon signal is output;
  • the sub-processing circuit is used to receive the photon signal output by the corresponding sub-pixel array, and the flight time of the speckle beam from being emitted to being collected is calculated according to the photon signal.
  • the difference is that, in the embodiment shown in FIG.
  • the spot beams emitted by the sub-light source arrays are replicated by diffractive optical elements to generate two groups of spot beams.
  • the first sub-light source array 211 emits 5 spot light beams
  • two sets of spot light beams 41 and 42 are projected toward the target field of view to the first field of view and the second field of view, respectively.
  • Field, each group of 15 spots, the spot beam reflected by the target is imaged into the corresponding first and second pixel arrays, and the superpixel corresponding to the spot is turned on in the sub-pixel array to collect photons in the reflected beam.
  • the light source array 21 includes 4 ⁇ 5 light sources, and 8 ⁇ 15 spot beams are projected toward the target area after being replicated by the diffractive element, and the corresponding pixel array needs to be set to include 16 ⁇ 30 pixels,
  • the pixel array is configured to include 30 sub-pixel arrays, and 30 TDC circuits are correspondingly connected for calculating the flight time.
  • the light source array includes n sub-light source arrays that are turned on one by one to scan the field of view, so that the number of TDC circuits and histogram circuits can be reduced to 1/n.
  • FIG. 5 What is shown in FIG. 5 is for illustrative reference only, and the number thereof is not limiting.
  • light sources when designing the system, can be arranged at small intervals in the y direction (baseline direction) to fully improve the angular resolution, and all the light sources in the y direction share the same sub-pixel array, and the sub-pixel array
  • the length can completely cover the parallax, so the requirements for the baseline can be relaxed, the number of ranging points can be increased, and the spatial resolution can be improved. Due to the dense arrangement of light sources in the y direction, the superpixels corresponding to the projected spot beams overlap, but the successive scanning method is adopted to solve the problem of superpixel overlap and improve the distance measurement accuracy.
  • the distance between the light sources can be increased to ensure that the beams emitted by each light source can be imaged on the corresponding sub-pixel array after reflection without errors caused by out-of-bounds situations, so the tolerances can be relaxed. Require.
  • the readout circuit and the pixel array are designed on the same plane, which reduces the number of TDC circuits and histogram circuits, and effectively reduces the process cost and complexity.
  • the descriptions of the above embodiments are described by taking the baseline direction as the y direction as an example for description.
  • the baseline direction can also be set as the x direction
  • the sub-light source array includes a row of sub-light sources.
  • the sub-pixel array includes at least one row of pixels.
  • An embodiment of the present application further provides a storage medium for storing a computer program, when the computer program is executed, at least the distance measurement method described in the foregoing embodiments is executed.
  • the storage medium may be implemented by any type of volatile or non-volatile storage device, or a combination thereof.
  • the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory) Memory), Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), Magnetic Random Access Memory (FRAM, Ferromagnetic Random Access Memory), Flash Memory (Flash Memory), Magnetic Surface Memory, Optical Disc, Or compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory); magnetic surface memory can be magnetic disk memory or tape memory.
  • RAM Random Access Memory
  • SRAM Static Random Access Memory
  • SSRAM SynchronousStatic Random Access Memory
  • DRAM Dynamic Random Access Memory
  • SDRAM Synchronous Dynamic Random Access Memory
  • DDRSDRAM Double Data Rate Synchronous Dynamic Random Access Memory
  • ESDRAM Enhanced Synchronous Dynamic Random Access Memory
  • SLDRAM synchronous connection dynamic random access memory
  • SLDRAM SyncLink Dynamic Random Access Memory
  • DRAM Direct Rambus Random Access Memory
  • DRRAM Direct Rambus Random Access Memory
  • Embodiments of the present application further provide a computer device, the computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor executes the computer During the program, at least the distance measurement method described in the foregoing embodiments is implemented.

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

Abstract

La présente invention concerne un système de mesure de distance, un procédé de mesure de distance et un dispositif informatique. Le système (10) comprend un émetteur (11) et un collecteur (12), qui sont disposés le long d'une ligne de base, et un circuit de traitement (13, 32), l'émetteur (11) comprenant un réseau de sources de lumière (21) composé d'une pluralité de sources de lumière (213, 214), le réseau de sources de lumière (21) comprend une pluralité de sous-réseaux de sources de lumière (211, 212), et les sous-réseaux de sources de lumière (211, 212) sont conçus pour être ouverts un par un le long d'une direction de ligne de base de façon à émettre des faisceaux lumineux ponctuels (30); le collecteur (12) comprend un réseau de pixels (31) composé d'une pluralité de pixels (312), le réseau de pixels (31) comprend une pluralité de sous-réseaux de pixels (311), et la pluralité de sous-réseaux de pixels (311) sont conçus pour collecter des photons, dans des faisceaux lumineux (40), qui sont réfléchis par les faisceaux lumineux ponctuels (30) au moyen d'un objet cible (20) à mesurer, et pour former un signal photonique; et le circuit de traitement (13, 32) comprend une pluralité de sous-circuits de traitement (323), et les sous-circuits de traitement (323) sont connectés aux sous-réseaux de pixels (311) selon une correspondance biunivoque, de manière à commander les pixels (312) des sous-réseaux de pixels (311) pour démarrer, collecter les photons dans les faisceaux lumineux réfléchis (40) et calculer un temps de vol. Grâce au système (10), la résolution spatiale est améliorée, le problème de chevauchement de superpixels est résolu, la précision de mesure de distance est améliorée, et le coût de traitement et la complexité sont également efficacement réduits.
PCT/CN2020/141722 2020-07-25 2020-12-30 Système de mesure de distance et procédé de mesure de distance WO2022021797A1 (fr)

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