Adjustable distance measuring system and method
阅读说明:本技术 一种可调距离测量系统及方法 (Adjustable distance measuring system and method ) 是由 闫敏 朱亮 何燃 王瑞 于 2019-10-15 设计创作,主要内容包括:本发明公开了一种可调距离测量系统,包括:发射器,其包含由多个子光源组成的光源阵列,所述发射器经配置以发射多个线状光束,所述多个子光源可以被至少部分独立寻址以被动态控制以改变所述多个线状光束的线方向、线宽、间距、或扫描方向中的至少一项;采集器,经配置以采集被物体反射回的所述线状光束中的至少部分光信号;处理电路,与所述发射器以及所述采集器连接,用于根据所述光信号以计算所述线状光束从被发射到被采集之间的飞行时间。本发明通过点阵光源实现扫描距离成像,由于一次仅有部分像素单元需要读出数据,不仅可以降低读出电路的规模以及存储,还可以提高信噪比。(The invention discloses an adjustable distance measuring system, comprising: an emitter comprising an array of light sources consisting of a plurality of sub-light sources, the emitter configured to emit a plurality of line-shaped light beams, the plurality of sub-light sources being independently addressable at least in part to be dynamically controlled to change at least one of a line direction, a line width, a spacing, or a scan direction of the plurality of line-shaped light beams; a collector configured to collect at least a portion of the light signals in the linear light beam reflected back by an object; and the processing circuit is connected with the emitter and the collector and used for calculating the flight time from the emission to the collection of the linear light beam according to the optical signal. The invention realizes scanning distance imaging through the dot matrix light source, and because only part of pixel units need to read data at one time, the invention not only can reduce the scale and storage of a reading circuit, but also can improve the signal-to-noise ratio.)
1. An adjustable distance measuring system, comprising:
an emitter comprising an array of light sources consisting of a plurality of sub-light sources, the emitter configured to emit a plurality of line-shaped light beams, the plurality of sub-light sources being independently addressable at least in part to be dynamically controlled to change at least one of a line direction, a line width, a spacing, or a scan direction of the plurality of line-shaped light beams;
a collector configured to collect at least a portion of the light signals in the linear light beam reflected back by an object;
and the processing circuit is connected with the emitter and the collector and used for calculating the flight time from the emission to the collection of the linear light beam according to the optical signal.
2. The adjustable distance measurement system of claim 1 wherein: the light source array comprises at least two sub light source arrays, the linear light beams comprise at least two linear light beam groups, and the sub light source arrays correspond to the linear light beam groups one to one.
3. The adjustable distance measurement system of claim 2 wherein: the sub-light sources in the at least two sub-light source arrays are staggered so that adjacent three sub-light sources form a triangular arrangement pattern.
4. The distance measuring system of claim 1 wherein: the processing circuit is further used for controlling the sub-light source arrays to be sequentially started to realize scanning.
5. The distance measuring system of claim 1 wherein: the linear light beam is formed by connecting spot light beams emitted by a plurality of sub light sources.
6. An adjustable distance measuring method, comprising:
controlling an emitter to emit a plurality of line-shaped beams, the emitter comprising a light source array consisting of a plurality of sub-light sources that can be independently addressed at least in part to be dynamically controlled to change at least one of a line direction, a line width, a pitch, or a scan direction of the plurality of line-shaped beams;
controlling a collector to collect at least part of light signals in the linear light beams reflected back by an object;
and calculating the flight time of the linear light beam from emission to collection according to the light signal.
7. An adjustable distance measuring method according to claim 6, characterized in that: the light source array comprises at least two sub light source arrays, the linear light beams comprise at least two linear light beam groups, and the sub light source arrays correspond to the linear light beam groups one to one.
8. An adjustable distance measuring method according to claim 7, characterized in that: the sub-light sources in the at least two sub-light source arrays are staggered so that adjacent three sub-light sources form a triangular arrangement pattern.
9. The distance measuring method according to claim 6, further comprising: and controlling the sub-light source arrays to be sequentially started through a processing circuit so as to realize scanning.
10. The distance measuring method according to claim 6, characterized in that: the linear light beam is formed by connecting spot light beams emitted by a plurality of sub light sources.
Technical Field
The invention relates to the technical field of computers, in particular to an adjustable distance measuring system and method.
Background
The Time of flight (TOF) method calculates the distance of an object by measuring the Time of flight of a light beam in space, and is widely applied to the fields of consumer electronics, unmanned driving, AR/VR, and the like due to its advantages of high precision, large measurement range, and the like.
Distance measurement systems based on the time-of-flight principle, such as time-of-flight depth cameras, lidar and other systems, often include a light source transmitting end and a receiving end, where the light source transmits a light beam to a target space to provide illumination, the receiving end receives the light beam reflected back by the target, and the system calculates the distance to the object by calculating the time required for the light beam to be transmitted to the target space.
At present, the laser radar based on the flight time method mainly comprises a mechanical type and a non-mechanical type, the distance measurement of a 360-degree large field of view is realized through a rotating base in the mechanical type, a single-point light source and a linear light source are generally adopted at an emitting end of the laser radar, and the laser radar has the advantages of concentrated light beam intensity, large measurement range, high precision and low frame rate due to long scanning time; generally, a non-mechanical intermediate-area array lidar transmits an area light beam with a certain field of view to a space at one time through an area light source and receives the area light beam through an area array receiver, so that the resolution and the frame rate of the non-mechanical intermediate-area array lidar are improved, but the non-mechanical intermediate-area array lidar has the defects of weak light intensity, poor signal-to-noise ratio and small measurement range, and in addition, because each pixel on the area array receiver needs to be demodulated at the same time, the requirements on the scale, the storage and the power consumption of a reading circuit (such as a TDC circuit.
The above background disclosure is only for the purpose of assisting understanding of the inventive concept and technical solutions of the present invention, and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
The present invention is directed to an adjustable distance measuring system and method to solve at least one of the above-mentioned problems.
In order to achieve the above purpose, the technical solution of the embodiment of the present invention is realized as follows:
an adjustable distance measurement system comprising: an emitter comprising an array of light sources consisting of a plurality of sub-light sources, the emitter configured to emit a plurality of line-shaped light beams, the plurality of sub-light sources being independently addressable at least in part to be dynamically controlled to change at least one of a line direction, a line width, a spacing, or a scan direction of the plurality of line-shaped light beams; a collector configured to collect at least a portion of the light signals in the linear light beam reflected back by an object; and the processing circuit is connected with the emitter and the collector and used for calculating the flight time from the emission to the collection of the linear light beam according to the optical signal.
In some embodiments, the light source array includes at least two sub light source arrays, the plurality of linear light beams includes at least two linear light beam groups, and the sub light source arrays correspond to the linear light beam groups one to one.
In some embodiments, the sub-light sources in the at least two sub-light source arrays are staggered such that adjacent three sub-light sources form a delta arrangement pattern.
In some embodiments, the processing circuit is further configured to control the sub-light source arrays to be sequentially turned on to realize scanning.
In some embodiments, the linear beam is formed by connecting spot beams emitted by a plurality of the sub-light sources.
The other technical scheme of the invention is as follows:
an adjustable distance measurement method comprising: controlling an emitter to emit a plurality of line-shaped beams, the emitter comprising a light source array consisting of a plurality of sub-light sources that can be independently addressed at least in part to be dynamically controlled to change at least one of a line direction, a line width, a pitch, or a scan direction of the plurality of line-shaped beams; controlling a collector to collect at least part of light signals in the linear light beams reflected back by an object; and calculating the flight time of the linear light beam from emission to collection according to the light signal.
In some embodiments, the light source array includes at least two sub light source arrays, the plurality of linear light beams includes at least two linear light beam groups, and the sub light source arrays correspond to the linear light beam groups one to one.
In some embodiments, the sub-light sources in the at least two sub-light source arrays are staggered such that adjacent three sub-light sources form a delta arrangement pattern.
In some embodiments, the method further comprises: and controlling the sub-light source arrays to be sequentially started through a processing circuit so as to realize scanning.
In some embodiments, the linear beam is formed by connecting spot beams emitted by a plurality of the sub-light sources.
The technical scheme of the invention has the beneficial effects that:
the invention realizes scanning distance imaging through the dot matrix light source, and because only part of pixel units need to read data at one time, the invention not only can reduce the scale and storage of a reading circuit, but also can improve the signal-to-noise ratio.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a distance measurement system according to one embodiment of the present invention.
FIG. 2 is a schematic view of a light source according to one embodiment of the invention.
Fig. 3 is a schematic diagram of emitted beams projected by an emitter according to one embodiment of the present invention.
Fig. 4 is a schematic diagram of a pixel unit in a collector according to an embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
As an embodiment of the present invention, a distance measuring system is provided, which has a stronger resistance to ambient light and a higher resolution.
Referring to fig. 1, fig. 1 is a schematic view of a distance measuring system according to an embodiment of the present invention. The
D=c·t/2 (1)
where c is the speed of light.
The emitter 11 includes a
The
The
In some embodiments, the
In some embodiments, emitter 11 and
In some embodiments, the emitter includes an array of light sources consisting of a plurality of sub-light sources, the emitter configured to emit a plurality of line-shaped light beams; the collector is configured to collect at least part of the light signals in the linear light beams reflected back by the object; the processing circuit is connected with the emitter and the collector and used for calculating the flight time of the linear light beam from emission to collection according to the optical signal; the light source array comprises at least two sub light source arrays, the linear light beams comprise at least two linear light beam groups, and the sub light source arrays correspond to the linear light beam groups one to one.
In a direct time-of-flight distance measurement system using SPAD, a single photon incident on a SPAD pixel will cause an avalanche, the SPAD will output an avalanche signal to the TDC circuitry, and the TDC circuitry detects the time interval from the emission of the photon from the emitter 11 to the avalanche. After multiple measurements, the time interval is subjected to histogram statistics through a Time Correlation Single Photon Counting (TCSPC) circuit to recover the waveform of the whole pulse signal, the time corresponding to the waveform can be further determined, the flight time can be determined according to the time, therefore, the accurate flight time detection is realized, and finally, the distance information of the object is calculated according to the flight time.
For the sake of uniform description, it is assumed that the direction in which the line between emitter 11 and
FIG. 2 is a schematic view of a light source according to one embodiment of the invention. The
In one embodiment, the
An example is only schematically shown in fig. 2, in which the first sub
In one embodiment, when the number of the sub-light source arrays exceeds 2, the interleaving with each other may also be interleaved in the longitudinal direction.
Fig. 3 is a schematic diagram of emitted beams projected by an emitter according to one embodiment of the present invention. The emitted
It is understood that the linear light beam groups correspond to the sub-light source arrays one to one, that is, when the sub-light source arrays are turned on, the corresponding linear light beam groups are generated and emitted into the space. The number of sub-light source arrays grouped is therefore the same as the number of linear beam groups, e.g. N sub-light source arrays will generate N linear beam groups. Thus, in one embodiment, beam scanning of a spatial region may be accomplished by sequentially turning on each of the sub-light arrays, the direction in which the sub-light arrays are turned on determining the direction of scanning. For example, in the embodiments shown in fig. 2 and 3, sequentially turning on the
Fig. 4 is a schematic diagram of a pixel unit in a collector according to an embodiment of the invention. The pixel unit comprises a
In one embodiment, the
In one embodiment, when the emitter 11 emits a linear light beam toward the object to be measured, the
When the sub-light source arrays are sequentially turned on, linear beam groups, such as the
Generally,
In some applications, different scenes, different measurement ranges or different measurement requirements may have different requirements on the measurement system, and accordingly, the invention also provides an adjustable distance measurement system. In contrast to the aforementioned distance measurement system, the tunable distance measurement system has a
Specifically, the adjustable distance measuring system includes: an emitter comprising an array of light sources consisting of a plurality of sub-light sources, the emitter configured to emit a plurality of line-shaped light beams, the plurality of sub-light sources being independently addressable at least in part to be dynamically controlled to change at least one of a line direction, a line width, a spacing, or a scan direction of the plurality of line-shaped light beams; a collector configured to collect at least a portion of the light signals in the linear light beam reflected back by an object; and the processing circuit is connected with the emitter and the collector and used for calculating the flight time from the emission to the collection of the linear light beam according to the optical signal.
In one embodiment, such as the embodiment shown in fig. 2, the sub-light sources can be dynamically controlled to become 3 sub-light source arrays (201, 202, 203), 4 sub-light source arrays (201, 202, 203, 204), etc., and accordingly, 3 groups of linear light beams and 4 groups of linear light beams are generated, the distances between adjacent linear light beams in the light beam groups are different, when the linear light beams are imaged on the pixel units, the corresponding pixel distances are also different, at this time, the size of the super-pixel and the readout circuit also need to be adaptively adjusted, and the measurement ranges corresponding to different super-pixel sizes are also different. Therefore, the time-of-flight measurement of targets in different measurement ranges by the same measurement system can be realized by dynamically controlling the sub-light source array, the super-pixel size and the readout circuit.
In one embodiment, the sub-light sources are controlled to form an array of sub-light sources, such as the array of sub-light sources formed by rows of sub-light sources in fig. 2, so that the generated linear light beam is a transverse linear light beam, and is aligned with the base line direction, and the scanning direction is perpendicular to the base line direction (longitudinal direction).
In one embodiment, the linear light beams with different widths can be generated by dynamically controlling the sub-light source array, for example, two adjacent columns of sub-light sources are synchronously turned on to generate a linear light beam wider than that of a single column of sub-light sources.
In one embodiment, the direction of the line beam and the scanning direction can be controlled by dynamic control of the array light source. For example, each sub-light source in the array light source is set to be independently addressed, and the sub-light source arrays can be arbitrarily combined, so that the direction of the linear light beam and the scanning direction can be dynamically adjusted. For example, in one measurement, the transverse linear beam is used for scanning along the longitudinal direction, and then the longitudinal linear beam is used for scanning along the transverse direction, so that a result with higher precision can be obtained.
The adjustable distance measuring system corresponding to the above embodiment, as an embodiment, further provides an adjustable distance measuring method, including the steps of:
controlling an emitter to emit a plurality of line-shaped beams, the emitter comprising a light source array consisting of a plurality of sub-light sources that can be independently addressed at least in part to be dynamically controlled to change at least one of a line direction, a line width, a pitch, or a scan direction of the plurality of line-shaped beams;
controlling a collector to collect at least part of light signals in the linear light beams reflected back by an object;
and calculating the flight time of the linear light beam from emission to collection according to the light signal.
It should be noted that, the adjustable distance measuring method of the present embodiment is implemented by using the adjustable distance measuring system of the previous embodiment, and the technical solution of the method is the same as that of the previous adjustable distance measuring system, so that the detailed description is not repeated herein.
It will be appreciated that when the adjustable distance measuring system of the present invention is embedded in a device or hardware, corresponding structural or component changes may be made to accommodate the needs, the nature of which still employs the distance measuring system of the present invention and therefore should be considered as the scope of the present invention. The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention.
In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the invention as defined by the appended claims.
Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. One of ordinary skill in the art will readily appreciate that the above-disclosed, presently existing or later to be developed, processes, machines, manufacture, compositions of matter, means, methods, or steps, that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps.
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