WO2022088492A1 - 一种采集器、距离测量***及电子设备 - Google Patents

一种采集器、距离测量***及电子设备 Download PDF

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Publication number
WO2022088492A1
WO2022088492A1 PCT/CN2020/141721 CN2020141721W WO2022088492A1 WO 2022088492 A1 WO2022088492 A1 WO 2022088492A1 CN 2020141721 W CN2020141721 W CN 2020141721W WO 2022088492 A1 WO2022088492 A1 WO 2022088492A1
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Prior art keywords
pixel
collector
pixels
reflected
light
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PCT/CN2020/141721
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English (en)
French (fr)
Inventor
苏健
何燃
李国花
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 WO2022088492A1 publication Critical patent/WO2022088492A1/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
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/671—Focus control based on electronic image sensor signals in combination with active ranging signals, e.g. using light or sound signals emitted toward objects

Definitions

  • the present application relates to the technical field of optical ranging, and in particular, to a collector, a distance measurement system and an electronic device.
  • the distance of the target can be measured to obtain a depth image containing the depth value of the target, and further functions such as 3D reconstruction, face recognition, and human-computer interaction can be realized based on the depth image.
  • Related distance measurement systems have been widely used in consumer electronics, unmanned aerial vehicles, AR/VR and other fields.
  • Distance measurement systems based on the time-of-flight principle often include a beam transmitter and a collector.
  • the light source in the transmitter emits a beam to the target space to provide illumination, and the collector receives the beam reflected back by the target.
  • the collector includes a pixel array, which is generally a pixel array based on a single photon avalanche diode (SPAD).
  • SPAD single photon avalanche diode
  • the avalanche event output signal can be triggered to record the time when the photon reaches the pixel. , based on which the time required for the beam to go from emission to reception is calculated.
  • the ToF measurement system can be divided into two forms: coaxial and off-axis; among them, the coaxial system often allows the transmitter and the collector to share a scanning device, such as a MEMS galvanometer, so as to Realize the scanning of large field of view; off-axis systems often do not need scanning devices, but set up more receiving components (such as pixel arrays) at the collector end, so as to measure the distance of multiple points in the large field of view at one time.
  • a scanning device such as a MEMS galvanometer
  • the pixels are generally arranged in a two-dimensional array, and the superpixels are turned on within the moving range of the light spot to receive the signal light.
  • the reflected signal intensity of the measured object at different distances is roughly inversely proportional to the square of the distance, this will result in very strong signal light received on the pixels of the close-range light spot, making these pixels prone to saturation or serious stacking effects. , resulting in inaccurate ranging.
  • the purpose of the present application is to provide a collector, a distance measurement system and an electronic device to solve at least one of the above-mentioned background technical problems.
  • An embodiment of the present application provides a collector, which includes a pixel unit composed of at least one macro pixel, and each of the macro pixels includes a plurality of pixels with different aperture factors, so as to collect reflections from objects at different distances in the field of view.
  • the aperture factor is any value between 0 and 1; wherein, the pixels with a large aperture factor are configured to collect long-range light spots, and the pixels with a small aperture factor are configured to collect short-range light spots.
  • the pixel is configured with a blocking sheet, so as to limit the light entering area of the pixel through the blocking sheet, and reduce the photosensitive area of the pixel.
  • the shielding sheet is a metallic or non-metallic light shielding medium or coating disposed on the pixel.
  • each pixel corresponds to one of the blocking sheets, and a plurality of the blocking sheets are configured to have different aperture factors.
  • the shielding sheet is provided with an opening, and the signal light reflected by the measured target object is incident on the corresponding pixel through the opening.
  • the shape of the opening of the shielding sheet may be a square, a rectangle, a circle, a polygon or other irregular shapes.
  • the number of openings of the shielding sheet may be one or more.
  • the pixels are set to have an adjustable size of the photosensitive area. By adjusting the size of the photosensitive area of each pixel, the size of the photosensitive area of each pixel is different, so that the pixels have different sizes. opening factor.
  • the embodiments of the present application further provide a distance measurement system, including a collector, a transmitter, and a processing circuit respectively connected to the transmitter and the collector; wherein,
  • the transmitter is used for emitting a pulsed beam to the target area, and at least part of the pulsed beam is reflected by the target area to form a reflected pulsed beam;
  • the collector for receiving photons in the reflected pulse beam to form a photon signal;
  • the collector includes a pixel unit composed of at least one macro pixel, each of the macro pixels includes a plurality of pixels with different aperture factors, so as to be used for Collect the light spots reflected back by targets at different distances in the field of view;
  • the aperture factor is any value between 0 and 1; wherein, the pixel with a large aperture factor is configured to collect long-distance light spots, and the pixel with a small aperture factor is configured In order to collect close-up spots;
  • the processing circuit synchronizes the trigger signals of the transmitter and the collector, processes the photon signal, and calculates the distance information of the target to be measured based on the flight time of the reflected pulse beam.
  • the embodiment of the present application further provides an electronic device, including: a casing, a screen, and a distance measurement system; wherein, the transmitter and the collector of the distance measurement system are arranged on the same side of the electronic device, so as to be used to transmit to the electronic device.
  • the target object emits a light beam and receives the light beam reflected by the target object and forms an electrical signal;
  • the distance measurement system includes a transmitter, a collector, and a processing circuit respectively connected to the transmitter and the collector; wherein, the transmitter a collector for emitting a pulsed beam to a target area, and at least part of the pulsed beam is reflected by the target area to form a reflected pulsed beam; a collector for receiving photons in the reflected pulsed beam to form a photon signal;
  • the collector includes a A pixel unit composed of at least one macro pixel, each of which includes a plurality of pixels with different aperture factors, so as to collect the light spots reflected from objects at different distances in the field of view; the aperture factor is between 0 and 1.
  • the processing circuit synchronizes the trigger signals of the transmitter and the collector, The photon signal is processed, and the distance information of the target to be measured is calculated based on the flight time of the reflected pulse beam.
  • An embodiment of the present application provides a collector, which includes a pixel unit composed of at least one macro pixel, and each of the macro pixels includes a plurality of pixels with different aperture factors, so as to collect reflections from objects at different distances in the field of view.
  • the aperture factor is any value between 0 and 1; wherein, the pixels with a large aperture factor are configured to collect long-range light spots, and the pixels with a small aperture factor are configured to collect short-range light spots.
  • the aperture factor of the pixels irradiated by the long-distance light spot is large, and the aperture factor of the pixels irradiated by the short-distance light spot is small, which avoids the signal light received on the pixels of the short-distance light spot being strong, and the pixels are easy to
  • the reflected signal intensity of the measured objects at different distances received by the collector is balanced, the variation range of the signal light intensity is reduced, and the ranging accuracy is improved.
  • 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 collector according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram illustrating the arrangement of a light shield and a pixel array of a collector according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of another arrangement of a pixel array of a collector according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of another arrangement of a pixel array of a collector according to an embodiment of the present application.
  • FIG. 6 is a schematic diagram of an electronic device according to 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.
  • FIG. 1 is a schematic diagram of a distance measurement system according to an embodiment of the present application.
  • 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 30 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 At least part of the light beams in 40 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 required light beams from emission to reflection back to being received.
  • time that is, 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 pulse 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.
  • the frequency is set according to the measurement distance, for example, it can be Set to 1MHz-100MHz, and the measurement distance is several meters to several hundred meters. It can be understood that, 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 light source 111 emits an amplitude-modulated continuous wave beam, such as a sinusoidal or square wave continuous wave beam, under the control of the processing circuit, which can be used in indirect time-of-flight (Indirect TOF) measurements.
  • an amplitude-modulated continuous wave beam such as a sinusoidal or square wave continuous wave beam
  • 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 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 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 pixels, as a part of the collector, or as a part of the processing circuit 13, hereinafter collectively set as a part of the processing circuit 13.
  • 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 the reflected beams, and identify the reflected beams from emission to reflection by peak matching and filter detection. 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.
  • FIG. 2 is a schematic structural diagram of a collector 12 according to an embodiment of the present application.
  • the collector 12 includes a pixel unit 200; the pixel unit 200 includes at least one macro pixel 201, and each macro pixel 201 includes a plurality of pixels 202 with different aperture factors, so as to collect light spots reflected from objects at different distances in the field of view; Among them, the long-distance light spot (the light spot reflected by the long-distance target) is incident on the pixel with a large aperture factor, and the short-distance light spot (the light spot reflected by the short-distance target) is incident on the pixel with a small aperture factor.
  • the pixels 202 with different aperture factors may be arranged regularly or irregularly, which is not particularly limited in this embodiment of the present application.
  • the reflected light spot is incident on the combined pixel 204 (for example, four pixels form one combined pixel), and the aperture factor of each pixel in the combined pixel can be configured to be the same or different. .
  • the collector further includes a readout circuit 300 including a TDC circuit and a histogram processing circuit for processing the photon signal and outputting a histogram including photon time-of-flight information.
  • a readout circuit 300 including a TDC circuit and a histogram processing circuit for processing the photon signal and outputting a histogram including photon time-of-flight information.
  • the pixels having different aperture factors are realized by setting the shielding sheet 203 .
  • the collector 12 includes a pixel array and a plurality of shielding sheets 203; wherein, the pixel array is a two-dimensional pixel array composed of a plurality of pixels for sensing the signal light reflected by the measured target object; the plurality of shielding
  • the sheet 203 is configured to have different aperture factors, so as to limit the light-entering area of the pixel by blocking the pixel, reduce the photosensitive area of the pixel, and limit the light-entering amount. As shown in FIG.
  • the shielding sheet 203 is provided with an opening 2031, and the signal light reflected by the target object to be measured can be incident on the pixel 202 through the opening 2031; the white color in the figure represents the opening of the shielding sheet, and one shielding sheet corresponds to one pixel.
  • the opening of the shielding sheet is not adjustable; of course, in other embodiments, the opening of the shielding sheet can also be set to be adjustable, and the number of the shielding sheet is less than or equal to the number of pixels.
  • the number of blocking sheets and the number of pixels may be the same or different; for example, during long-distance measurement, most pixels do not need to be blocked, so the number of blocking sheets and the number of pixels may be different.
  • the number is less than the number of pixels. It can be understood that, in some embodiments, one occlusion sheet may also correspond to multiple pixels.
  • the shielding sheet is a metal or non-metallic light shielding medium or coating of various types disposed on the pixels.
  • the shape of the opening of the shielding sheet can be square, rectangle, circle, polygon or other irregular shapes.
  • the number of openings of the shielding sheet may be one or more, the position of the opening is not limited to the central position, and correspondingly, the unshielded part of the pixel is not limited to the central position of the pixel.
  • the pixel is designed to have an adjustable size of the photosensitive area, and each pixel has a different aperture factor by adjusting the size of the photosensitive area of each pixel so that the size of the photosensitive area of each pixel is different.
  • the aperture factor of the pixel can be any value between 0 and 1. When the aperture factor is 0, the area of the photosensitive area of the pixel is zero, the amount of incoming light is zero, and the pixel cannot collect light spots; when the aperture factor is 1, the pixel The area of the photosensitive area has not been reduced, which is the area of the photosensitive area of the pixel in the initial normal condition.
  • Pixels with different aperture factors can form a pixel array in any combination, as long as the pixel array can adapt to changes in signal light intensity with position.
  • shielding sheets are used or pixels are designed to achieve different aperture factors.
  • pixels can also have different aperture factors by other means.
  • the application examples are not illustrated one by one, and no matter what method is adopted, as long as it does not deviate from the purpose of the creation of the application, it should all belong to the protection scope of the application.
  • the pixels with different aperture factors can be a combination of any position, as long as they can adapt to the change of the signal light intensity with the position, and the arrangement of the pixels can be regular or irregular.
  • Figure 4 is a regular arrangement, and the pixel aperture factor in the combined pixel is the same, the aperture factor of the pixel gradually decreases from left to right, and the pixels with different aperture factors sequentially collect long-distance, medium-distance, and short-distance light spots .
  • FIG. 5 is an irregular form, the aperture factor of the pixels in the combined pixel is different, and the aperture factor is any value between 0-1.
  • 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 204 composed of 4 pixels.
  • the size of the combined pixel 204 can be specifically set according to the actual situation, and includes at least one pixel. For off-axis scanning, due to the existence of parallax, there will be displacement of the light spot incident on the pixel at different distances from the measured object.
  • the light spot will shift along the baseline direction. Therefore, the light spot is subject to parallax by the pre-calibration method. All the combined pixels included in the offset caused by the influence form a macro pixel. During ranging, the pixels in the macro pixel are all turned on, so that the combined pixels corresponding to the spots reflected by objects at different distances within the measurement range fall into the macro pixel. within the pixel area. Moreover, the number of macro pixels determines the number of sampling points that the collector completes one frame of measurement.
  • the readout circuit includes a TDC circuit and a histogram processing circuit for processing the photon signal to draw a histogram reflecting the pulse waveform emitted by the light source in the transmitter; Calculate the flight time, and finally output the result.
  • the readout circuit may be composed of a single TDC circuit and a histogram processing circuit, or may be an array readout circuit composed of multiple TDC circuits and histogram processing circuits.
  • FIG. 6 shows an electronic device according to another embodiment of the present application.
  • the electronic device may be a desktop, a desktop-mounted device, a portable device, a wearable device or a vehicle-mounted device, a robot, and the like.
  • the device may be a laptop or electronic device to allow gesture recognition or biometrics.
  • the device may be a head-mounted device used to identify objects or hazards in the user's surroundings for safety purposes, for example, a virtual reality system that obstructs the user's vision of the environment, may detect objects or hazards in the surrounding environment , to warn the user about nearby objects or obstacles.
  • the electronic device may be a mixed reality system that mixes virtual information and images with the user's surroundings, and objects or people in the user's environment may be detected to integrate virtual information with the physical environment and objects.
  • it may also be a device applied in fields such as unmanned driving.
  • the electronic device includes a casing 41 , a screen 42 , and the distance measurement system described in the foregoing embodiment; wherein, the transmitter and the collector of the distance measurement system It is arranged on the same side of the electronic device and is used to emit light beams to the target object and receive the light beams reflected by the target object to form electrical signals.

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  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
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  • Measurement Of Optical Distance (AREA)

Abstract

一种采集器（12）、距离测量***（10）及电子设备，包括由至少一个宏像素（201）组成的像素单元（200），每个宏像素（201）包括多个开口因子不同的像素（202），以用于采集视场中不同距离处的目标反射回的光斑；其中，开口因子大的像素被配置为采集远距光斑，开口因子小的像素被配置为采集近距光斑。通过设置开口因子不同的像素（202），避免了近距光斑的像素上接收到的信号光很强，像素容易发生饱和或产生堆积效应的情况，平衡了采集器（12）接收到的不同距离的被测物体的反射信号强度，缩小了信号光强度的变化范围，提高了测距准确度。

Description

一种采集器、距离测量***及电子设备
本申请要求于2020年10月28日提交中国专利局，申请号为202011174215.7，发明名称为“一种采集器、距离测量***及电子设备”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
本申请涉及光学测距技术领域，尤其涉及一种采集器、距离测量***及电子设备。
背景技术
利用飞行时间原理(Time of Flight，ToF)可以对目标进行距离测量，以获取包含目标深度值的深度图像，进一步基于该深度图像可以实现三维重建、人脸识别、人机交互等功能。相关的距离测量***已被广泛应用于消费电子、无人架驶、AR/VR等领域。基于飞行时间原理的距离测量***往往都包含一个光束发射器以及采集器，发射器中的光源向目标空间发射光束以提供照明，通过采集器接收由目标反射回的光束。其中，采集器包括有像素阵列，一般为基于单光子雪崩二极管(SPAD)的像素阵列，当反射光束中的一个光子入射到SPAD时，即可触发雪崩事件输出信号用于记录光子到达像素的时间，基于此计算光束从发射到接收所需要的时间。
根据发射器以及采集器之间的光路配置，ToF测量***可以分为共轴及离轴两种形式；其中，共轴***往往让发射器以及采集器共用一个扫描器件，如MEMS振镜，从而实现大视场的扫描；离轴***则往往无需扫描器件，而是在采集器端设置较多的接收元器件(如像素阵列)，从而一次性测量大视场内多个点的距离。
对于离轴ToF测量***，为了接收不同距离被测物体的反射信号，一般以二维阵列形式布置像素，并通过在光斑移动范围内开通超像素以接收信号光。然而，由于不同距离被测物体的反射信号强度大致与距离的平方成反比，这将导致近距光斑的像素上接收到的信号光很强，使得这些像素容易发生饱和，或产生严重的堆积效应，导致测距不准。
发明内容
本申请的目的在于提供一种采集器、距离测量***及电子设备，以解决上述背景技术问题中的至少一种问题。
本申请实施例提供一种采集器，包括由至少一个宏像素组成的像素单元，每个所述宏像素包括多个开口因子不同的像素，以用于采集视场中不同距离处的目标反射回的光斑；所述开口因子为0-1之间的任意数值；其中，开口因子大的像素被配置为采集远距光斑，开口因子小的像素被配置为采集近距光斑。
在一些实施例中，所述像素配置有遮挡片，以通过所述遮挡片限制所述像素的进光面积，将所述像素的感光面积缩小。
在一些实施例中，所述遮挡片为设置于所述像素上的金属或非金属的遮光介质或涂层。
在一些实施例中，每个像素对应一个所述遮挡片，多个所述遮挡片被配置为具有不同的开口因子。
在一些实施例中，所述遮挡片设置有开口，经被测目标物体反射回的信号光通过所述开口入射到对应的所述像素上。
在一些实施例中，所述遮挡片的开口形状可以为正方形、长方形、圆形、多边形或其他不规则形状。
在一些实施例中，所述遮挡片的开口数目可以为一个或者多个。
在一些实施例中，所述像素被设置为感光区尺寸可调，通过调整所述每个像素的感光区尺寸，使得所述每个像素的感光区尺寸不同，从而使得所述像素 具有不同的开口因子。
本申请实施例还提供一种距离测量***，包括采集器、发射器、以及分别与所述发射器、所述采集器连接的处理电路；其中，
发射器，用于向目标区域发射脉冲光束，至少部分脉冲光束经所述目标区域反射后形成反射脉冲光束；
采集器，接收所述反射脉冲光束中的光子形成光子信号；所述采集器包括包括由至少一个宏像素构成的像素单元，每个所述宏像素包括多个开口因子不同的像素，以用于采集视场中不同距离处的目标反射回的光斑；所述开口因子为0-1之间的任意数值；其中，开口因子大的像素被配置为采集远距光斑，开口因子小的像素被配置为采集近距光斑；
处理电路，同步所述发射器与所述采集器的触发信号，并对所述光子信号进行处理，基于所述反射脉冲光束的飞行时间计算出待测目标的距离信息。
本申请实施例还提供一种电子设备，包括：壳体、屏幕、以及距离测量***；其中，所述距离测量***的发射器与采集器设置于所述电子设备的同一面，以用于向目标物体发射光束以及接收所述目标物体反射回来的光束并形成电信号；所述距离测量***包括发射器、采集器以及分别与所述发射器、所述采集器连接的处理电路；其中，发射器，用于向目标区域发射脉冲光束，至少部分脉冲光束经所述目标区域反射后形成反射脉冲光束；采集器，接收所述反射脉冲光束中的光子形成光子信号；所述采集器包括包括由至少一个宏像素构成的像素单元，每个所述宏像素包括多个开口因子不同的像素，以用于采集视场中不同距离处的目标反射回的光斑；所述开口因子为0-1之间的任意数值；其中，开口因子大的像素被配置为采集远距光斑，开口因子小的像素被配置为采集近距光斑；处理电路，同步所述发射器与所述采集器的触发信号，并对所述光子信号进行处理，基于所述反射脉冲光束的飞行时间计算出待测目标的距离信息。
本申请实施例提供一种采集器，包括由至少一个宏像素构成的像素单元，每个所述宏像素包括多个开口因子不同的像素，以用于采集视场中不同距离处的目标反射回的光斑；所述开口因子为0-1之间的任意数值；其中，开口因子大的像素被配置为采集远距光斑，开口因子小的像素被配置为采集近距光斑。本申请通过设置开口因子不同的像素，使得远距光斑照射的像素开口因子大，而近距光斑照射的像素开口因子小，避免了近距光斑的像素上接收到的信号光很强，像素容易发生饱和或产生堆积效应的情况，平衡了采集器接收到的不同距离的被测物体的反射信号强度，缩小了信号光强度的变化范围，提高了测距准确度。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是根据本申请一个实施例距离测量***的示意图。
图2是根据本申请一个实施例采集器的示意图。
图3是根据本申请一个实施例采集器的遮光片与像素阵列排布的示意图。
图4是根据本申请一个实施例采集器的像素阵列另一排布方式示意图。
图5是根据本申请一个实施例采集器的像素阵列另一排布方式示意图。
图6是根据本申请另一个实施例电子设备的示意图。
具体实施方式
为了使本申请实施例所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此 处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。另外，连接即可以是用于固定作用也可以是用于电路连通作用。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多该特征。在本申请实施例的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
图1所示为本申请一个实施例的距离测量***示意图，该距离测量***10包括发射器11、采集器12以及分别与发射器11、采集器12连接的处理电路13。其中，发射器11用于向目标区域20发射光束30，该光束30发射至目标区域空间中以照明空间中的目标物体；至少部分发射光束30经目标区域20反射后形成反射光束40，反射光束40中的至少部分光束被采集器12接收；处理电路13分别与发射器11以及采集器12连接，同步发射器11与采集器12的触发信号以计算光束从发射到反射回被接收所需要的时间，即发射光束30与反射光束40之间的飞行时间t，进一步，目标物体上对应点的距离D可由下式计算出：
D＝c·t/2            (1)
其中，c为光速。
发射器11包括光源111、发射光学元件112以及驱动器113等。其中，光源111可以是发光二极管(LED)、激光二极管(LD)、边发射激光器(EEL)、垂直 腔面发射激光器(VCSEL)等，也可以是由多个光源组成的一维或二维光源阵列。优选地，光源阵列是在单块半导体基底上生成多个VCSEL光源以形成的VCSEL阵列光源芯片，光源阵列中光源的排列方式可以是规则的也可以是不规则的。光源111所发射的光束可以是可见光、红外光、紫外光等。光源111在驱动器113的控制下向外发射光束。
在一些实施例中，光源111在驱动器113的控制下以一定频率(脉冲周期)向外发射脉冲光束，可以用于直接飞行时间(Direct TOF)测量中，频率根据测量距离进行设定，比如可以设置成1MHz-100MHz，测量距离在几米至几百米。可以理解的是，还可以利用处理电路13中的一部分或者独立于处理电路13存在的子电路来控制光源111发射光束。在一些实施例中，光源111在处理电路的控制下向外发射振幅被调制的连续波光束，比如正弦或者方波连续波光束，可以用于间接飞行时间法(Indirect TOF)测量中。
发射光学元件112接收来自光源111发射的光束并整形后投射到目标区域。在一些实施例中，发射光学元件112接收来自光源111的脉冲光束，并将脉冲光束进行光学调制，比如衍射、折射、反射等调制，随后向空间中发射被调制后的光束，比如聚焦光束、泛光光束、结构光光束等。发射光学元件112可以是透镜、液晶元件、衍射光学元件、微透镜阵列、超表面(Metasurface)光学元件、掩膜板、反射镜、MEMS振镜等形式中的一种或多种的组合。
采集器12包括像素单元121、过滤单元122和接收光学元件123；其中，接收光学元件123用于接收由目标反射回的至少部分光束并引导到像素单元121上，过滤单元122用于滤除背景光或杂散光。像素单元121包括由多个像素组成的二维像素阵列；在一些实施例中，像素单元121是由单光子雪崩光电二极管(SPAD)组成像素阵列，SPAD可以对入射的单个光子进行响应，并输出指示所接收光子在每个SPAD处响应到达时间的信号，利用诸如时间相关单光子计数法(TCSPC)实现对微弱光信号的采集以及飞行时间的计算。
一般地，还包括有与像素单元121连接的信号放大器、时数转换器(TDC)、 数模转换器(ADC)等器件中的一种或多种组成的读出电路。这些电路即可以与像素整合在一起，作为采集器的一部分，也可以作为处理电路13的一部分，下文中统一设定为处理电路13的一部分。
处理电路13同步发射器11与采集器12的触发信号，对像素采集光束的光子信号进行处理，并基于反射光束的飞行时间计算出待测目标的距离信息。在一些实施例中，SPAD对入射的单个光子进行响应而输出光子信号，处理电路13接收光子信号并进行信号处理获取光束的飞行时间。具体的，处理电路13计算采集光子的数量形成连续的时间bin，这些时间bin连在一起形成统计直方图以重现反射光束的时间序列，利用峰值匹配和滤波检测识别出反射光束从发射到反射回被接收的飞行时间。可以理解的是，处理电路13可以是独立的专用电路，比如专用SOC芯片、FPGA芯片、ASIC芯片等等，也可以包含通用处理电路。
在一些实施例中，距离测量***10还包括存储器，用于存储脉冲编码程序，利用编码程序控制光源111发射光束的激发时间、发射频率等。
在一些实施例中，距离测量***10还可以包括彩色相机、红外相机、IMU等器件，与这些器件的组合可以实现更加丰富的功能，比如3D纹理建模、红外人脸识别、SLAM等功能。
参照图2所示，图2所示是本申请一个实施例采集器12的结构示意图。采集器12包括像素单元200；像素单元200包括由至少一个宏像素201每个宏像素201包括多个开口因子不同的像素202，以用于采集视场中不同距离处的目标反射回的光斑；其中，远距光斑(远距离目标反射回的光斑)入射到开口因子大的像素上，近距光斑(近距离目标反射回的光斑)入射到开口因子小的像素上。具体的，具有不同开口因子的像素202可以是规则排列，也可以是不规则排列，在本申请实施例中不做特别限制。在一些实施例中，如图4所示，反射光斑入射到合像素204(例如4个像素组成一个合像素)上，合像素内每个像素的开口因子可以配置为相同，也可以配置为不同。
在一些实施例中，采集器还包括读出电路300，读出电路300包括TDC电路以及直方图处理电路，以用于对光子信号进行处理并输出包含光子飞行时间信息的直方图。
参照图3所示，在一些实施例中，通过设置遮挡片203来实现像素具有不同的开口因子。具体的，采集器12包括像素阵列以及多个遮挡片203；其中，像素阵列为多个像素构成的二维像素阵列，以用于感测经被测目标物体反射回的信号光；多个遮挡片203被配置为具有不同的开口因子，以通过遮挡像素来限制像素的进光面积，将像素的感光面积缩小，限制进光量。如图3所示，遮挡片203设置有开口2031，经被测目标物体反射回的信号光通过开口2031可以入射到像素202上；图中白色表示遮挡片的开口，一个遮挡片对应一个像素。本申请实施例中，遮挡片的开口不可调节；当然，在其他一些实施例中，遮挡片的开口也可以设置成可调，遮挡片的数量少于或者等于像素点的数量。
在一些实施列中，遮挡片的数量与像素的数量可以相同，也可以不同；如：在远距测量时，多数像素无需被遮挡，因此遮挡片的数量与像素的数量可以不同，遮挡片的数量少于像素点的数量。可以理解的是，在一些实施例中，也可以一个遮挡片对应多个像素。
在一些实施例中，遮挡片为设置于像素上的金属或非金属的各类遮光介质或涂层。遮挡片的开口形状可以为正方形、长方形、圆形、多边形或其他不规则形状。遮挡片的开口数目可以为一个或者多个，开口的位置不限于中央位置，对应地，像素未被遮挡部分也不限于像素中央位置。
在一些实施例中，像素被设计成感光区尺寸可调，通过调整每个像素感光区尺寸，使得每个像素的感光区尺寸不同，从而实现每个像素具有不同的开口因子。其中，像素的开口因子可以为0～1之间的任意数值，当开口因子为0时，像素感光区面积为零，进光量为零，像素采集不到光斑；当开口因子为1时，像素感光区面积未被缩小，为初始正常情况下像素的感光区面积，此次像素感光区面积为最大，进光量最大，允许像素采集到更多光信号。具有不同开口因 子的像素可以任何组合构成像素阵列，只要像素阵列可适应于信号光强度随位置的变化即可。
需要说明的是，本申请实施例中采用遮挡片或者通过对像素的设计来实现像素具有不同的开口因子，在其他一些实施例中，也可以通过其他方式来使得像素具有不同的开口因子，本申请实施例不一一举例说明，无论采取何种方式，只要不脱离本申请创作的宗旨，均应属于本申请的保护范围。
参照图4-图5所示，不同开口因子的像素可以是任意位置的组合，只要能适应于信号光强度随位置的变化即可，像素的排布方式可以是规则，也可以是不规则的。其中，图4为规则的排布方式，且合像素内的像素开口因子相同，像素的开口因子从左到右逐渐变小，不同开口因子的像素依次采集远距、中距、近距的光斑。而图5为不规则形式，合像素内像素的开口因子各不相同，开口因子为0-1之间的任意数值。
在一些实施例中，发射器11向被测物体发射斑点光束时，斑点光束经被测物体反射，采集器12中的像素单元会引导该斑点光束至相应的像素上，其中配置单个斑点光束的成像光斑入射到对应的多个像素组成的“合像素”上。如图4所示单个斑点对应由4个像素组成的一个合像素204。合像素204的大小可以根据实际情况具体设定，至少包括一个像素。对于离轴扫描，由于视差的存在，被测物体远近不同时光斑入射到像素上会存在位移的情况，一般地，光斑会沿着基线方向发生偏移，因此通过预先标定的方法将光斑受视差影响而产生偏移所包含的全部合像素组成一个宏像素，测距时，宏像素内的像素全部开启，使得在测量范围内不同距离上物体反射回的斑点所对应的合像素均落入宏像素区域内。并且，宏像素的数量决定了采集器完成一帧测量的采样点个数。
参照图2所示，读出电路包括TDC电路和直方图处理电路，以用于对光子信号进行处理以绘制出反映发射器中光源所发射脉冲波形的直方图；进一步地，也可以根据直方图计算飞行时间，最后将结果进行输出。其中，读出电路可以是单个TDC电路和直方图处理电路组成，也可以是多个TDC电路和直方图处理 电路组成的阵列读出电路。
参照图6所示，图6所示为本申请另一个实施例一种电子设备，所述电子设备可以是台式、桌面安装设备、便携式设备、可穿戴设备或车载设备以及机器人等。具体的，设备可以是笔记本电脑或电子设备，以允许手势识别或生物识别。在其他示例中，设备可以是头戴式设备，以用于标识用户周围环境的对象或危险，以确保安全，例如，阻碍用户对环境视觉的虚拟现实***，可以检测周围环境中的对象或危险，以向用户提供关于附近对象或障碍物的警告。在另一些示例中，可以是将虚拟信息和图像与用户周围环境相混合的混合现实***，可检测用户环境中的对象或人，以将虚拟信息与物理环境和对象集成。在其它示例中，还可以是应用在无人驾驶等领域的设备。参照图10所示，以手机400为例进行说明，所述电子设备包括壳体41、屏幕42、以及前述实施例所述的距离测量***；其中，所述距离测量***的发射器与采集器设置于电子设备的同一面，用于向目标物体发射光束以及接收目标物体反射回来的光束并形成电信号。
可以理解的是，以上内容是结合具体/优选的实施方式对本申请所作的进一步详细说明，不能认定本申请的具体实施只局限于这些说明。对于本申请所属技术领域的普通技术人员来说，在不脱离本申请构思的前提下，其还可以对这些已描述的实施方式做出若干替代或变型，而这些替代或变型方式都应当视为属于本申请的保护范围。在本说明书的描述中，参考术语“一种实施例”、“一些实施例”、“优选实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。
在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征 进行结合和组合。尽管已经详细描述了本申请的实施例及其优点，但应当理解，在不脱离由所附权利要求限定的范围的情况下，可以在本文中进行各种改变、替换和变更。
此外，本申请的范围不旨在限于说明书中所述的过程、机器、制造、物质组成、手段、方法和步骤的特定实施例。本领域普通技术人员将容易理解，可以利用执行与本文所述相应实施例基本相同功能或获得与本文所述实施例基本相同结果的目前存在的或稍后要开发的上述披露、过程、机器、制造、物质组成、手段、方法或步骤。因此，所附权利要求旨在将这些过程、机器、制造、物质组成、手段、方法或步骤包含在其范围内。

Claims (10)

  1. 一种采集器，其特征在于：包括由至少一个宏像素构成的像素单元，每个所述宏像素包括多个开口因子不同的像素，以用于采集视场中不同距离处的目标反射回的光斑；所述开口因子为0-1之间的任意数值；其中，开口因子大的像素被配置为采集远距光斑，开口因子小的像素被配置为采集近距光斑。
  2. 如权利要求1所述的采集器，其特征在于：所述像素配置有遮挡片，以通过所述遮挡片限制所述像素的进光面积，将所述像素的感光面积缩小。
  3. 如权利要求2所述的采集器，其特征在于：所述遮挡片为设置于所述像素上的金属或非金属的遮光介质或涂层。
  4. 如权利要求2所述的采集器，其特征在于：每个像素对应一个所述遮挡片，多个所述遮挡片被配置为具有不同的开口因子。
  5. 如权利要求4所述的采集器，其特征在于：所述遮挡片设置有开口，经被测目标物体反射回的信号光通过所述开口入射到对应的所述像素上。
  6. 如权利要求5所述的采集器，其特征在于：所述遮挡片的开口形状可以为正方形、长方形、圆形、多边形或其他不规则形状。
  7. 如权利要求5所述的采集器，其特征在于：所述遮挡片的开口数目可以为一个或者多个。
  8. 如权利要求1所述的采集器，其特征在于：所述像素被设置为感光区尺寸可调，通过调整所述每个像素的感光区尺寸，使得所述每个像素的感光区尺寸不同，从而使得所述像素具有不同的开口因子。
  9. 一种距离测量***，其特征在于：包括发射器、采集器以及分别与所述发射器、所述采集器连接的处理电路；其中，
    发射器，用于向目标区域发射脉冲光束，至少部分脉冲光束经所述目标区域反射后形成反射脉冲光束；
    采集器，接收所述反射脉冲光束中的光子形成光子信号；所述采集器包括包括由至少一个宏像素构成的像素单元，每个所述宏像素包括多个开口因子不 同的像素，以用于采集视场中不同距离处的目标反射回的光斑；所述开口因子为0-1之间的任意数值；其中，开口因子大的像素被配置为采集远距光斑，开口因子小的像素被配置为采集近距光斑；
    处理电路，同步所述发射器与所述采集器的触发信号，并对所述光子信号进行处理，基于所述反射脉冲光束的飞行时间计算出待测目标的距离信息。
  10. 一种电子设备，其特征在于，包括：壳体、屏幕、以及距离测量***；其中，所述距离测量***的发射器与采集器设置于所述电子设备的同一面，以用于向目标物体发射光束以及接收所述目标物体反射回来的光束并形成电信号；所述距离测量***包括发射器、采集器以及分别与所述发射器、所述采集器连接的处理电路；其中，发射器，用于向目标区域发射脉冲光束，至少部分脉冲光束经所述目标区域反射后形成反射脉冲光束；采集器，接收所述反射脉冲光束中的光子形成光子信号；所述采集器包括包括由至少一个宏像素构成的像素单元，每个所述宏像素包括多个开口因子不同的像素，以用于采集视场中不同距离处的目标反射回的光斑；所述开口因子为0-1之间的任意数值；其中，开口因子大的像素被配置为采集远距光斑，开口因子小的像素被配置为采集近距光斑；处理电路，同步所述发射器与所述采集器的触发信号，并对所述光子信号进行处理，基于所述反射脉冲光束的飞行时间计算出待测目标的距离信息。
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