WO2022116531A1 - 探测装置、探测方法和激光雷达 - Google Patents

探测装置、探测方法和激光雷达 Download PDF

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Publication number
WO2022116531A1
WO2022116531A1 PCT/CN2021/104199 CN2021104199W WO2022116531A1 WO 2022116531 A1 WO2022116531 A1 WO 2022116531A1 CN 2021104199 W CN2021104199 W CN 2021104199W WO 2022116531 A1 WO2022116531 A1 WO 2022116531A1
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Prior art keywords
aperture
sub
array
macro
light
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Ceased
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PCT/CN2021/104199
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English (en)
French (fr)
Inventor
陶俊
向少卿
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Hesai Technology Co Ltd
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Hesai Technology Co Ltd
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Priority to EP21899573.6A priority Critical patent/EP4258012A4/en
Publication of WO2022116531A1 publication Critical patent/WO2022116531A1/zh
Priority to US18/204,170 priority patent/US20230324589A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G01S7/486—Receivers
    • G01S7/4868—Controlling received signal intensity or exposure of sensor
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—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
    • 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
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters

Definitions

  • the present disclosure relates to the field of optoelectronic technology, and in particular, to a detection device, a detection method, and a laser radar.
  • SPADs are photodetection arrays composed of multiple SPAD (single-photon avalanche diode) units.
  • SPAD single-photon avalanche diode
  • the basic unit is also SPAD, which is different from SPADs, and does not have unit independent address reading
  • the output of each SPAD unit of SPADs device is digital, which can be directly stored in the SPAD.
  • the back-end implements operations without analog-to-digital conversion via ADC or TDC.
  • each SPAD unit has an address-selective read feature, a feature that SiPM/MPPC does not have.
  • lidars with medium and long ranging capabilities are needed. Different from the single light source working mode of FLASH radars, lidars with medium and long ranging capabilities often require laser emission arrays and corresponding photoelectric detection arrays. Each laser and one or more photoelectric detection units corresponding to it are called a detection channel, that is, a transmitting channel and a receiving channel.
  • the area array detection unit includes multiple (multi-channel) SPADs.
  • SPADs are single-photon devices, and a single photon may trigger a Geiger avalanche. Therefore, under strong ambient light conditions, lidars need to suppress the influence of ambient light from the perspective of the optical system.
  • Placing filters is a common ambient light suppression method.
  • the mechanical diaphragm is the same as the detection channel.
  • the corresponding aperture array generally has a clear aperture range of several millimeters to several tens of microns. Another solution is to read only part of the SPAD unit output of the channel SPADs, to achieve a diaphragm-like effect.
  • the position and size of the radar's receiving spot on the focal plane are related to the distance of the object to be measured.
  • the clear aperture of the mechanical diaphragm must be designed to be large enough to ensure that the laser echoes reflected at different distances can be detected. SPADs are received, but the larger the clear aperture, the larger the field of view of the laser receiving channel, and the weaker the ability to suppress stray light in the receiving lens, so the radar system has poorer anti-interference ability to ambient light.
  • the mechanical diaphragm Since the mechanical diaphragm is placed near the focal plane of the receiving optical system, the optical path shift caused by the mechanical deformation of the transmitting and receiving optical systems will cause the position of the receiving spot to shift on the focal plane, and part of the echoed laser light will be displaced. Blocked by the diaphragm and cannot be detected by SPADs. During the production process, the mechanical diaphragm needs to be adjusted to an appropriate position and angle, which improves the positioning accuracy and difficulty of optical alignment during production.
  • the mechanical aperture cannot dynamically adjust the size of its clear aperture, and cannot simultaneously suppress ambient light, reduce the receiving field of view, improve the product's telemetry performance, reduce the difficulty of the production process, and improve the product's robustness to mechanical deformation. .
  • Another method is to read only part of the SPAD unit output of the channel SPADs.
  • the dynamic response range of the channel SPADs will be reduced due to the limited number of activated SPAD units.
  • an embodiment of the present invention provides a detection device, including:
  • a receiving lens configured to receive and condense echoes of the detection laser beam reflected on the target
  • a detection unit configured to receive the echo and output an electrical signal, the detection unit comprising at least one macropixel, each macropixel comprising an array of a plurality of detectors;
  • An aperture array the aperture array is arranged between the receiving lens and the detection unit, on or near the focal plane of the receiving lens, the aperture array includes at least one sub-aperture, each sub-light
  • the diaphragm includes a plurality of optical switch pixels that can be independently controlled to open and close, and each sub-aperture is configured such that one or more of the optical switch pixels are turned on to form a light-passing area to allow echoes from the receiving lens to pass through and illuminate the on a corresponding macro pixel of the detection unit;
  • a processing unit configured to perform calculations and processing based on the electrical signal
  • control unit coupled to the aperture array and the processing unit and configured to control each sub aperture in the aperture array, and for at least one of the sub apertures to
  • the light spot distribution of the echo on the macro pixel corresponding to the sub-aperture controls the opening and closing of the optical switch pixel of the sub-aperture.
  • the control unit is configured to control the light of the sub-aperture according to the light spot distribution of the echo on the macro pixel corresponding to the sub-aperture
  • the pixels are switched on and off, so that the light spot distribution of the echo on the sub-aperture is substantially consistent with the light-transmitting area of the sub-aperture.
  • the processing unit is configured to determine the light spot distribution of the echo on the macro-pixel according to the electrical signal output by the macro-pixel corresponding to the sub-aperture,
  • the plurality of detectors included in each macropixel are independently addressable.
  • the processing unit determines the Geiger avalanche of the detector in the preset area of the macro-pixel according to the electrical signal output by the macro-pixel corresponding to the sub-aperture frequency distribution, and according to the Geiger avalanche frequency distribution, determine the light spot distribution of the echo on the macro pixel.
  • the preset area is based on the light-transmitting area of the sub-aperture corresponding to the macro pixel, the focal length f of the receiving lens, and the distance d between the detection unit and the diaphragm array. Decide.
  • control unit is configured to control the optical switch pixels of the sub-aperture, so that the detectors in the preset area of the macro-pixel corresponding to the sub-aperture
  • the distribution of Geiger avalanche times is basically consistent with the standard distribution.
  • control unit for the at least one sub-aperture, is configured to be based on the distribution of the Geiger avalanche times of the detector in the preset area of the macro pixel corresponding to the sub-aperture and the standard The deviation of the distribution controls the optical switching pixels of this sub-aperture.
  • the detector includes a single-photon detector, and the aperture array includes a liquid crystal aperture or an electrically controlled filter.
  • the aperture array may be configured as an attenuator with adjustable transmittance
  • the control unit is configured to initialize the aperture array according to a configuration file.
  • control unit is configured to: when the configuration file is missing, configure the diaphragm array as an attenuator, according to the size and position of the light spot of the echo on the detection unit and shape, and the correspondence between the light spot and the aperture array, update the configuration file.
  • the present invention also provides a detection method, comprising:
  • S402 Provide a light-passing area through a diaphragm array, wherein the diaphragm array is located on or near the focal plane of the receiving lens, the diaphragm array includes at least one sub-aperture, and each sub-aperture includes a plurality of independent diaphragms Controlling open and closed optical switch pixels, each sub-aperture is configured such that one or more of the optical switch pixels are turned on to form the light-passing area to allow echoes from the receiving lens to pass through;
  • S403 Receive echoes passing through the light-transmitting area through a detection unit, the detection unit includes at least one macro pixel, each macro pixel includes an array formed by a plurality of detectors, and the clear light passing through a sub-aperture The echo of the area is irradiated on a corresponding macro pixel of the detection unit and converted into an electrical signal;
  • S404 According to the light spot distribution on the macro pixel corresponding to at least one sub-aperture in the aperture array, control the opening and closing of the optical switch pixel of the sub-aperture.
  • the step S404 includes: for the at least one sub-aperture, controlling the optical switch of the sub-aperture according to the light spot distribution of the echo on the macro pixel corresponding to the sub-aperture pixel, so that the light spot distribution of the echo on the sub-aperture is substantially consistent with the light-transmitting area of the sub-aperture.
  • the step S404 includes: for the at least one sub-aperture, determining the light spot distribution of the echo on the macro-pixel according to the electrical signal output by the macro-pixel corresponding to the sub-aperture,
  • the plurality of detectors included in each macropixel are independently addressable.
  • the step S404 further includes: for the at least one sub-aperture, according to the electrical signal output by the macro-pixel corresponding to the sub-aperture, determining the detector of the preset area of the macro-pixel. Geiger avalanche number distribution, and according to the Geiger avalanche number distribution, determine the light spot distribution of the echo on the macro pixel.
  • the preset area is based on the light-transmitting area of the sub-aperture corresponding to the macro pixel, the focal length f of the receiving lens, and the distance d between the detection unit and the diaphragm array. Decide.
  • the step S404 includes: for the at least one sub-aperture, controlling the optical switch pixel of the sub-aperture, so that the detector of the preset area of the macro pixel corresponding to the sub-aperture
  • the distribution of Geiger avalanche times is basically consistent with the standard distribution.
  • the step S404 includes: for the at least one sub-aperture, according to the distribution of the Geiger avalanche times of the detector in the preset area of the macro pixel corresponding to the sub-aperture and the standard distribution Deviation, control the optical switch pixel of the sub-aperture.
  • the detection method further includes:
  • the step of initializing the aperture array includes: initializing the aperture array according to a configuration file; when the configuration file is missing, configuring the aperture array as attenuation with adjustable transmittance According to the size, position and shape of the light spot of the echo on the detection unit, and the corresponding relationship between the light spot and the diaphragm array, update the configuration file, and then initialize the light according to the configuration file Diaphragm array.
  • the present invention also provides a laser radar, comprising:
  • a transmitting unit including at least one laser, configured to transmit a detection laser beam for detecting a target;
  • a receiving unit includes the detection device as described above, the detection device is configured to receive echoes of the detection laser beam reflected on the target and process the echo signals.
  • a laser of the transmitting unit, a macro pixel of the receiving unit and a sub-aperture corresponding to the macro pixel constitute a detection channel.
  • the laser comprises a vertical cavity surface emitting laser.
  • the problem of light spot shift under paraxial optical path conditions and different distances is solved, the received light spot shift caused by mechanical deformation is solved, and the alignment problem in production can be solved.
  • the preferred embodiment of the present invention does not change the read number of SPAD units in each channel, so that the dynamic response of the SPADs in the channel does not change.
  • the invention can solve the saturation problem of the SPADs device under strong light.
  • Figure 1 shows a schematic diagram of using a plurality of SPAD units to form one SPADs as a single-channel receiving unit
  • Figure 2 shows a schematic diagram of using a mechanical diaphragm to suppress ambient light
  • FIG. 3 shows a detection device according to an embodiment of the present invention
  • FIG. 4 shows a schematic diagram of the spot size and sub-aperture formed by echoes in the same direction on the aperture array when the target object is far and near different;
  • FIG. 5 shows the correspondence between the light-transmitting area formed by the diaphragm array and the detector array irradiated therethrough;
  • Figures 6A, 6B and 6C show different types of light spots on the diaphragm array
  • Figures 7A and 7B show overlay renderings of 100 exposures for a 50*50 detector array
  • FIG. 8 shows the distribution of the excitation times of the detector in the preset area of the corresponding macro pixel when the light-transmitting area of the sub-aperture matches the focal plane spot
  • Figure 12 shows a schematic diagram of initializing the sub-aperture when the configuration file is missing or wrong
  • FIG. 13 shows a flowchart of initialization of the sub-aperture and adjustment of the light-transmitting area of the sub-aperture
  • FIG. 14 shows a schematic diagram of a lidar according to an embodiment of the present invention.
  • Figure 15 illustrates a detection method according to one embodiment of the present invention.
  • connection should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection: it can be a mechanical connection, an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation.
  • connection should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection: it can be a mechanical connection, an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation.
  • a first feature "on” or “under” a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes that the first feature is directly above and diagonally above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature “below”, “below” and “beneath” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature has a lower level than the second feature.
  • FIG. 3 shows a detection device 10 according to an embodiment of the present invention, which will be described in detail below with reference to the accompanying drawings.
  • the detection device 10 includes a receiving lens 11 , a detection unit 12 , a diaphragm array 13 , a processing unit 14 and a control unit 15 , and preferably a filter 16 .
  • the receiving lens 11 is configured to receive and condense echoes of the detection laser beam reflected on the target.
  • the receiving lens 11 may typically comprise a single lens or group of lenses for focusing the echoes onto its focal plane.
  • the diaphragm array 13 is arranged on or near the focal plane of the receiving lens 11 , so that when the echo is parallel light, it can be converged to a point or one on the diaphragm array 13 through the converging action of the receiving lens 11 . within a small area.
  • the diaphragm array 13 includes a plurality of optical switch pixels 131 that can be independently controlled to open and close (ie, each small square of the diaphragm array 13 in FIG. 3 ), as clearly shown in FIG. 4 .
  • Each light-switching pixel 131 has an "open", “closed”, “half-open” state, and can be freely switched among various states, eg, under the control of the control unit 15 described below.
  • the diaphragm array includes a liquid crystal diaphragm or an electronically controlled color filter.
  • the detection unit 12 is disposed on the opposite side of the aperture array 13 from the receiving lens 11 , that is, the aperture array 13 is located between the reception lens 11 and the detection unit 12 .
  • the detection unit 12 is configured to receive echoes passing through the aperture array 13 and output electrical signals. Therefore, through the aperture array 13 in FIG. 1 , a “shutter” is realized.
  • the echoes can pass through and enter the detection unit 12 as fully as possible.
  • the ambient light or background noise is effectively isolated to prevent it from being incident on the detection unit 12 .
  • the detection unit 12 can be, for example, an array composed of a plurality of detectors 121, the detectors 121 are preferably single-photon avalanche diodes SPAD, and each detector 121 can individually respond to photons incident thereon to output electrical signals.
  • the array of detectors 121 in the detection unit 12 and the aperture array formed by the optical switch pixels 131 can be a one-dimensional array or a two-dimensional array, which are all within the scope of the present invention. within the scope of protection.
  • the processing unit 14 is electrically connected or communicated with the detection unit 12, so that the electrical signal output by the detection unit 12 can be acquired, and is configured to perform corresponding calculation and processing according to the electrical signal. For example, when used in a lidar, the processing unit 14 may calculate the distance and/or reflectivity of the target from the electrical signal.
  • the detection unit 12 includes at least one macro pixel, preferably includes a plurality of macro pixels, and each macro pixel includes an array formed by a plurality of detectors 121.
  • one SPADs in FIG. 1 is a macro pixel, which is an array composed of multiple SPAD units.
  • the diaphragm array 13 includes at least one sub-aperture, preferably a plurality of sub-apertures, each sub-aperture includes a plurality of optical switch pixels that can be independently controlled to open and close, and each optical switch pixel is, for example, a a liquid crystal cell, the state of which is controlled by applying an electric field, and each sub-aperture is configured such that one or more of the optical switch pixels are turned on to form a light-passing area to allow echoes from the receiving lens to pass through and illuminate the detection cell on a corresponding macro pixel of . Therefore, one sub-aperture corresponds to one macro pixel, forming a receiving channel.
  • Each receive channel may correspond to an echo incident on the receive lens 11 in one direction. Still taking the application in lidar as an example, each macro pixel needs to ensure that no matter the distance between the target and lidar, as long as the direction of the echo corresponds to the receiving channel, after the receiving lens 11 converges, the echo The light spot formed by the wave on the detection unit 12 will completely fall within the range of the macro pixel of the receiving channel.
  • FIG. 4 shows a schematic diagram of the spot size and the sub-apertures formed by echoes in the same direction on the diaphragm array 13 when the target objects are in different distances and distances.
  • the left side of FIG. 4 shows that when the target is far away, for example, about 100 meters, the area of the light spot formed on the diaphragm array 13 is small; and when the target at the same azimuth (angle) is relatively close, for example When the distance is about 10 meters, the area of the light spot formed on the diaphragm array 13 is relatively large.
  • the sub-aperture when setting the size of the sub-aperture, the sub-aperture can be set relatively large, so as to ensure that the echoes returning along the angle or direction can fall into the corresponding sub-light after passing through the receiving lens 11 within the range of the diaphragm.
  • the sub-aperture 132 is schematically shown in a box, from which it can be seen that both the far-field light spot and the near-field light spot fall within the range of the sub-aperture.
  • each lidar has its theoretical detection range, such as 5-200 meters, and generally the closer the target, the larger the spot.
  • the spot size when the target is 5 meters away from the lidar can be used as the size of the sub-aperture, or it can be appropriately increased on this basis, for example, increased by 5%, or increased by 10%.
  • the present invention is not limited to the shape of the sub-aperture, and the sub-aperture can be a square shape as shown in FIG. 4, a substantially circular shape, or other polygonal shapes, which are all described in this within the scope of protection of the invention.
  • each sub-aperture unit 132 may be isolated from each other, or may partially overlap each other.
  • Each sub-aperture 132 of the diaphragm array 13 forms a one-to-one correspondence with each macro pixel.
  • the optical switch pixel of each sub-aperture is turned on, the echo from the receiving lens is allowed to pass through and irradiate to the detection unit. on a corresponding macro pixel. The following describes how to determine the macro pixel corresponding to each sub-aperture.
  • the laser echo will be imaged on the focal plane of the receiving lens (on the diaphragm array).
  • the proportional relationship between the light-passing area of the diaphragm array 13 and the illuminated area on the detection unit 12 is determined.
  • the focal plane distance from the receiving lens 11 is the focal length f
  • the detector array is placed at a distance from the focal plane d
  • the photosensitive area L2 on the detector array in the macro pixel and the size of the focal plane spot (that is, the light-transmitting area of the sub-aperture) Size L1), focal length f, and distance d are related to the aperture of the receiving lens.
  • the position and size of the macro pixel corresponding to each sub-aperture can be obtained.
  • the relationship between the size L1 of the clear area of the sub-aperture and the size L2 of the detector array in the macropixel illuminated therethrough is illustrated in one dimension in FIG. 5, and the same applies to the other dimension. The relationship between them will not be repeated here.
  • the above description takes the sub-aperture of one receiving channel and its corresponding macro pixel as an example for description, and the situation of multiple receiving channels is similar, and will not be repeated here.
  • the control unit 15 in FIG. 3 is coupled to the aperture array 13 and the processing unit 14, and is configured to control each sub aperture in the aperture array 13, and for at least one of the sub apertures,
  • the opening and closing of the optical switch pixels of the sub-aperture can be controlled according to the light spot distribution of the echo on the macro-pixel corresponding to the sub-aperture.
  • the control unit 15 is configured to control the sub-aperture according to the light spot distribution of the echo on the macro pixel corresponding to the sub-aperture.
  • the optical switch pixels make the light spot distribution of the echo on the sub-aperture basically consistent with the light-transmitting area of the sub-aperture, that is, the optical switch pixel illuminated by the echo on the sub-aperture is turned on, allowing the echo The wave passes through, and at the same time, the optical switch pixels on the sub-aperture that are not illuminated by the echoes are turned off to block ambient light.
  • Figures 6A, 6B and 6C show different types of light spots on the diaphragm array.
  • the optical switch pixels marked with shadows indicate that they are not irradiated by echoes, so they are in a closed state; the optical switch pixels that are not marked with shadows indicate that they are illuminated by echoes, and are controlled to be in an open state, forming an open state. light area.
  • FIG. 6A shows the far-field light spot
  • the shape of the light spot on the diaphragm array 13 is approximately circular
  • the diameter is approximately the width of 4 optical switch pixels.
  • the light spot distribution of the echo on the sub-aperture is basically consistent with the light-transmitting area of the sub-aperture (that is, matches ) can be used.
  • FIG. 6B shows the situation of the near-field light spot.
  • the shape of the light spot on the diaphragm array 13 is approximately circular, and the diameter is approximately the width of 6 optical switch pixels.
  • the light-transmitting area of the sub-aperture can be opened larger, and the shape is still kept as a circle.
  • Fig. 6C shows the situation of the special-shaped light spot.
  • some optical switch pixels of the sub-aperture of the detection channel can also be controlled to be turned on, so that the light spot distribution of the echo on the sub-aperture is the same as that of the sub-light.
  • the light-transmitting area of the diaphragm is basically the same.
  • sub-apertures and macro-pixels are concepts in terms of control, not necessarily physical entities, and the division of sub-apertures and macro-pixels can be integrated in the control unit 15.
  • control unit 15 In contrast to the processing unit 14, a distinction does not necessarily have to be made in the detection unit 12 itself.
  • the processing unit 14 is configured to determine the light spot distribution of the echo on the macro-pixel according to the electrical signal output by the macro-pixel corresponding to the sub-aperture , the plurality of detectors included in each macro-pixel are independently addressable. Since the multiple detectors included in each macro pixel are independently addressable, the electrical signal output by each detector can be obtained, which is used for subsequent determination of the light spot distribution.
  • the processing unit 14 may determine, according to the electrical signal output by the macro pixel corresponding to the sub-aperture, the Geiger avalanche probability or the cover of the detector in the preset area of the macro pixel.
  • the distribution of the number of grid avalanches is determined, and the light spot distribution of the echo on the macro pixel is determined according to the probability of the Geiger avalanche or the distribution of the number of Geiger avalanches.
  • the preset area is based on the size of the light-passing area of the sub-aperture corresponding to the macro pixel, the focal length f of the receiving lens, the detection unit and the The distance d between the aperture arrays and the aperture of the receiving lens are jointly determined, so the corresponding area on the macro pixel, that is, the preset area, can be easily obtained.
  • a single exposure for example, for a single-photon detector, the corresponding Geiger avalanche probability
  • the focus is on the superposition results of multiple exposures (multi-frames) (ie, corresponding to Geiger avalanche times) to obtain the intensity distribution of the light spot in the SPAD.
  • Figures 7A and 7B show overlay renderings of 100 exposures for a 50*50 detector array, in 3D and 2D, respectively.
  • the distribution of the number of excitations of the detectors in the preset area of the corresponding macro-pixel is shown in FIG. 8
  • the middle part in the corresponding area has a relatively flat part, and the two sides have inclined rising and falling edges, and the slopes of the rising and falling edges are not too large, for example, the absolute value is less than a preset threshold.
  • the profile shown in Fig. 8 can be regarded as a standard signal.
  • the detector array in the preset area of the macro pixel corresponding to the sub-aperture (the range of dotted lines in the figure corresponds to the preset area)
  • the Geiger avalanche probability or the number of Geiger avalanches of detectors on the edge will not be increased by the echo laser illumination, and there will be some blank areas.
  • the number of SPAD Geiger avalanches can be obtained by accumulating the data of each addressable SPAD at a certain time by an accumulator.
  • FIG. 9 there is a flat part in the middle part of the distribution diagram, and inclined rising and falling edges on both sides, both of which are symmetrical, and a blank area on the outside of the rising and falling edges.
  • the probability of Geiger avalanche or the number of Geiger avalanche occurring on the detectors at the edge of the detector array in the preset area of the macro-pixel corresponding to the sub-aperture is high.
  • FIG. 11 there is a flat part in the middle part of the distribution graph, and the slopes of the rising and falling edges on both sides of the flat part are very high, for example, the absolute value is higher than a preset threshold.
  • the processing unit can determine the Geiger avalanche probability or the number of Geiger avalanches of the detector in the preset area on the macro pixel according to the electrical signal output by the detector in the macro pixel, and then according to the Geiger avalanche probability of the detector or The Geiger avalanche count determines whether one or more of the size, location, and shape of the current clear area of the sub-aperture is appropriate.
  • the profile shown in FIG. 8 can be regarded as a standard signal.
  • the control unit 15 is configured to control the optical switch pixel of the sub-aperture, so that the distribution of the Geiger avalanche times of the detector in the preset area of the macro pixel corresponding to the sub-aperture is equal to
  • the standard distribution is basically the same.
  • control unit is configured to, according to the deviation of the Geiger avalanche number distribution and the standard distribution of the detector in the preset area of the macro pixel corresponding to the sub-aperture, Controls the optical switch pixel of this sub-aperture.
  • the distribution diagram of the Geiger avalanche times obtained by the processing unit is the distribution diagram shown in FIG.
  • the light-transmitting area of the sub-aperture can be reduced to reduce or eliminate the blank area; when the processing unit When the obtained distribution diagram of Geiger avalanche times is the distribution diagram shown in Figure 10, the through hole area of the sub-aperture on the side with the higher slope (the left side in Figure 10) can be increased; when the processing unit obtains When the distribution diagram of the Geiger avalanche times is the distribution diagram shown in FIG. 11 , the through-hole area of the sub-aperture on both sides can be enlarged at this time.
  • FIGS. 8-11 show the detection unit 2 and the diaphragm array 13 in a one-dimensional form, and those skilled in the art can easily understand that the above description is also applicable to the detection unit 2 and the diaphragm array 13 in a two-dimensional array.
  • the aperture array may be configured as an attenuator with adjustable transmittance, and the control unit is configured to initialize the aperture array according to a configuration file.
  • Each sub-aperture can have a corresponding configuration file.
  • the sub-aperture can be configured first according to the configuration file.
  • missing or incorrect configuration files may occur.
  • the sub-aperture configuration file of one or more channels is missing or incorrect, the sub-aperture of the channel can be configured as a uniform transmittance-adjustable attenuator. .
  • the aperture array 13 or one of the sub apertures is configured as an attenuator, wherein each of all the optical switch pixels can allow light to pass through with a certain attenuation rate and illuminate the detection unit 12 .
  • the number of Geiger avalanches of the detectors on the detection unit 12 will present the standard distribution shown in FIG. 8 in a certain area. Further, based on this area, according to the size L2 of the illuminated area on the macro pixel shown in FIG.
  • FIG. 13 shows a flowchart of a method 200 for initializing the sub-aperture and adjusting the light-transmitting area of the sub-aperture, wherein the detector is a SPAD, and the diaphragm array is a liquid crystal diaphragm array, that is, each optical switch pixel is a liquid crystal cell .
  • step S201 the system starts to initialize.
  • step S202 all the liquid crystal cells are turned off.
  • step S203 it is checked whether there is an initial configuration file of the light-transmitting area of the sub-aperture. If yes, go to step S207, otherwise, go to step S204.
  • step S204 the amount of light passing through the liquid crystal is increased, for example, the liquid crystal diaphragm is set as an attenuation plate.
  • the initial increase is small, eg 10%.
  • step S205 it is judged whether the size, position and shape of the echo spot can be effectively measured through the SPAD array of the macro-pixels of the receiving channel. If yes, go to step S206; otherwise, go back to step S204, and continue to increase the amount of light passing through the liquid crystal until the size, position and shape of the echo spot can be effectively measured in step S205.
  • step S206 according to the size, position and shape of the echo spot obtained by effective measurement, infer the size, position and shape of the light-passing area of the corresponding sub-aperture, and set the light-passing area configuration file of the sub-aperture accordingly .
  • step S207 the light-transmitting area of the sub-aperture is set according to the configuration file.
  • step S208 it is determined whether the size, position and shape of the echo spot detected by the SPAD array in the preset area of the macro pixel of the receiving channel matches the size, position and shape of the light-transmitting area of the sub-aperture. If it matches, repeat step S208, and continue to detect; otherwise, go to step S209.
  • step S209 the size, position and shape of the light-transmitting area of the liquid crystal diaphragm are configured according to the size, position and shape of the echo spot measured by the SPAD array of the preset area of the macro pixel of the receiving channel.
  • the mechanical aperture diaphragm is replaced with a liquid crystal diaphragm, and the addressable cell opening, closing, half-opening and other states can be realized by electronically controlling the optical rotation characteristics of the liquid crystal cell.
  • the liquid crystal diaphragm is placed on the focal plane of the receiving lens. Since each liquid crystal cell can be addressed and controlled, the light-transmitting area of the corresponding diaphragm can be dynamically adjusted according to the focal plane spot shape of each channel to achieve the best receiving view. Field confinement and stray light suppression capabilities.
  • the dynamic response rate of liquid crystal devices ranges from tens of KHz to tens of Hz, which can meet the dynamic aperture adjustment requirements of area array radars.
  • the angle of the liquid crystal is controlled to achieve partial light transmission to attenuate the ambient light received by the SPADs device. It avoids the saturation of SPADs devices under strong light and can not work properly. Under strong background light conditions, it is a reasonable way to set the radar to avoid ranging failure by reducing the ranging capability.
  • the problem of light spot shift under paraxial optical path conditions and different distances is solved, the received light spot shift caused by mechanical deformation is solved, and the alignment problem in production can be solved.
  • the preferred embodiment of the present invention does not change the read number of SPAD units in each channel, and the dynamic response range of the channel does not decrease. At the same time, the invention can solve the saturation problem of the SPADs device under strong light.
  • the present invention also relates to a laser radar 300, including a transmitting unit 301 and a receiving unit 302.
  • the transmitting unit 301 includes at least one laser configured to emit a detection laser beam for detecting the target, and the laser preferably includes a vertical cavity surface emitting laser VCSEL.
  • the receiving unit 302 includes the detection device 10 as described above, the detection device is configured to receive echoes of the detection laser beam reflected on the target and process the echo signals.
  • a laser of the transmitting unit, a macro pixel of the receiving unit and a sub-aperture corresponding to the macro pixel constitute a detection channel.
  • the laser array in the emission unit 301 and the detection unit 12 are, for example, the area array shown in FIG. 1 , for example, the area array formed by VCSEL lasers can also be addressable and controlled.
  • the above-mentioned one laser may include one light-emitting unit, or may include a plurality of small units that emit light at the same time to form a structure of a laser.
  • the multiple detection channels of the lidar (for example, can be controlled to be detected in a certain timing sequence), and each detection channel adjusts the sub-aperture in real time according to the readout result of the macro pixel for matching to suppress ambient light.
  • the present invention also relates to a detection method 400, which will be described in detail below with reference to the accompanying drawings.
  • step S401 the echoes reflected by the detection laser beam on the target object are condensed by the receiving lens.
  • the receiving lens such as the receiving lens 11 shown in FIG. 3 , includes a single lens or a lens group, and is used for collecting echoes.
  • Step S402 providing a light-passing area through a diaphragm array, wherein the diaphragm array is located on or near the focal plane of the receiving lens, the diaphragm array includes at least one sub-aperture, and each sub-aperture includes a plurality of The open and closed optical switch pixels are independently controllable, and each sub-aperture is configured such that one or more of the optical switch pixels are turned on to form the light-passing area to allow echoes from the receiving lens to pass through.
  • the diaphragm array is, for example, the diaphragm array 13 shown in FIG. 3 , which is arranged on or near the focal plane of the receiving lens 11 and includes one or more sub-diaphragms.
  • Step S403 Receive echoes passing through the light-passing area through a detection unit, the detection unit includes at least one macro pixel, each macro pixel includes an array formed by a plurality of detectors, and the echoes passing through a sub-aperture The echo of the light-transmitting area is irradiated on a corresponding macro-pixel of the detection unit and converted into an electrical signal.
  • the detection unit is, for example, the detection unit 12 described in FIG. 3 .
  • step S404 according to the light spot distribution on the macro pixel corresponding to at least one sub-aperture in the aperture array, control the opening and closing of the optical switch pixel of the sub-aperture.
  • the optical switch of the sub-aperture is controlled according to the light spot distribution of the echo on the macro pixel corresponding to the sub-aperture pixel, so that the light spot distribution of the echo on the sub-aperture is substantially consistent with the light-transmitting area of the sub-aperture, such as the effect achieved in FIGS. 6A , 6B and 6C .
  • step S104 for the at least one sub-aperture, the light spot distribution of the echo on the macro-pixel is determined according to the electrical signal output by the macro-pixel corresponding to the sub-aperture,
  • the plurality of detectors included in each macropixel are independently addressable.
  • step S104 further includes: for the at least one sub-aperture, according to the electrical signal output by the macro-pixel corresponding to the sub-aperture, determining the detection value of the detector in the preset area of the macro-pixel. Geiger avalanche number distribution, and according to the Geiger avalanche number distribution, determine the light spot distribution of the echo on the macro pixel.
  • step S104 for the at least one sub-aperture, the optical switch pixel of the sub-aperture is controlled so that the detector of the preset area of the macro pixel corresponding to the sub-aperture is controlled.
  • the distribution of Geiger avalanche times is basically consistent with the standard distribution, where the standard distribution is described in Figure 8.
  • step S104 for the at least one sub-aperture, according to the deviation of the Geiger order distribution and the standard distribution of the detector in the preset area of the macro pixel corresponding to the sub-aperture , and control the optical switch pixels of the sub-aperture, so that the distribution of the Geiger avalanche times of the detector is as close as possible to or conforms to the standard distribution.
  • the detection method 400 further includes initializing the aperture array, for example, the aperture array may be initialized according to a configuration file; when the configuration file is missing, configuring the aperture array is an attenuator with adjustable transmittance, according to the size, position and shape of the light spot of the echo on the detection unit, and the corresponding relationship between the light spot and the aperture array, the configuration file is updated, The aperture array is then initialized according to the configuration file, which can be initialized through the process shown in FIG. 13 .

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Abstract

一种探测装置（10），包括：接收透镜（11），用于接收并会聚回波；探测单元（12），接收回波并输出电信号，包括至少一个宏像素，每个宏像素包括由多个探测器构成的阵列；光阑阵列（13），设置在接收透镜与探测单元之间，位于焦平面上或者附近，光阑阵列包括至少一个子光阑，每个子光阑包括多个可独立控制开闭的光开关像素，每个子光阑使得其中一个或多个光开关像素开启以形成通光区域，以允许回波通过并照射到一个对应宏像素上；处理单元（14），根据电信号进行计算和处理，控制单元（15），与光阑阵列（13）和处理单元（14）耦接，控制光阑阵列（13）中的各个子光阑，对于其中至少一个子光阑，根据回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素的开闭。

Description

探测装置、探测方法和激光雷达 技术领域
本公开涉及光电技术领域，尤其涉及一种探测装置、探测方法和激光雷达。
背景技术
目前，激光雷达技术广泛应用于无人驾驶、测绘、和无人仓库等领域，单光子探测器件由于灵敏度高，近年逐步成熟被应用于激光雷达中。单光子探测器件SPADs是由多个SPAD(单光子雪崩二极管)单元构成的光探测阵列。有别于SiPM/MPPC(硅光电倍增管，基本组成单元也是SPAD,与SPADs组成方式不同，不具备单元独立选址读取)，SPADs器件的每个SPAD单元的输出是数字化的，可以直接在后端实现运算，而不需要通过ADC或TDC进行模数转换，另外，由于每个SPAD单元具有选址读取特性，这是SiPM/MPPC所没有的特征。
当前，作为一种技术路线，将SPADs器件应用在激光雷达上已经被越来越多的厂家应用，如有采用由SPADs+VCSEL构成的激光雷达实现三维感知能力。无人驾驶领域需要有中长测距能力的激光雷达，有别于FLASH雷达的单光源工作模式，中长测距能力的激光雷达往往需要激光发射阵列和与之对应的光电探测阵列，将每个激光器和与之对应的一个或多个光电探测单元称之为一个探测通道，即发射通道和接收通道。
由于一个SPAD单元只能提供发生盖格和未发生盖格两种输出，使用多个SPAD单元构成一个SPADs作为单通道接收单元可以有效提升通道的动态响应范围，如图1所示的单通道SPADs，面阵探测单元包括多个(多通道)SPADs。SPADs器件作为单光子器件，一个光子就可能触发其发生盖格雪崩，所以，在强环境光条件下，激光雷达需要从光学系统角度考虑抑制环境光的影响，在光学接收透镜组内或SPADs表面放置滤光片是常见的环境光抑制方法，为 了更进一步抑制视场内的环境光和接收光学系统的杂散光，在光学系统中往往还会考虑加入机械光阑，机械光阑为与探测通道所对应的小孔阵列，其通光孔径范围一般为几个毫米到几十个微米。另一种解决方法为只读取通道SPADs的部分SPAD单元输出，来实现类似于光阑的效果。
现有技术存在以下缺点：机械光阑的引入虽然可以对环境光有很好的抑制，如图2所示(图中两束光线代表不同的入射角)，但存在以下缺陷。
在旁轴光学系统中，雷达的接收光斑在焦平面的位置和大小与被测物体的远近相关，机械光阑的通光孔径只有设计的足够大，才能保证不同距离反射的激光回波可以被SPADs接收到，但通光孔径越大，激光接收通道的视场越大，对接收镜头内杂散光的抑制能力越弱，所以雷达系统对环境光的抗干扰能力越差。由于机械光阑被放置在接收光学系统的焦平面附近，发射和接收光学系统的机械形变带来的光路偏移，将会导致接收光斑在焦面的位置发生偏移，部分回波激光将会被光阑挡住而不能被SPADs探测到。生产过程中，需要将机械光阑调整到合适的位置和角度，提高了生产时光学对准的定位精度和难度。机械光阑无法动态调整其通光孔径的大小，在抑制环境光、缩少接收视场、提高产品测远性能和减小生产工艺难度、提高产品对机械形变的鲁棒性上无法同时兼得。
另一种采用只读取通道SPADs的部分SPAD单元输出的方法，在光斑较小时，由于激活的SPAD单元数量有限，将会导致通道SPADs的动态响应范围降低。
背景技术部分的内容仅仅是发明人所知晓的技术，并不当然代表本领域的现有技术。
发明内容
为解决上述技术问题，本发明实施例提供一种探测装置，包括：
接收透镜，配置成用于接收并会聚探测激光束在目标物上反射的回波；
探测单元，配置成可接收所述回波并输出电信号，所述探测单元包括至 少一个宏像素，每个宏像素包括由多个探测器构成的阵列；
光阑阵列，所述光阑阵列设置在所述接收透镜与所述探测单元之间，位于所述接收透镜的焦平面上或者附近，所述光阑阵列包括至少一个子光阑，每个子光阑包括多个可独立控制开闭的光开关像素，所述每个子光阑配置成使得其中一个或多个光开关像素开启以形成通光区域，以允许来自接收透镜的回波通过并照射到所述探测单元的一个对应宏像素上；
处理单元，所述处理单元配置成可根据所述电信号进行计算和处理，
控制单元，所述控制单元与所述光阑阵列和所述处理单元耦接，并配置成可控制所述光阑阵列中的各个子光阑，并且对于其中至少一个子光阑，可根据所述回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素的开闭。
根据本发明的一个方面，对于所述至少一个子光阑，所述控制单元配置成可根据所述回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素，使得所述回波在所述子光阑上的光斑分布与所述子光阑的通光区域基本一致。
根据本发明的一个方面，对于所述至少一个子光阑，所述处理单元配置成根据与该子光阑对应的宏像素输出的电信号确定所述回波在该宏像素上的光斑分布，所述每个宏像素包括的多个探测器独立可寻址。
根据本发明的一个方面，对于所述至少一个子光阑，所述处理单元根据与该子光阑对应的宏像素输出的电信号，确定该宏像素的预设区域的探测器的盖格雪崩次数分布，并根据所述盖格雪崩次数分布，确定所述回波在该宏像素上的光斑分布。
根据本发明的一个方面，所述预设区域根据宏像素所对应的子光阑的通光区域、所述接收透镜的焦距f以及所述探测单元与所述光阑阵列之间的距离d共同决定。
根据本发明的一个方面，对于所述至少一个子光阑，所述控制单元配置成控制该子光阑的光开关像素，使得该子光阑所对应的宏像素的预设区域的 探测器的盖格雪崩次数分布与标准分布基本一致。
根据本发明的一个方面，对于所述至少一个子光阑，所述控制单元配置成根据所述该子光阑所对应的宏像素的的预设区域的探测器的盖格雪崩次数分布与标准分布的偏差，控制该子光阑的光开关像素。
根据本发明的一个方面，所述探测器包括单光子探测器，所述光阑阵列包括液晶光阑或电控滤光片。
根据本发明的一个方面，所述光阑阵列可配置为透过率可调的衰减片，所述控制单元配置成根据配置文件初始化所述光阑阵列。
根据本发明的一个方面，所述控制单元配置成：当所述配置文件缺失时，将所述光阑阵列配置为衰减片，根据所述回波在所述探测单元上的光斑的大小、位置和形状，以及所述光斑和所述光阑阵列的对应关系，更新所述配置文件。
本发明还提供一种探测方法，包括：
S401：通过接收透镜会聚探测激光束在目标物上反射的回波；
S402：通过光阑阵列提供一通光区域，其中所述光阑阵列位于所述接收透镜的焦平面上或者附近，所述光阑阵列包括至少一个子光阑，每个子光阑包括多个可独立控制开闭的光开关像素，每个子光阑配置成使得其中一个或多个光开关像素开启以形成所述通光区域，以允许来自接收透镜的回波通过；
S403：通过探测单元接收穿过所述通光区域的回波，所述探测单元包括至少一个宏像素，每个宏像素包括由多个探测器构成的阵列，穿过一个子光阑的通光区域的回波照射至所述探测单元的一个对应宏像素上并被转换为电信号；
S404：根据所述光阑阵列中至少一个子光阑所对应的宏像素上的光斑分布，控制该子光阑的光开关像素的开闭。
根据本发明的一个方面，所述步骤S404包括：对于所述至少一个子光阑，根据所述回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素，使得所述回波在所述子光阑上的光斑分布与所述子光阑的通光区 域基本一致。
根据本发明的一个方面，所述步骤S404包括：对于所述至少一个子光阑，根据与该子光阑对应的宏像素输出的电信号确定所述回波在该宏像素上的光斑分布，所述每个宏像素包括的多个探测器独立可寻址。
根据本发明的一个方面，所述步骤S404还包括：对于所述至少一个子光阑，根据与该子光阑对应的宏像素输出的电信号，确定该宏像素的预设区域的探测器的盖格雪崩次数分布，并根据所述盖格雪崩次数分布，确定所述回波在该宏像素上的光斑分布。
根据本发明的一个方面，所述预设区域根据宏像素所对应的子光阑的通光区域、所述接收透镜的焦距f以及所述探测单元与所述光阑阵列之间的距离d共同决定。
根据本发明的一个方面，所述步骤S404包括：对于所述至少一个子光阑，控制该子光阑的光开关像素，使得该子光阑所对应的宏像素的的预设区域的探测器的盖格雪崩次数分布与标准分布基本一致。
根据本发明的一个方面，所述步骤S404包括：对于所述至少一个子光阑，根据该子光阑所对应的宏像素的的预设区域的探测器的盖格雪崩次数分布与标准分布的偏差，控制该所述该子光阑的光开关像素。
根据本发明的一个方面，所述探测方法还包括：
初始化所述光阑阵列。
根据本发明的一个方面，所述初始化光阑阵列的步骤包括：根据配置文件初始化所述光阑阵列；当所述配置文件缺失时，将所述光阑阵列配置为透过率可调的衰减片，根据所述回波在所述探测单元上的光斑的大小、位置和形状，以及所述光斑和所述光阑阵列的对应关系，更新所述配置文件，再根据配置文件初始化所述光阑阵列。
本发明还提供一种激光雷达，包括：
发射单元，包括至少一个激光器，配置成发射探测激光束用于探测目标物；
接收单元，所述接收单元包括如上所述的探测装置，所述探测装置配置成可接收所述探测激光束在目标物上反射后的回波并对回波信号进行处理。
根据本发明的一个方面，所述发射单元的一个激光器和所述接收单元的一个宏像素及该宏像素对应的子光阑构成一个探测通道。
根据本发明的一个方面，所述激光器包括垂直腔面发射激光器。
本发明实施例中，解决了旁轴光路条件下、不同距离下的光斑偏移问题，解决了机械形变带来的接收光斑偏移，并且可以解决生产上的对准问题。另外，本发明的优选实施例不会改变各通道内SPAD单元的读取数量，这样通道内的SPADs器件的动态响应没有变化。同时本发明可以解决强光下SPADs器件的饱和问题。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：
图1示出了使用多个SPAD单元构成一个SPADs作为单通道接收单元的示意图；
图2示出了使用机械光阑抑制环境光的示意图；
图3示出了根据本发明一个实施例的探测装置；
图4示出了当目标物远近不同时、同一个方向的回波在光阑阵列上形成的光斑大小以及子光阑的示意图；
图5示出了光阑阵列形成的通光区域与通过其受到照射的探测器阵列的对应关系；
图6A、6B和6C示出了光阑阵列上的不同类型的光斑；
图7A和7B示出了对于50*50的探测器阵列的100次曝光的叠加效果图；
图8示出了当子光阑的通光区域与焦面光斑相匹配时，对应的宏像素的预设区域内探测器的激发次数的分布；
图9示出了当子光阑的通光区域大于焦面光斑的尺寸时，对应的宏像素 的预设区域内探测器的激发次数的分布；
图10示出了当子光阑的通光区域的位置和焦面光斑发生偏移时，对应的宏像素的预设区域内探测器的激发次数的分布；
图11示出了当子光阑的通光区域小于焦面光斑时，对应的宏像素的预设区域内探测器的激发次数的分布；
图12示出了当发生配置文件缺失或者错误时对子光阑进行初始化的示意图；
图13示出了子光阑进行初始化以及调整子光阑的通光区域的流程图；
图14示出了根据本发明一个实施例的激光雷达的示意图；以及
图15示出了根据本发明一个实施例探测方法。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本发明的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
在本发明的描述中，需要理解的是，术语"中心"、"纵向"、"横向"、"长度"、"宽度"、"厚度"、"上"、"下"、"前"、"后"、"左"、"右"、"竖直"、"水平"、"顶"、"底"、"内"、"外"、"顺时针"、"逆时针"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发明和简化描述，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发明的限制。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个所述特征。在本发明的描述中，"多个"的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语" 安装"、"相连"、"连接"应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接:可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之"上"或之"下"可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征"之上"、"上方"和"上面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征"之下"、"下方"和"下面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
图3示出了根据本发明一个实施例的探测装置10，下面参考附图详细描述。如图3所示，探测装置10包括接收透镜11、探测单元12、光阑阵列13、处理单元14以及控制单元15，并且优选地包括滤光片16。其中接收透镜11配置成用于接收并会聚探测激光束在目标物上反射的回波。接收透镜11通常可包括单透镜或者透镜组，用于将回波汇聚到其焦平面上。光阑阵列13设置在所述接收透镜11的焦平面上或者附近，从而当回波为平行光时，通过接收 透镜11的汇聚作用，可以被汇聚到所述光阑阵列13上的一点或者一个小区域范围内。所述光阑阵列13包括多个可独立控制开闭的光开关像素131(即图3中光阑阵列13的每一个小方块)，如图4清楚所示的。每个光开光像素131都具有“开”、“闭”、“半开”状态，并且可以在多种状态之间自由切换，例如在下文描述的控制单元15的控制下进行切换。当一个光开关像素131被切换到“开”状态时，该光开关像素131将允许入射到其处的光束通过；当一个光开关像素131被切换到“闭”状态时，该光开关像素131将不允许入射到其处的光束通过。如图3中所示，以阴影标识的光开光像素131处于“闭”状态，两个以空白方块标识的光开关像素131处于“开”状态。根据本发明的一个实施例，所述光阑阵列包括液晶光阑或电控滤光片。
探测单元12设置在光阑阵列13的与接收透镜11相反的一侧，即光阑阵列13位于接收透镜11与探测单元12之间。探测单元12配置成可接收穿过所述光阑阵列13的回波，并输出电信号。因此，通过图1中的光阑阵列13，实现了“光闸”，通过控制光阑阵列13中各个光开关像素131的开闭，能够使得回波尽可能充分地通过并入射到探测单元12上，同时将环境光或者背景噪声有效地隔绝，避免其入射到探测单元12上。探测单元12例如可以是由多个探测器121构成的阵列，探测器121优选是单光子雪崩二极管SPAD，每个探测器121可单独对入射到其上的光子做出响应，输出电信号。
本领域技术人员容易理解，探测单元12中的探测器121的阵列，以及光开关像素131构成的光阑阵列，可以是一维阵列，也可以二维排布的阵列，这些都在本发明的保护范围内。
处理单元14与所述探测单元12电连接或通讯，从而可获取所述探测单元12输出的电信号，并配置成可根据所述电信号进行相应的计算和处理。例如当用在激光雷达中时，处理单元14可根据所述电信号来计算目标物的距离和/或反射率。
在本发明中，探测单元12包括至少一个宏像素，优选包括多个宏像素， 每个宏像素包括由多个探测器121构成的阵列，例如图1中的一个SPADs即为一个宏像素，其为由多个SPAD单元构成的阵列。与此相对应的，所述光阑阵列13包括至少一个子光阑，优选包括多个子光阑，每个子光阑包括多个可独立控制开闭的光开关像素，每个光开关像素例如为液晶单元，通过施加电场控制其状态，所述每个子光阑配置成使得其中一个或多个光开关像素开启以形成通光区域，以允许来自接收透镜的回波通过并照射到所述探测单元的一个对应宏像素上。因此，一个子光阑与一个宏像素相互对应，构成一个接收通道。
每个接收通道可对应于沿着一个方向入射到所述接收透镜11上的回波。仍以应用于激光雷达中为例进行说明，每个宏像素需要确保：无论目标物与激光雷达的距离远近，只要回波的方向对应于该接收通道，那么经过接收透镜11汇聚后，该回波在所述探测单元12上形成的光斑，将完全落入该接收通道的宏像素的范围内。
图4示出了当目标物远近不同时，同一个方向的回波在光阑阵列13上形成的光斑大小以及子光阑的示意图。其中图4的左侧示出了当目标物较远时，例如为100米左右时，在光阑阵列13上形成的光斑面积较小；而当同一方位(角度)目标物较近时，例如为10米左右时，在光阑阵列13上形成的光斑面积较大。因此在设定子光阑的大小时，可以将子光阑设定的相对大一些，从而确保沿着该角度或方向返回的回波经过接收透镜11后，均能够落入到对应的子光阑的范围内。图4中，以方框示意性示出了子光阑132，从中可以看出，无论远场光斑还是近场光斑，均落入到子光阑的范围内。当用于激光雷达中时，由于每个激光雷达都具有其理论探测范围，例如5-200米，并且通常目标物越近，光斑越大。此时，可以以目标物距离激光雷达5米远时的光斑大小作为子光阑的大小，或者可以在此基础上适当增大，例如增大5％，或者增大10％。此外，本发明不受限于子光阑的形状，子光阑可以如图4中所示的为正方形的形状，也可以是大致圆形的形状，或者是其他多边形的形状，这些都在本发明的保护范围内。本领域技术人员容易理解，当光阑阵列 13包括多个子光阑132时，各个子光阑单元132可以是相互隔离的，也可以相互部分重叠。
光阑阵列13的每一个子光阑132与每一个宏像素形成一一对应的关系，每个子光阑的光开关像素开启时，允许来自接收透镜的回波通过并照射到所述探测单元的一个对应宏像素上。下面描述如何确定与每一个子光阑对应的宏像素。
探测单元10的光路确定后，激光回波会在接收镜头的焦平面上(光阑阵列上)成像，当焦面光斑与光阑阵列的通光区域相匹配时，这样既可以保证回波全部通过被探测同时减小环境光干扰，此时，光阑阵列13的通光区域与探测单元12上受照射的区域之间的比例关系就被确定。如图5所示，以单个接收通道为例，光阑阵列中子光阑形成的通光区域尺寸L1与通过其受到照射的宏像素中的探测器阵列尺寸L2的对应关系如图5所示，焦面距离接收镜头11为焦距f，探测器阵列在距离焦面d的位置上放置,宏像素中的探测器阵列上的感光区域L2和焦面光斑大小(即子光阑的通光区域尺寸L1)、焦距f，距离d和接收镜头口径相关。因此就可以获得与每一个子光阑相对应的宏像素的位置和尺寸。图5中是以一维的形式说明了子光阑的通光区域尺寸L1与通过其受到照射的宏像素中的探测器阵列尺寸L2之间的关系，同样适用于另一个维度上二者之间的关系，此处不再赘述。上述描述是以一个接收通道的子光阑及其对应的宏像素为例进行说明，多个接收通道的情况是类似的，此处不再赘述。
图3中的控制单元15与所述光阑阵列13和所述处理单元14耦接，并配置成可控制所述光阑阵列13中的各个子光阑，并且对于其中至少一个子光阑，可根据所述回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素的开闭。
如上所述，在激光雷达实际的探测中，随着目标物位置不同，回波焦面光斑的尺寸、位置发生变化，即焦面光斑与子光阑的预设的通光区域不相匹配，此时或者部分回波被子光阑遮挡，不能被宏像素探测到，或者子光阑相 对于焦面光斑尺寸过大，带来较多的环境光干扰。因此根据本发明的一个实施例，对于所述至少一个子光阑，控制单元15配置成可根据所述回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素，使得所述回波在所述子光阑上的光斑分布与所述子光阑的通光区域基本一致，即使得子光阑上受到回波照射的光开关像素打开，允许回波通过，同时使得子光阑上未受到回波照射的光开关像素关闭，以阻隔环境光。
图6A、6B和6C示出了光阑阵列上的不同类型的光斑。其中在光阑阵列13上，以阴影标识光开关像素表示未受到回波的照射，因而处于关闭状态；未以阴影标识的光开关像素表示受到回波的照射，受控处于开启状态，形成通光区域。
图6A示出了远场光斑，在光阑阵列13上的光斑的形状大致为圆形，直径大约为4个光开关像素的宽度。在此情况下，通过控制该探测通道的子光阑的部分光开关像素开启，使得回波在所述子光阑上的光斑分布与所述子光阑的通光区域基本一致(即相匹配)即可。图6B示出了近场光斑的情形，在光阑阵列13上的光斑的形状大致为圆形，直径大约为6个光开关像素的宽度。在此情况下，可以将子光阑的通光区域开启的更大一些即可，形状仍然保持为圆形。图6C示出了异形光斑的情形，在此情况下，同样可控制该探测通道的子光阑的部分光开关像素开启，使得回波在所述子光阑上的光斑分布与所述子光阑的通光区域基本一致。
上面描述了本发明上下文中子光阑和宏像素的概念，其中子光阑和宏像素是控制方面的概念，并非必然是物理上的实体，关于子光阑和宏像素的划分，可以集成在控制单元15与处理单元14中，不一定必须在探测单元12本身上做出区分。
根据本发明的一个优选实施例，对于至少一个子光阑，所述处理单元14配置成根据与该子光阑对应的宏像素输出的电信号确定所述回波在该宏像素上的光斑分布，所述每个宏像素包括的多个探测器独立可寻址。由于每个宏像素包括的多个探测器独立可寻址，因此可以获知每个探测器输出的电信号， 用于进行后续判断光斑分布。
具体的，例如对于所述至少一个子光阑，处理单元14可根据与该子光阑对应的宏像素输出的电信号，确定该宏像素的预设区域的探测器的盖格雪崩概率或盖格雪崩次数分布，并根据所述盖格雪崩概率或盖格雪崩次数分布，确定所述回波在该宏像素上的光斑分布。基于子光阑的当前通光区域尺寸，根据前述的关系，所述预设区域根据宏像素所对应的子光阑的通光区域尺寸、所述接收透镜的焦距f、所述探测单元与所述光阑阵列之间的距离d以及接收镜头口径共同决定，因此可以方便地获得宏像素上对应的区域，即预设区域。对于预设区域内的单个探测器，一次曝光(例如对于单光子探测器，对应盖格雪崩概率)通常不具有明显的意义，通常关注的是多次曝光(多帧)的叠加结果(即对应盖格雪崩次数)来获得光斑在SPAD的强度分布。图7A和7B示出了对于50*50的探测器阵列的100次曝光的叠加效果图，分别为三维和二维图。
当子光阑的通光区域与焦面光斑相匹配时，对应的宏像素的预设区域内探测器的激发数量(例如是如图7所示多次曝光叠加的结果)的分布如图8所示，其中，在对应区域内的中间部分具有相对平坦部分，两侧具有倾斜的上升沿和下降沿，上升沿和下降沿的斜率不会过大，例如绝对值小于预设阈值。图8所示的分布图可认为是标准信号。
当子光阑的通光区域大于焦面光斑的尺寸时，如图9所示，与子光阑对应的宏像素的预设区域的(图中点线范围对应预设区域)探测器阵列的边缘的探测器的盖格雪崩概率或盖格雪崩次数将不会因为回波激光照射而增加，存在一部分留白区域。SPAD盖格雪崩次数例如可以通过累加器对可寻址的每个SPAD在一定时间的数据进行累加获得。如图9所示，在分布图的中间部分具有平坦部分，两侧具有倾斜的上升沿和下降沿，二者对称，在上升沿和下降沿的外侧还具有留白区域。
而当子光阑的通光区域的位置和焦面光斑发生偏移的时候，与子光阑所对应的宏像素的预设区域的探测器阵列发生盖格雪崩次数分布将不对称。如 图10所示，在分布图的中间部分具有平坦部分，平坦部分两侧的上升沿和下降沿并不对称。
而当子光阑的通光区域小于焦面光斑时，与子光阑对应的宏像素的的预设区域的探测器阵列边缘的探测器发生盖格雪崩概率或盖格雪崩次数较高。如图11所示，在分布图的中间部分具有平坦部分，平坦部分两侧的上升沿和下降沿的斜率非常高，例如绝对值高于预设阈值。
因此，处理单元可根据宏像素中的探测器输出的电信号，确定该宏像素上预设区域的探测器的盖格雪崩概率或盖格雪崩次数，并进而根据探测器的盖格雪崩概率或盖格雪崩次数确定子光阑的当前通光区域的大小、位置和形状中的一个或多个是否合适。
如上所述，图8所示的分布图可认为是标准信号。对于所述至少一个子光阑，所述控制单元15配置成控制该子光阑的光开关像素，使得该子光阑所对应的宏像素的预设区域的探测器的盖格雪崩次数分布与标准分布基本一致。
具体的，对于所述至少一个子光阑，所述控制单元配置成根据所述该子光阑所对应的宏像素的的预设区域的探测器的盖格雪崩次数分布与标准分布的偏差，控制该子光阑的光开关像素。例如，当处理单元获得的盖格雪崩次数的分布图为图9所示的分布图时，此时可以缩小子光阑的通光区域，以减小或者消除所述留白区域；当处理单元获得的盖格雪崩次数的分布图为图10所示的分布图时，此时可以增大子光阑在斜率较高一侧(图10中的左侧)的通孔区域；当处理单元获得的盖格雪崩次数的分布图为图11所示的分布图时，此时可以增大子光阑在两侧上的通孔区域。另外，图8-11中是以一维的形式示出了探测单元2和光阑阵列13，本领域技术人员容易理解，上述描述同样适用于二维阵列的探测单元2和光阑阵列13。
根据本发明的一个优选实施例，所述光阑阵列可配置为透过率可调的衰减片，所述控制单元配置成根据配置文件初始化所述光阑阵列。对于每一个子光阑，都可以具有相对应的配置文件，在设备启动或者初始化时，或者进 行第一次探测时，可以首先根据该配置文件来配置该子光阑。
在一些情况中，可能发生配置文件缺失或者错误。在雷达启动、复位、软件升级等情况下，如若存在一个或多个通道的子光阑配置文件缺失或错误，可以通过将该通道的子光阑配置为均匀的透过率可调的衰减片。以液晶光阑阵列和SPADs阵列为例，起始状态时可以将液晶的透过率设置为较低值，如T＝10％，之后读取该通道对应的宏像素的SPADs阵列的雪崩状态，若可以获得有效的回波光斑，那么就可以根据探测到的回波光斑的位置、大小、形状对该通道的子光阑的开启进行配置，更新所述配置文件。
参考图12详细描述。此时，光阑阵列13或者其中一个子光阑被配置为衰减片，其中每一个全部光开关像素都可允许光线以一定的衰减率通过，并照射到探测单元12上。此时，探测单元12上的探测器的盖格雪崩次数，在一定区域内将呈现图8所示的标准分布。进一步的，基于该区域，根据图5所示的宏像素上受照射区域的尺寸L2与所对应的子光阑的通光区域尺寸L1、接收透镜的焦距f以及所述探测单元与所述光阑阵列之间的距离d的关系，可以方便地确定所需要的子光阑的通光区域。
图13示出了子光阑进行初始化以及调整子光阑的通光区域的方法200的流程图，其中探测器为SPAD，光阑阵列为液晶光阑阵列，即每个光开关像素为液晶单元。下面参考附图详细描述。
在步骤S201，系统开始初始化。
在步骤S202，每个液晶单元全部关闭。
在步骤S203，检查是否有子光阑的通光区域的初始配置文件。如果有，则进行到步骤S207，否则，进行到步骤S204。
在步骤S204，增加液晶通光量，例如将液晶光阑设置为衰减片。优选的，初始增加的量较小，例如10％。
在步骤S205，判断是否能够通过该接收通道的宏像素的SPAD阵列有效测量出回波光斑的大小、位置和形状。如果可以，则进行到步骤S206；否则，回到步骤S204，继续增加液晶的通光量，直至在步骤S205能够有效测量出 回波光斑的大小、位置和形状。
在步骤S206，根据有效测量得到的回波光斑的大小、位置和形状，推断出所对应的子光阑的通光区域的大小、位置和形状，并据此设置子光阑的通光区域配置文件。
在步骤S207，根据配置文件设置子光阑的通光区域。
在步骤S208，判断根据该接收通道的宏像素的预设区域的SPAD阵列探测回波光斑的大小、位置和形状与子光阑的通光区域的大小、位置和形状是否匹配。如果匹配，则重复进行步骤S208，继续进行探测；否则，进行到步骤S209。
在步骤S209，根据该接收通道的宏像素的预设区域的SPAD阵列测量出的回波光斑大小、位置和形状，配置液晶光阑的通光区域的大小、位置和形状。
本发明的上述优选实施例中，将机械式小孔光阑替换为液晶光阑，通过电控液晶单元的旋光特性，可以实现可寻址的单元开启、关闭、半开等状态。液晶光阑放置在接收透镜的焦平面，由于每个液晶单元可以寻址控制，所以，根据各通道的焦平面光斑形状，可以动态调节对应光阑的通光区域，以实现最佳的接收视场约束和杂散光抑制能力。液晶器件的动态响应速率从几十KHz到几十Hz，可以满足面阵雷达的动态光阑调节需求。
当环境光过强时，如有强光直射时，通过控制液晶的角度来实现部分透光来衰减SPADs器件接收到的环境光，虽然同时也会降低了回波激光的收光效率，但可以避免了SPADs器件在强光下饱和而不能正常工作。在强背景光条件下，通过降低测距能力来避免测距失效是合理的雷达设置方式。
本发明实施例中，解决了旁轴光路条件下、不同距离下的光斑偏移问题，解决了机械形变带来的接收光斑偏移，并且可以解决生产上的对准问题。另外，本发明的优选实施例不会改变各通道内SPAD单元的读取数量，通道的动态响应范围不会降低。同时本发明可以解决强光下SPADs器件的饱和问题。
如图14所示，本发明还涉及一种激光雷达300，包括发射单元301和接 收单元302。其中发射单元301包括至少一个激光器，配置成发射探测激光束用于探测目标物，所述激光器优选包括垂直腔面发射激光器VCSEL。接收单元302包括如上所述的探测装置10，所述探测装置配置成可接收所述探测激光束在目标物上反射后的回波并对回波信号进行处理。
根据本发明的一个优选实施例，发射单元的一个激光器和接收单元的一个宏像素及该宏像素对应的子光阑构成一个探测通道。所述发射单元301中的激光器阵列和所述探测单元12例如为图1所示的面阵列，例如VCSEL激光器构成的面阵列同样可寻址控制。另外，上述的一个激光器可以包括一个发光单元，也可以包括多个同时发光的小单元构成一个激光器的结构。激光雷达的多个探测通道(例如可以控制按一定时序)进行探测，每个探测通道根据宏像素的读出结果实时调整子光阑进行匹配实现对环境光的抑制。
如图15所示，本发明还涉及一种探测方法400，下面参考附图详细描述。
在步骤S401：通过接收透镜会聚探测激光束在目标物上反射的回波。所述接收透镜例如图3所示的接收透镜11，包括单透镜或者透镜组，用于汇聚回波。
在步骤S402：通过光阑阵列提供一通光区域，其中所述光阑阵列位于所述接收透镜的焦平面上或者附近，所述光阑阵列包括至少一个子光阑，每个子光阑包括多个可独立控制开闭的光开关像素，每个子光阑配置成使得其中一个或多个光开关像素开启以形成所述通光区域，以允许来自接收透镜的回波通过。所述光阑阵列例如为图3所示的光阑阵列13，设置在接收透镜11的焦平面上或者附近，包括一个或多个子光阑。
在步骤S403：通过探测单元接收穿过所述通光区域的回波，所述探测单元包括至少一个宏像素，每个宏像素包括由多个探测器构成的阵列，穿过一个子光阑的通光区域的回波照射至所述探测单元的一个对应宏像素上并被转换为电信号。所述探测单元例如为图3所述的探测单元12。
在步骤S404：根据所述光阑阵列中至少一个子光阑所对应的宏像素上的光斑分布，控制该子光阑的光开关像素的开闭。
根据本发明的一个优选实施例，所述步骤S104中，对于至少一个子光阑，根据所述回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素，使得所述回波在所述子光阑上的光斑分布与所述子光阑的通光区域基本一致，例如图6A、6B和6C所实现的效果。
根据本发明的一个优选实施例，步骤S104中：对于所述至少一个子光阑，根据与该子光阑对应的宏像素输出的电信号确定所述回波在该宏像素上的光斑分布，所述每个宏像素包括的多个探测器独立可寻址。
根据本发明的一个优选实施例，步骤S104还包括：对于所述至少一个子光阑，根据与该子光阑对应的宏像素输出的电信号，确定该宏像素的预设区域的探测器的盖格雪崩次数分布，并根据所述盖格雪崩次数分布，确定所述回波在该宏像素上的光斑分布。
根据本发明的一个优选实施例，步骤S104中，对于所述至少一个子光阑，控制该子光阑的光开关像素，使得该子光阑所对应的宏像素的的预设区域的探测器的盖格雪崩次数分布与标准分布基本一致，其中标准分布例如图8所述的。
根据本发明的一个优选实施例，步骤S104中，对于所述至少一个子光阑，根据该子光阑所对应的宏像素的的预设区域的探测器的盖格次数分布与标准分布的偏差，控制该所述该子光阑的光开关像素，从而使得探测器的盖格雪崩次数分布尽可能接近或者符合所述标准分布。
根据本发明的一个优选实施例，所述探测方法400还包括初始化所述光阑阵列，例如可根据配置文件初始化所述光阑阵列；当所述配置文件缺失时，将所述光阑阵列配置为透过率可调的衰减片，根据所述回波在所述探测单元上的光斑的大小、位置和形状，以及所述光斑和所述光阑阵列的对应关系，更新所述配置文件，再根据配置文件初始化所述光阑阵列，可以通过图13所示的流程来进行初始化。
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限 制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (22)

  1. 一种探测装置，包括：
    接收透镜，配置成用于接收并会聚探测激光束在目标物上反射的回波；
    探测单元，配置成可接收所述回波并输出电信号，所述探测单元包括至少一个宏像素，每个宏像素包括由多个探测器构成的阵列；
    光阑阵列，所述光阑阵列设置在所述接收透镜与所述探测单元之间，位于所述接收透镜的焦平面上或者附近，所述光阑阵列包括至少一个子光阑，每个子光阑包括多个可独立控制开闭的光开关像素，所述每个子光阑配置成使得其中一个或多个光开关像素开启以形成通光区域，以允许来自接收透镜的回波通过并照射到所述探测单元的一个对应宏像素上；
    处理单元，所述处理单元配置成可根据所述电信号进行计算和处理，
    控制单元，所述控制单元与所述光阑阵列和所述处理单元耦接，并配置成可控制所述光阑阵列中的各个子光阑，并且对于其中至少一个子光阑，可根据所述回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素的开闭。
  2. 如权利要求1所述的探测装置，其中对于所述至少一个子光阑，所述控制单元配置成可根据所述回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素，使得所述回波在所述子光阑上的光斑分布与所述子光阑的通光区域基本一致。
  3. 如权利要求2所述的探测装置，其中对于所述至少一个子光阑，所述处理单元配置成根据与该子光阑对应的宏像素输出的电信号确定所述回波在该宏像素上的光斑分布，所述每个宏像素包括的多个探测器独立可寻址。
  4. 如权利要求3所述的探测装置，其中对于所述至少一个子光阑，所述处理单元根据与该子光阑对应的宏像素输出的电信号，确定该宏像素的预设 区域的探测器的盖格雪崩次数分布，并根据所述盖格雪崩次数分布，确定所述回波在该宏像素上的光斑分布。
  5. 如权利要求4所述的探测装置，其中所述预设区域根据宏像素所对应的子光阑的通光区域、所述接收透镜的焦距f以及所述探测单元与所述光阑阵列之间的距离d共同决定。
  6. 如权利要求5所述的探测装置，其中对于所述至少一个子光阑，所述控制单元配置成控制该子光阑的光开关像素，使得该子光阑所对应的宏像素的预设区域的探测器的盖格雪崩次数分布与标准分布基本一致。
  7. 如权利要求5所述的探测装置，其中对于所述至少一个子光阑，所述控制单元配置成根据所述该子光阑所对应的宏像素的的预设区域的探测器的盖格雪崩次数分布与标准分布的偏差，控制该子光阑的光开关像素。
  8. 如权利要求1-7中任一项所述的探测装置，其中所述探测器包括单光子探测器，所述光阑阵列包括液晶光阑或电控滤光片。
  9. 如权利要求1-7中任一项所述的探测装置，其中所述光阑阵列可配置为透过率可调的衰减片，所述控制单元配置成根据配置文件初始化所述光阑阵列。
  10. 如权利要求9所述的探测装置，其中所述控制单元配置成：当所述配置文件缺失时，将所述光阑阵列配置为衰减片，根据所述回波在所述探测单元上的光斑的大小、位置和形状，以及所述光斑和所述光阑阵列的对应关系，更新所述配置文件。
  11. 一种探测方法，包括：
    S401：通过接收透镜会聚探测激光束在目标物上反射的回波；
    S402：通过光阑阵列提供一通光区域，其中所述光阑阵列位于所述接收透镜的焦平面上或者附近，所述光阑阵列包括至少一个子光阑，每个子光阑包括多个可独立控制开闭的光开关像素，每个子光阑配置成使得其中一个或多个光开关像素开启以形成所述通光区域，以允许来自接收透镜的回波通过；
    S403：通过探测单元接收穿过所述通光区域的回波，所述探测单元包括至少一个宏像素，每个宏像素包括由多个探测器构成的阵列，穿过一个子光阑的通光区域的回波照射至所述探测单元的一个对应宏像素上并被转换为电信号；
    S404：根据所述光阑阵列中至少一个子光阑所对应的宏像素上的光斑分布，控制该子光阑的光开关像素的开闭。
  12. 如权利要求11所述的探测方法，其中所述步骤S404包括：对于所述至少一个子光阑，根据所述回波在与该子光阑对应的宏像素上的光斑分布，控制该子光阑的光开关像素，使得所述回波在所述子光阑上的光斑分布与所述子光阑的通光区域基本一致。
  13. 如权利要求12所述的探测方法，其中所述步骤S404包括：对于所述至少一个子光阑，根据与该子光阑对应的宏像素输出的电信号确定所述回波在该宏像素上的光斑分布，所述每个宏像素包括的多个探测器独立可寻址。
  14. 如权利要求13所述的探测方法，其中所述步骤S404还包括：对于所述至少一个子光阑，根据与该子光阑对应的宏像素输出的电信号，确定该宏像素的预设区域的探测器的盖格雪崩次数分布，并根据所述盖格雪崩次数分布，确定所述回波在该宏像素上的光斑分布。
  15. 如权利要求14所述的探测方法，其中所述预设区域根据宏像素所对应的子光阑的通光区域、所述接收透镜的焦距f以及所述探测单元与所述光阑阵列之间的距离d共同决定。
  16. 如权利要求15所述的探测方法，其中所述步骤S404包括：对于所述至少一个子光阑，控制该子光阑的光开关像素，使得该子光阑所对应的宏像素的的预设区域的探测器的盖格雪崩次数分布与标准分布基本一致。
  17. 如权利要求15所述的探测方法，其中所述步骤S404包括：对于所述至少一个子光阑，根据该子光阑所对应的宏像素的的预设区域的探测器的盖格雪崩次数分布与标准分布的偏差，控制该所述该子光阑的光开关像素。
  18. 如权利要求11-17中任一项所述的探测方法，还包括：
    初始化所述光阑阵列。
  19. 如权利要求18所述的探测方法，其中所述初始化光阑阵列的步骤包括：根据配置文件初始化所述光阑阵列；当所述配置文件缺失时，将所述光阑阵列配置为透过率可调的衰减片，根据所述回波在所述探测单元上的光斑的大小、位置和形状，以及所述光斑和所述光阑阵列的对应关系，更新所述配置文件，再根据配置文件初始化所述光阑阵列。
  20. 一种激光雷达，包括：
    发射单元，包括至少一个激光器，配置成发射探测激光束用于探测目标物；
    接收单元，所述接收单元包括如权利要求1-10中任一项所述的探测装置，所述探测装置配置成可接收所述探测激光束在目标物上反射后的回波并对回波信号进行处理。
  21. 如权利要求20所述的激光雷达，其中所述发射单元的一个激光器和所述接收单元的一个宏像素及该宏像素对应的子光阑构成一个探测通道。
  22. 如权利要求20或21所述的激光雷达，其中所述激光器包括垂直腔面发射激光器。
PCT/CN2021/104199 2020-12-04 2021-07-02 探测装置、探测方法和激光雷达 Ceased WO2022116531A1 (zh)

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