Photoelectric sensing acquisition module, photoelectric sensing distance measurement method and distance measurement device

Abstract

The embodiment of the present application discloses a photoelectric sensor acquisition module and a photoelectric sensor ranging method applied to the photoelectric sensor acquisition module and a ranging device including the photoelectric sensor acquisition module, wherein the photoelectric sensor acquisition module includes a photoelectric receiving module and a signal accumulation module. The photoelectric receiving module is used to convert the received optical signal into a pulse signal in digital form. The signal accumulation module is electrically connected to the photoelectric receiving module, and is used to accumulate the received pulse signal, sample the accumulated signal according to the sampling signal to obtain a digital accumulated signal, and obtain a first position range of the target object. At the same time, the time digital signal collected by the time digital conversion module can be used on the basis of the first position range to obtain the distance information of the target object.

Description

Technical Field

[0001] The present application relates to the field of photoelectric detection technology, and in particular to a photoelectric sensing acquisition module and a distance measuring device. Background Art

[0002] With the development and progress of science and technology, LiDAR uses the Time-of-Flight (ToF) principle to achieve non-contact precise ranging. The light signal emitted by the laser light source is reflected by the object to be measured and then received by the photoelectric sensor. By detecting the flight (round-trip) time of the light signal, the distance of the object to be measured can be accurately calculated.

[0003] The output signal of the photoelectric sensor is mainly measured by the circuit structure. In practical applications, the long-distance measurement requires lower ranging accuracy, and the analog-to-digital converter (ADC) solution is generally used; the short-distance measurement requires higher ranging accuracy, and the time-to-digital converter (TDC) solution is more suitable.

[0004] In the process of ranging, if the photoelectric sensor processes the received light signal and transmits it to the ADC, the ADC can convert the received signal into a digital signal proportional to it, and the position of the target object can be determined after one detection. However, the ADC solution has the disadvantages of high technical difficulty, high process requirements, high cost, low ranging accuracy, and high power consumption, which limits its application scope.

[0005] Therefore, the prior art still needs to be improved and enhanced. Summary of the invention

[0006] In order to solve the aforementioned problems, the purpose of the present application is to provide a photoelectric sensing acquisition module, a photoelectric sensing ranging method and a ranging device with higher accuracy.

[0007] This application adopts the following technical solutions:

[0008] A photoelectric sensing acquisition module comprises a photoelectric receiving module and a signal accumulation module.

[0009] The photoelectric receiving module includes a plurality of photoelectric sensing units arranged in a matrix, and the photoelectric sensing units are used to convert received optical signals into pulse signals in digital form, wherein the optical signals are the light reflected to the photoelectric receiving module by the target object after receiving the transmitted optical signals.

[0010] The signal accumulation module is electrically connected to the photoelectric receiving module, and is used for accumulating the received pulse signal to obtain an accumulated signal, sampling the accumulated signal according to the sampling signal to obtain a digital accumulated signal, and the digital accumulated signal represents the first position range of the target object.

[0011] The present application also provides a photoelectric sensing distance method, which is applied to a photoelectric sensing acquisition module, wherein the photoelectric sensing acquisition module includes a plurality of photoelectric sensing units arranged in a matrix, and the photoelectric sensing units are used to convert received light signals into pulse signals in digital form, wherein the light signal is the light reflected by the target object to the photoelectric receiving module after receiving the emitted light signal. The photoelectric sensing distance method includes the steps of:

[0012] Accumulating the received pulse signals to obtain an accumulated signal, sampling the accumulated signal according to the sampling signal to obtain a digital accumulated signal, wherein the digital accumulated signal represents a first position range of the target object;

[0013] The time interval from detecting the emitted light signal to the photoelectric receiving module receiving the light signal is timed, and a time digital signal is obtained according to the time interval to characterize the distance of the target object, and the first position of the target object is determined in the first position range according to the distance of the target object.

[0014] The present application also provides a distance measuring device, including the aforementioned photoelectric sensor collection module, data processing module and signal transmission module. The signal transmission module and the photoelectric sensor collection module are both electrically connected to the data processing module, the signal transmission module is used to transmit a light signal to the target object, and the data processing module is used to process the received digital accumulation signal and the time digital signal, and calculate the distance of the target object.

[0015] Compared with the prior art, this application proposes a photoelectric sensing acquisition module similar to ADC, and combines it with the TDC solution to achieve high-precision ranging suitable for both long and short distances. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A distance measuring device disclosed in an embodiment of the present application;

[0018] Figure 2 for Figure 1 A schematic diagram of the specific structure of the photoelectric sensor collection device in the structural schematic diagram;

[0019] Figure 3 for Figure 2 Any photoelectric sensing acquisition module block diagram in the structural diagram;

[0020] Figure 4 for Figure 2 A block diagram of any photoelectric sensing acquisition module in another embodiment in the structural schematic diagram;

[0021] Figure 5 for Figure 2 A block diagram of any photoelectric sensing acquisition module in another embodiment in the structural schematic diagram;

[0022] Figure 6 This is a schematic diagram of the structure of a signal accumulation module in another embodiment of the present application;

[0023] Figure 7 In the embodiment of this application, the Figure 1 The schematic diagram of the flow chart of the distance measuring device performing the photoelectric sensing distance measuring method;

[0024] Figure 8 for Figure 3 The circuit diagram of the optoelectronic receiving module in the structural schematic diagram;

[0025] Fig. 9 This is a pulse signal accumulation timing diagram in one embodiment of the present application;

[0026] Fig.10 In one embodiment of this application Figure 3 The target signal intensity distribution diagram output by the photoelectric sensing acquisition module is shown;

[0027] Fig.11 In another embodiment of the present application Figure 3 The target signal intensity distribution diagram output by the photoelectric sensing acquisition module is shown. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] See also Figure 1 , which is a schematic diagram of the structure of the distance measuring device 1 in one embodiment of the present application, such as Figure 1As shown, the distance measuring device 1 includes a data processing module 10, a photoelectric sensing acquisition module 20, a signal transmitting module 30, a target object 40 and other functional modules (not shown). In this embodiment, the distance measuring device 1 measures the distance to the target object by non-contact measurement.

[0030] The signal transmitting module 30 is used to transmit an optical signal to the target object 40. The signal transmitting module 30 includes a signal transmitting module 310 and a first light transmitting unit 320. The signal transmitting module 310 is electrically connected to the data processing module 10 and is used to emit an optical signal under the control of the data processing module. The light transmitting unit 320 gathers the optical signals emitted by the signal transmitting module 310 and transmits them to the target object 40 to increase the intensity of the optical signal reflected by the target object 40.

[0031] The photoelectric sensing acquisition module 20 is used to receive the light signal reflected by the target object 40 and convert the received light signal into an electrical signal for measuring the distance of the target object 40 .

[0032] Furthermore, the photoelectric sensing acquisition module 20 converts the received light signal into a pulse signal Fn in digital form, and accumulates multiple pulse signals Fn to obtain an accumulated signal J1, samples the accumulated signal J1 to obtain a digital accumulated signal L1, and obtains the distance information of the target object 40 according to the digital accumulated signal L1.

[0033] Furthermore, the photoelectric sensing acquisition module 20 can also calculate the time interval Δt from when the transmitting module 30 sends out the light signal to when the photoelectric sensing acquisition module 20 receives the transmitted light signal, and obtain the distance information of the target object 40 according to the time interval Δt.

[0034] The data processing module 10 is electrically connected to the signal transmitting module 30 and the photoelectric sensing acquisition module 20, and is used to obtain the first position range of the target object according to the received digital accumulated signal L1, and calculate the distance of the target object 40 according to the time interval Δt based on the first position range.

[0035] The photoelectric sensing acquisition module 20 includes a photoelectric receiving module 210 , a pulse conversion module 220 , a signal accumulation module 230 , an OR gate module 240 , a time-to-digital conversion module 250 and a second light-transmitting unit 206 .

[0036] The photoelectric receiving module 210 includes a plurality of photoelectric sensing units S arranged in a matrix, and the photoelectric sensing unit S is used to convert the received optical signal into a pulse signal Fn in digital form, wherein the optical signal includes the light reflected from the target object 40 to the photoelectric receiving module 210 after receiving the transmitted optical signal. In the embodiment of the present application, the second light-transmitting unit 206 is used to gather the optical signals reflected from the target object 40 together to reduce the influence of other optical signals on the photoelectric receiving module 210.

[0037] Specifically, the photoelectric receiving module 210 includes a plurality of photoelectric receiving units having the same structure and function.

[0038] The pulse conversion module 220 is electrically connected between the photoelectric receiving module 210 and the signal accumulation module 230, and is used to adjust the pulse width of the pulse signal Fn received by the photoelectric receiving module 210 and input it to the signal accumulation module 230. Specifically, the pulse conversion module 220 includes a plurality of pulse conversion units with the same structure and function.

[0039] The signal accumulation module 230 is electrically connected to the photoelectric receiving module 210, and is used to accumulate the received pulse signal Fn to obtain an accumulation signal J1, and to sample the accumulation signal J1 according to the sampling signal CLK to obtain a digital accumulation signal L1, wherein the digital accumulation signal L1 represents the first position range of the target object.

[0040] Specifically, the signal accumulation module 230 includes a plurality of signal accumulation units with the same structure and function.

[0041] The OR gate module 240 is electrically connected between the pulse conversion module 220 and the time-to-digital conversion module 250, and is used to convert a light signal received by any photoelectric sensing unit S of the photoelectric receiving module 210 into a pulse signal Fn and transmit it to the time-to-digital conversion module 250 to represent the light signal received by the photoelectric receiving module 210.

[0042] In the embodiment of the present application, the OR gate module 240 includes at least one level of OR gate unit, and the first level of OR gate unit includes at least a plurality of OR gate input terminals and a plurality of OR gate output terminals.

[0043] In the embodiment of the present application, the OR gate module 240 may also be composed of a combination of NAND gates or other logic circuits.

[0044] The time-to-digital conversion module 250 is electrically connected to the OR gate module 240, and is used to measure the time interval Δt from the signal transmitting module 310 transmitting the light signal to the photoelectric receiving module 210 receiving the light signal, determine the distance of the target object 40 based on the time interval Δt, and determine the first position of the target object 40 within the first position range based on the distance of the target object 40.

[0045] When the transmitting module 30 transmits the optical signal, the time-to-digital conversion module 250 is controlled to start receiving a trigger signal, and the trigger signal is used to control the time-to-digital conversion module 250 to start calculating the time interval Δt of the optical signal transmission. Specifically, the time-to-digital conversion module 250 includes multiple time-to-digital conversion units with the same structure and function.

[0046] In the embodiment of the present application, when the signal transmitting module 30 transmits signal light, the time digital conversion module 250 starts timing according to the trigger signal. After the light signal is reflected by the target object 40, the photoelectric receiving module 210 receives the reflected light signal and converts the received light signal into a pulse signal Fn of a digital signal. When the pulse signal Fn is transmitted to the time digital conversion module 250 through the OR gate module 240, the time digital conversion module 250 stops timing.

[0047] In the embodiment of the present application, the pulse width of the pulse signal Fn is greater than or equal to twice the sampling period of the sampling signal CLK.

[0048] In this embodiment, other functional modules include a power module, a communication module, a clock module, a transmission module, a display module, a safety detection module and a housing. The power module is used to provide the driving voltage Vcc required by the distance measuring device 1. The power module can be the driving voltage Vcc provided by a battery or a battery pack, or can be the driving voltage Vcc input by an external device electrically connected. The communication module is used to output the distance information between the distance measuring device 1 and the target object, and can also be used to input other control signals to the data processing module 10. The communication module can be used to communicate with other devices, and the other signals can be terminal control instructions, etc.

[0049] See also Figure 2 , which is an embodiment of the present application as Figure 1 The specific structural diagram of the photoelectric sensing acquisition module 20 is shown in FIG. Figure 2 As shown, the photoelectric sensor acquisition module 20 includes a first photoelectric sensor acquisition module 21, a second photoelectric sensor acquisition module 22, ... an nth photoelectric sensor acquisition module 2n. Each photoelectric sensor acquisition module includes a photoelectric receiving module, a pulse conversion module, a signal accumulation module, an OR gate module and a time digital conversion module.

[0050] Specifically, the first photoelectric sensor acquisition module 21, the second photoelectric sensor acquisition module 22, ... the nth photoelectric sensor acquisition module 2n have the same circuit structure and the same working principle. This application describes any one of the photoelectric sensor acquisition modules 20, and this application will not repeat other photoelectric sensor acquisition modules.

[0051] See also Figure 3 , which is an embodiment of the present application as Figure 2 A schematic diagram of any photoelectric sensing acquisition module 21 is shown. Figure 3 As shown, the photoelectric sensing acquisition module 21 includes a photoelectric receiving module 210, a pulse conversion module 220, a signal accumulation module 230, an OR gate module 240 and a time digital conversion module 250. The photoelectric sensing acquisition module 21 is used to convert the received light signal into a pulse signal Fn, and accumulate multiple pulse signals Fn in the same sampling period to obtain the transmission time of the light signal when the signal intensity is the highest, and then analyze and calculate the precise position of the target object.

[0052] The photoelectric receiving module 210 is used to convert the received optical signal into a pulse signal Fn in digital form and input it into the pulse conversion module 220. The photoelectric receiving module 210 includes a plurality of photoelectric sensing units S arranged in a matrix. Specifically, the photoelectric sensing unit S is used to convert the received optical signal into a pulse signal Fn in digital form. The optical signal includes the light reflected by the target object to the photoelectric receiving module 210 after receiving the transmitted optical signal.

[0053] like Figure 3 As shown, the photoelectric receiving module 210 is an array composed of a plurality of first receiving subunits 211, ... nth receiving subunits 21n, which are connected in parallel between the driving voltage terminal VCC and the ground terminal GND. When receiving an optical signal, the received optical signal can be converted into a pulse signal Fn for output, specifically, n is greater than or equal to 1. The driving voltage terminal VCC is used to provide the driving voltage Vcc required by the photoelectric sensing acquisition module 20.

[0054] Furthermore, the working principle and working process of the nth receiving subunit 21n in the optoelectronic receiving module 210 are the same as those of the first receiving subunit 211. In this embodiment, the first receiving subunit 211 is described in detail, and this embodiment will not repeat the other receiving subunits in the optoelectronic receiving module 210.

[0055] The first receiving subunit 211 includes a first transistor N1, a second transistor N2, a third transistor N3, a fourth transistor N4, a first photoelectric sensing unit S1, a second photoelectric sensing unit S2, a third photoelectric sensing unit S3, a fourth photoelectric sensing unit S4, a first buffer unit H1, a second buffer unit H2, a third buffer unit H3 and a fourth buffer unit H4.

[0056] Specifically, the first photoelectric sensing unit S1 is electrically connected between the driving voltage terminal VCC and the source of the first transistor N1, the first buffer unit H1 is electrically connected between the source of the first transistor N1 and the pulse conversion module 220, and the drain of the first transistor N1 is electrically connected to the ground terminal GND. The second photoelectric sensing unit S2 is electrically connected between the driving voltage terminal VCC and the source of the second transistor N2, the second buffer unit H2 is electrically connected between the source of the second transistor N2 and the pulse conversion module 220, and the drain of the second transistor N2 is electrically connected to the ground terminal GND. The third photoelectric sensing unit S3 is electrically connected between the driving voltage terminal VCC and the source of the third transistor N3, the third buffer unit H3 is electrically connected between the source of the third transistor N3 and the pulse conversion module 220, and the drain of the third transistor N3 is electrically connected to the ground terminal GND. The fourth photoelectric sensing unit S4 is electrically connected between the driving voltage terminal VCC and the source of the fourth transistor N4. The fourth buffer unit H4 is electrically connected between the source of the fourth transistor N4 and the pulse conversion module 220. The drain of the fourth transistor N4 is electrically connected to the ground terminal GND.

[0057] In the embodiment of the present application, when the photoelectric sensing unit S receives a light signal, the photoelectric sensing unit S is turned on, and the driving voltage Vcc is buffered by the buffer unit H and then input to the pulse conversion module 220 .

[0058] In the embodiment of the present application, the photoelectric sensing unit S may be a single photon detector (SPAD), and the photoelectric receiving module 210 may be a silicon photomultiplier (SiPM), which is composed of a plurality of SPADs connected in parallel.

[0059] When the first photoelectric sensing unit S1 receives a light signal, the first photoelectric sensing unit S1 is electrically turned on, and the driving voltage Vcc is input to the first buffer unit H1 through the first photoelectric sensing unit S1, and is input to the pulse conversion module 220 after being buffered by the first buffer unit H1. If the first photoelectric sensing unit S1 does not receive a light signal, the first photon detector S1 is electrically turned off. When the second photoelectric sensing unit S2 receives a light signal, the second photoelectric sensing unit S2 is electrically turned on, and the driving voltage Vcc is input to the pulse conversion module 220 through the second photoelectric sensing unit S2. If the second photoelectric sensing unit S2 does not receive a light signal, the second photoelectric sensing unit S2 is electrically turned off. When the third photoelectric sensing unit S3 receives a light signal, the third photoelectric sensing unit S3 is electrically turned on, and the driving voltage Vcc is input to the pulse conversion module 220 through the third photoelectric sensing unit S3. If the third photoelectric sensing unit S3 does not receive a light signal, the third photoelectric sensing unit S3 is electrically turned off. When the fourth photoelectric sensing unit S4 receives the light signal, the fourth photoelectric sensing unit S4 is electrically turned on, and the driving voltage Vcc is input to the pulse conversion module 220 through the fourth photoelectric sensing unit S4. If the fourth photoelectric sensing unit S4 does not receive the light signal, the fourth photoelectric sensing unit S4 is electrically turned off.

[0060] In other embodiments of the present application, the first receiving sub-unit 211 includes at least X transistors, X photoelectric sensing units, and X buffer units, where X is a positive integer greater than or equal to 1.

[0061] The pulse conversion module 220 is electrically connected between the photoelectric receiving module 210 and the signal accumulation module 230, and is also electrically connected to the OR gate module 240, for adjusting the pulse width of the pulse signal Fn received by the photoelectric receiving module 210, and outputting it to the signal accumulation module 230 and the OR gate module 240. The pulse conversion module 220 includes a first pulse conversion circuit 221, a second pulse conversion circuit 222, a third pulse conversion circuit 223, a fourth pulse conversion circuit 224, ... an n-3rd pulse conversion circuit 22n-3, an n-2nd pulse conversion circuit 22n-2, an n-1th pulse conversion circuit 22n-1, and an nth pulse conversion circuit 22n.

[0062] In this embodiment, the pulse width of the pulse signal Fn after adjustment is between 1 ns and 10 ns. The preset number of pulse conversion circuits in the pulse conversion module 220 is the same as the total number of photoelectric sensing units S.

[0063] The first pulse conversion circuit 221 is electrically connected between the first buffer unit H1 and the signal accumulation module 230, and is used to adjust the pulse width of the first pulse signal F1. When the first pulse conversion circuit 221 receives the first pulse signal F1, the pulse width of the first pulse signal F1 is adjusted to between 1ns and 10ns. In the embodiment of the present application, the second pulse conversion circuit 222, the third pulse conversion circuit 223, the fourth pulse conversion circuit 224, ... the n-3rd pulse conversion circuit 22n-3, the n-2nd pulse conversion circuit 22n-2, the n-1st pulse conversion circuit 22n-1 and the nth pulse conversion circuit 22n have the same circuit structure and working process as the first pulse conversion circuit 221, which will not be repeated here.

[0064] The signal accumulation module 230 is electrically connected to the pulse conversion module 220, and is used for accumulating the received pulse signal Fn to obtain an accumulation signal J1, sampling the accumulation signal J1 according to the sampling signal CLK to obtain a digital accumulation signal L1, and obtaining the first position range of the target object according to the digital accumulation signal L1.

[0065] The signal accumulation module 230 includes at least one level of signal accumulation subunit and at least one level of signal sampling subunit. Each level of the signal accumulation subunit is correspondingly connected to a preset number of pulse conversion units, and the last level of the signal accumulation subunit is used to accumulate the preset number of pulse signals Fn and transmit them to the last level of the signal sampling subunit.

[0066] The last stage signal sampling subunit is electrically connected to the pulse output terminal OUT. The signal sampling subunit is used to sample the received accumulated signal J1 according to the sampling signal, and output the digital accumulated signal L1 with different signal strength values. The digital accumulated signal L1 is output through the pulse output terminal OUT.

[0067] The signal accumulation module 230 includes N-level signal accumulation subunits and M-level signal sampling subunits which are cascaded. Each time the signal accumulation subunit performs signal accumulation, the signal sampling subunit performs signal sampling. Both N and M are greater than or equal to 2.

[0068] In the embodiment of the present application, the delay of the signal sampling subunit is greater than the sampling period of the sampling signal, and each level of the signal accumulation subunit is correspondingly connected to a signal acquisition subunit to perform signal sampling on the accumulated signal after accumulation.

[0069] like Figure 3 As described, in the signal accumulation module 230, the signal accumulation subunit and the signal sampling subunit are electrically connected and have the same function. In this embodiment, the first-level signal accumulation subunit 231 and the first-level signal sampling submodule 232 are used for illustration, and other signal accumulation subunits and signal sampling subunits are not described in detail.

[0070] The first-stage signal accumulation subunit 231 is electrically connected between the pulse conversion module 220 and the first-stage signal sampling subunit 232, and is used to convert the pulse signal Fn received from the pulse conversion module 220 into a digital signal and input it to the first-stage signal sampling subunit 232 for signal sampling. The first-stage signal accumulation subunit 231 includes a first signal accumulator 2311, ..., an i-th signal accumulator 231i, and the first-stage signal sampling subunit 232 includes a first signal sampling unit 3321, ..., an i-th signal sampling unit 332i.

[0071] In the embodiment of the present application, each level of the signal accumulation subunit is correspondingly connected to a signal acquisition subunit to perform sampling on the accumulated signal after the accumulation.

[0072] The pulse output terminal OUT is electrically connected to the data processing module 10 ( Figure 1 ). The first position range is the position range where the target object reflects the light signal. The signal sampling unit can be implemented by a flip-flop, and the flip-flop can include a rising edge flip-flop or a falling edge flip-flop.

[0073] In an embodiment of the present application, the input end of each of the first signal accumulator 2311, ... the i-th signal accumulator 231i is correspondingly connected to a preset number of pulse conversion modules, and the output ends of the first signal accumulator 2311, ... the i-th signal accumulator 231i are respectively electrically connected to the input ends of the first signal sampling unit 3321, ... the i-th signal sampling unit 332i, and the first signal sampling unit 3321, ... the i-th signal sampling unit 332i outputs the accumulated signals output by the first signal accumulator 2311, ... the i-th signal accumulator 231i to the second-level signal accumulation sub-unit.

[0074] The first signal accumulator 2311, ... the i-th signal accumulator 231i converts the received pulse signal Fn into a digital signal and accumulates it, converts the accumulated pulse signal into a binary signal, and accumulates the binary signal to obtain an accumulated signal J1, which is output to the second signal sampling subunit 232 through the first signal sampling unit 3321, ... the i-th signal sampling unit 332i, and finally output to the pulse output terminal OUT through the last-stage signal sampling unit 3421. The first signal accumulator 2311, ... the i-th signal accumulator 231i respectively accumulates the received pulse signal Fn to obtain a digital signal that varies with the signal strength, samples it through the first-stage signal sampling subunit 332, and then inputs the sampled signal into the second-stage signal accumulation subunit, until all the pulse signals Fn input into the signal accumulation unit 230 are accumulated step by step to the N-stage signal accumulation subunit, and then sampled by the last-stage signal sampling subunit 3421 sampling subunit to obtain the target accumulated signal.

[0075] For example, in the photoelectric sensing acquisition module 21, there are 100 single photon detectors, and the signal accumulation unit 230 first accumulates every 4 pulse signals, so the first-level signal accumulation subunit 231 has a total of 25 signal accumulators, the first-level signal sampling subunit 332 has a total of 25 signal sampling units, and the signal accumulation unit input end in the second-level signal accumulation subunit 232 receives the pulse signal output by any two signal accumulators in the first-level signal accumulation subunit 231, so the second signal accumulation subunit 232 has a total of 13 signal accumulators. That is, all the pulse signals Fn in the photoelectric sensing acquisition module 21 are sequentially accumulated in the last-level signal accumulation subunit.

[0076] The last stage signal sampling subunit 3421 is electrically connected to the pulse output terminal OUT, and is used to sample the received cumulative signal J1 according to the sampling signal CLK, and output the target cumulative signal. The target cumulative signal is input to the data processing module 10 ( Figure 1 ).

[0077] For example, in the same sampling period, the pulse signals input into the input end of the first signal accumulator 231 are respectively the first pulse signal F1 is a valid signal, the second pulse signal F2 is an invalid signal, the third pulse signal F3 is a valid signal, and the fourth pulse signal F4 is a valid signal. At this time, the signal strength value of the first signal accumulator 2311 after accumulating the pulse signals at the input end is 3.

[0078] In the embodiment of the present application, a valid signal is represented by a digital signal 1, and an invalid signal is represented by a digital signal 0.

[0079] In the same sampling cycle, after all the pulse signals Fn output from the photoelectric receiving module 210 are accumulated in the last-stage signal accumulation subunit 2321, the last-stage signal sampling unit 3421 samples the pulse signals in the last-stage signal accumulation subunit 2321 to obtain a digital accumulation signal L1, and finally outputs a discrete digital accumulation signal L1 of the target object to the data processing module 10.

[0080] In order to ensure the ranging accuracy, the pulse width of the pulse signal Fn is greater than or equal to the sampling period of the sampling signal CLK. Preferably, the pulse width of the pulse signal Fn is greater than or equal to 2 times the sampling period of the sampling signal CLK. For example, if the pulse width of the pulse signal Fn is 2ns, the sampling period of the sampling signal CLK is less than or equal to 1ns.

[0081] In the embodiment of the present application, the number of sampling cycles is based on the size of the sampling measurement distance, and the number of sampling cycles satisfies T=2L / f*c, where T is the number of sampling cycles, L is the measurement distance, f is the sampling period of the sampling signal CLK, and c is the speed of light.

[0082] The OR gate module 240 is electrically connected between the pulse conversion module 220 and the time-to-digital conversion module 250, and is used to transmit the pulse signal Fn converted when any photoelectric sensing unit S in the photoelectric receiving module 210 receives the light signal to the time-to-digital conversion module 250, so as to indicate that the photoelectric receiving module 210 receives the light signal. The OR gate module 240 includes at least one level of OR gate sub-units, specifically, the level of OR gate sub-units includes a plurality of OR gate input terminals and an OR gate output terminal, and the total number of the level of OR gate input terminals is the same as the number of the photoelectric sensing units S, wherein the level of OR gate input terminals is electrically connected to at least one pulse conversion module 220, and the OR gate output terminal is electrically connected to the time-to-digital conversion module 250, and when any one of the OR gate input terminals in the OR gate sub-units receives the pulse signal Fn, the OR gate output terminal outputs the pulse signal Fn to the time-to-digital conversion module 250. After receiving the pulse signal Fn, if the pulse signal Fn is all valid pulse signals, the OR gate unit outputs a pulse signal; if the pulse signal Fn includes at least one valid pulse signal, the OR gate unit outputs the pulse signal Fn; if the pulse signal Fn is all invalid pulse signals, the OR gate unit does not output the pulse signal Fn.

[0083] In this embodiment, the OR gate module 240 includes a first-level OR gate subunit 241, ... a K-th level OR gate subunit 24k, K is greater than or equal to 2, the first-level OR gate subunit 241 includes at least j OR gate circuits, j is an integer greater than 1, and the j OR gate circuits perform OR gate operations on a preset number of pulse signals Fn and input them to the second OR gate subunit. The second-level OR gate subunit to the K-th level OR gate subunit perform OR gate operations on the pulse signals step by step and transmit them to the time-to-digital conversion module 250. Each OR gate circuit includes 4 OR gate input terminals and an OR gate output terminal. If the input signal of the OR gate input terminal includes at least one pulse signal, the OR gate circuit only outputs the pulse signal to the next OR gate circuit.

[0084] For example, in the photoelectric sensing acquisition module 21, the photoelectric receiving module 210 outputs 100 pulse signals Fn, wherein the output pulse signals include at least one pulse signal. In the OR gate module 240, every 4 pulse signals are input into an OR gate circuit, and the first-level OR gate subunit 241 includes 25 OR gate circuits, until all the pulse signals Fn are input into the K-th level OR gate subunit 24k, and the K-th level OR gate subunit 24k finally outputs the pulse signal to the time digital conversion module 250.

[0085] The time-to-digital conversion module 250 is electrically connected to the OR gate module 240, and is used to measure the time interval Δt from when the signal transmitting module 310 emits the light signal to when the photoelectric receiving module 210 receives the light signal, determine the distance of the target object based on the time interval Δt, and determine the first position of the target object within the first position range based on the distance of the target object.

[0086] The signal transmitting module 310 repeatedly transmits the optical signal multiple times, and the time-to-digital conversion module 250 measures the transmission time Δt between each optical signal and the pulse signal Fn output by the photoelectric receiving module 210, and calculates the distance of the target object according to s=c×Δt / 2, where c is the speed of light.

[0087] See also Figure 4 , which is another embodiment of the present application as Figure 2 A schematic diagram of any photoelectric sensing acquisition module 31 is shown. Figure 4 As shown, the photoelectric sensing acquisition module 31 includes a photoelectric receiving module 310, a pulse conversion module 320, a signal accumulation module 330, an OR gate module 340 and a time digital conversion module 350. Among them, the photoelectric receiving module 310, the pulse conversion module 320, the OR gate module 340 and the time digital conversion module 350 have the same circuit structure and function as those in the above embodiment, and will not be repeated in this embodiment.

[0088] The signal accumulation module 330 is different from the above embodiment in that the signal accumulation module 330 includes N-level signal accumulation subunits and M-level signal sampling subunits, N and M are both greater than or equal to 2, and a first-level signal sampling subunit 3310 is also included between the first-level signal accumulation subunit 331 in the N-level signal accumulation subunit and the pulse conversion module 320, and the first-level signal sampling subunit 3310 samples the pulse signal Fn and transmits it to the first-level signal accumulation subunit 331. The first-level signal sampling subunit 3310 includes a first input signal sampling unit 3301, ... an nth input signal sampling unit 330n. Among them, the n input signal sampling units are the same as the total number of the pulse signal Fn.

[0089] In order to ensure the ranging accuracy, in the above embodiment of setting up a multi-level signal sampling sub-unit, in addition to satisfying the condition that the pulse width of the pulse signal Fn is greater than or equal to the sampling period of the sampling signal CLK, it is also necessary to satisfy that the circuit delay of any two adjacent signal sampling sub-units is less than the sampling period of the sampling signal CLK.

[0090] See also Figure 5 , which is another embodiment of the present application as Figure 2 A schematic diagram of any photoelectric sensing acquisition module 41 is shown. Figure 5 As shown, the photoelectric sensing acquisition module 41 includes a photoelectric receiving module 410, a pulse conversion module 420, a signal accumulation module 430, an OR gate module 440, and a time digital conversion module 450. Among them, the photoelectric receiving module 410, the pulse conversion module 420, the OR gate module 440, and the time digital conversion module 450 have the same circuit structure and function as those in the above embodiment, and will not be repeated in this embodiment.

[0091] The signal accumulation module 430 is different from the above-mentioned embodiment in that the signal accumulation module 430 includes a cascaded N-level signal accumulation subunit and a first-level signal sampling subunit 4421, N is greater than or equal to 2, and the first-level signal accumulation subunit in the N-level signal accumulation subunit includes a first signal accumulator 4311, ..., an i-th signal accumulator 431i, where i is an integer greater than 1. The i-th signal accumulator performs the first signal accumulation for a preset number of pulse signals Fn, and obtains i accumulated signals, and the second-level signal accumulation subunit to the N-th level signal accumulation subunit in the N-level signal accumulation subunit accumulate the i accumulated signals step by step to obtain a target accumulated signal. The first-level signal sampling subunit 4421 is electrically connected between the output end of the N-th level signal accumulation subunit and the output end OUT of the signal accumulation module 430, and samples according to the received target accumulated signal to obtain a digital accumulated signal L1.

[0092] Similarly, to ensure the ranging accuracy, in this embodiment, the pulse width of the pulse signal Fn must be greater than or equal to the sampling period of the sampling signal CLK. Preferably, the pulse width of the pulse signal Fn is greater than or equal to twice the sampling period of the sampling signal CLK.

[0093] See also Figure 6 , Figure 6 FIG. 1 is a schematic diagram of the structure of a signal accumulation module in another embodiment of the present application. Figure 6 As shown, the signal accumulation module 250 is used to accumulate the received pulse signal Fn to obtain the accumulated signal J1, sample the accumulated signal J1 according to the sampling signal CLK to obtain the digital accumulated signal L1, and obtain the first position range of the target object according to the digital accumulated signal L1. The signal accumulation module 250 includes a first-level signal sampling subunit 2511, a second-level signal sampling subunit 2512, and a first signal accumulation subunit 2521, ..., an nth signal accumulation subunit 252n, where n is greater than or equal to 2.

[0094] In the embodiment of the present application, if the circuit delay of any N adjacent signal sampling subunits is less than the sampling period of the sampling signal CLK, at least one signal accumulation subunit is electrically connected between any adjacent signal sampling subunits, where N is greater than or equal to 2.

[0095] like Figure 6 As shown, in order to ensure the ranging accuracy, in the above embodiment of setting a multi-level signal sampling sub-unit, in addition to satisfying the condition that the pulse width of the pulse signal Fn is greater than or equal to twice the sampling period of the sampling signal CLK, it is also necessary to satisfy that the circuit delay of any two adjacent signal sampling sub-units is less than the sampling period of the sampling signal CLK.

[0096] See also Figure 7 , which is used in the embodiments of the present application as Figure 1 The flow chart of the distance measuring device 1 performing the photoelectric sensing distance measuring method is shown in FIG. Figure 7 As shown, in an embodiment of the present application, a photoelectric sensing distance method, the steps are as follows:

[0097] Step 41 , accumulating the received pulse signals to obtain an accumulated signal, sampling the accumulated signal according to a sampling signal to obtain a digital accumulated signal, wherein the digital accumulated signal represents a first position range of the target object.

[0098] Step 42, timing the time interval from the emission of the optical signal to the receipt of the optical signal by the optoelectronic receiving module, determining the distance of the target object according to the time interval, and determining the first position of the target object within the first position range according to the distance of the target object.

[0099] Specifically, the optical signal includes light reflected by the target object to the photoelectric receiving module after receiving the transmitted optical signal.

[0100] Wherein, in step 41, determining the first position range of the target object according to the time digital signal specifically further includes the steps of:

[0101] Step 411: After receiving the optical signal, convert the optical signal into the digital pulse signal.

[0102] Step 412: Accumulate the received digital pulse signal to obtain an accumulated signal that varies with the intensity of the optical signal.

[0103] Step 413: Sample the accumulated signal according to the sampling signal to obtain a first signal strength distribution diagram, wherein the first signal strength represents a first position range of the target object.

[0104] Step 414: Calculate a first position range according to the first signal strength distribution diagram.

[0105] Preferably, after sampling the accumulated signal according to the sampling signal to obtain the first signal strength, the method may further include step 415:

[0106] Repeat step 411, step 412 and step 413 at least once to obtain N signal strength distribution maps, accumulate the N signal strength distribution maps to obtain a target signal strength distribution map, and determine the first position range of the target object according to the target signal strength distribution map.

[0107] When the optical signal is affected by ambient light or target objects or the interference signal is unstable, the optical signal sensing and signal processing are repeated multiple times, and the signal strength obtained each time is accumulated to obtain a distribution diagram of the target signal strength. When the first position range is determined based on this, the interference of the optical signal can be eliminated to a large extent, thereby improving the calculation accuracy of the first position range.

[0108] In other embodiments of the present application, if the sampling period of the sampling signal is greater than the delay of the signal accumulation, the signal sampling is performed once after each signal accumulation. That is, at least one level of signal accumulation is performed for a preset number of pulse signals to obtain a target accumulated signal. At least one level of signal sampling is performed for the accumulated pulse signal to obtain the digital accumulated signal with different signal strength values.

[0109] N levels of signal accumulation and one level of signal sampling are performed on the preset number of pulse signals, where N is greater than or equal to 2. The first level of signal accumulation in the N levels of signal accumulation includes: performing a first signal accumulation on the pulse signal through i signal accumulators to obtain i accumulated signals, where i is an integer greater than 1; performing a second to Nth level of accumulation on the i accumulated signals and obtaining a target accumulated signal; and performing a signal sampling on the target accumulated signal according to the sampling signal and obtaining the digital accumulated signal.

[0110] In other embodiments of the present application, N-level signal accumulation and N-level signal sampling are performed for the preset number of pulse signals, where N is greater than or equal to 2, and the first-level signal accumulation in the N-level signal accumulation includes:

[0111] Performing a first signal accumulation on the pulse signal through i signal accumulators to obtain i accumulated signals, where i is an integer greater than 1;

[0112] Performing second to Nth step-by-step signal accumulation for the i accumulated signals;

[0113] According to the sampling signal, signal sampling is performed once after each level of signal accumulation until the digital accumulation signal is obtained.

[0114] Performing signal sampling on the pulse signal according to the sampling signal and then transmitting the sampled signal to the i signal accumulators;

[0115] The i signal accumulators perform the first signal accumulation on the pulse signal and obtain i accumulated signals, and the i accumulated signals perform the second to Nth step-by-step signal accumulation and signal sampling and obtain the digital accumulated signal.

[0116] In other embodiments of the present application, N levels of signal accumulation are performed for the preset number of pulse signals, where N is greater than or equal to 2. If the delay between any two adjacent levels of signal sampling is less than the sampling period of the sampling signal, then at least one signal accumulation is performed between any adjacent signal samplings.

[0117] In the embodiment of the present application, the first level of signal accumulation in the N levels of signal accumulation includes:

[0118] The first signal accumulation is performed on the pulse signal through i signal accumulators to obtain i accumulated signals, where i is an integer greater than 1; the second to Nth signal accumulation is performed step by step on the i accumulated signals; when signal sampling is performed on the pulse signal after each level of signal accumulation according to the sampling signal, if the circuit delay of the signal sampling between any two adjacent levels is less than the sampling period of the sampling signal, at least one level of signal accumulation is performed between any adjacent signal samplings.

[0119] The pulse width of the pulse signal is greater than or equal to the sampling period of the sampling signal CLK.

[0120] See also Figure 8 , which is an embodiment of the present application as Figure 3 The circuit block diagram of the optoelectronic receiving module 210 is shown in FIG. Figure 8 As shown, the photoelectric receiving module 210 is a silicon photomultiplier tube. The silicon photomultiplier tube is used to convert the received optical signal into an electrical signal in digital form, and the optical signal is a signal reflected by the target object. Specifically, the silicon photomultiplier tube is electrically connected between the driving voltage terminal VCC and the ground terminal GND. The silicon photomultiplier tube includes at least one photon detector S, at least one transistor N and at least one buffer H. Among them, the photon detector S is electrically connected between the driving power supply terminal VCC and the source of the transistor N, the drain of the transistor N is electrically connected to the ground terminal GND, and the buffer H is electrically connected between the source of the transistor N and the pulse conversion module 220.

[0121] In this embodiment, all the photon detectors S in the photoelectric receiving module 210 are connected in parallel. When receiving a light signal, each photon detector S can convert the light signal into a pulse signal and input it into the pulse conversion module 220 .

[0122] See also Fig. 9 , which is a pulse signal accumulation timing diagram in one embodiment of the present application. Fig. 9 As shown, F1 represents the first pulse signal, F2 represents the second pulse signal, F3 represents the third pulse signal, F4 represents the fourth pulse signal, F5 represents the fifth pulse signal, F6 represents the sixth pulse signal, L1 represents the digital accumulated signal of the above 6 pulse signals, the pulse signal accumulation timing diagram of the photoelectric sensor acquisition module 20 at a certain moment, and CLK represents the sampling signal. Specifically, in order to more accurately obtain the accumulated sampling signal value and calculate the preparation distance of the target object, the pulse width of the pulse signal Fn is greater than or equal to 2 times the pulse width of the sampling period of the sampling signal CLK.

[0123] The signal accumulation module 230 accumulates the pulse signals Fn received at the same time, and obtains an accumulated signal J1 that changes with the signal strength during the process of the photoelectric sensing acquisition module 20 continuously receiving the light signal, and then uses the sampling signal CLK to sample the accumulated signal J1 to obtain a signal strength distribution diagram of the digital accumulated signal L1 that changes with the signal strength. The digital accumulated signal L1 is a discrete signal.

[0124] In the embodiment of the present application, the valid pulse signal is recorded as digital 1, and the invalid pulse signal is recorded as digital 0. In the same sampling period, the pulse signals Fn of different levels are accumulated to obtain the accumulated signal J1. In the embodiment, the signal strength value of the accumulated signal J1 includes 0, 1, 2, 3, 4, and 5. After the sampling signal CLK is sampled to obtain the digital accumulated signal L1, the maximum signal strength value of the digital accumulated signal L1 is 5, and the minimum signal strength value is 0. By analyzing the time corresponding to the signal strength value of 5, the data processing module 10 can obtain the distance of the target object 40.

[0125] In the embodiment of the present application, the pulse signal Fn accumulation and sampling process and principle in other time periods are similar to those in Figure 3 The above are the same and will not be repeated here.

[0126] In other embodiments of the present application, the number of pulse signals Fn is not limited to 6, and may be n pulse signals, where n is a positive integer greater than or equal to 1.

[0127] See also Fig.10 , which is an embodiment of the present application Figure 3 The target signal intensity distribution diagram output by the photoelectric sensing acquisition module 20 is shown. The photoelectric sensing acquisition module 20 outputs a target signal intensity distribution diagram 300 of the target object. The target signal intensity distribution diagram 300 includes a cumulative signal intensity distribution diagram 301 and a time digital signal distribution diagram 302. Specifically, the cumulative signal intensity distribution diagram 301 and the time digital signal distribution diagram 302 are both discrete signals.

[0128] In this embodiment, the signal-to-noise ratio of the data collected by the signal accumulation module 230 is high, and the precise position of the target object can be well identified. However, for the time-to-digital conversion module 250, the signal-to-noise ratio of the collected data is low, and it is difficult to accurately obtain the precise position of the target object. Therefore, the data collected by the signal accumulation module 230 is used to calculate the distance of the target object.

[0129] See also Fig.11 , which is another embodiment of the present application Figure 3The target signal intensity distribution diagram output by the photoelectric sensing acquisition module 20 is shown. The data processing module 10 receives the photoelectric sensing acquisition module 20 to determine the first position range of the target object according to the digital accumulated signal, and determines the first position of the target object according to the time digital signal.

[0130] The photoelectric sensing acquisition module 20 outputs a target signal strength distribution diagram 400 of the target object. The target signal strength distribution diagram 400 includes a cumulative signal strength distribution diagram 401 and a time digital signal distribution diagram 402. Specifically, the cumulative signal strength distribution diagram 401 and the time digital signal distribution diagram 402 are both discrete signals.

[0131] The signal accumulation module 230 and the time digital conversion module 250 can both collect signal data with a high signal-to-noise ratio. First, the first position range of the target object is calculated based on the accumulated signal strength distribution diagram 401, and then the corresponding signal data area is collected on the time digital signal distribution diagram 402 based on the first position range of the target object, so that the first position of the target object can be accurately determined. That is, based on the distribution range with the largest signal strength in the accumulated signal strength distribution diagram 401, the transmission time Δt of the optical signal when the signal strength value is the largest in the time digital signal distribution diagram 402 is located, and then the first position of the target object is calculated.

[0132] In an embodiment of the present application, the photoelectric receiving module 210 converts the received light signal into a pulse signal Fn. After the pulse conversion module 220 adjusts the pulse width of the received pulse signal Fn to between 1ns and 10ns, the signal accumulation module 230 accumulates the pulse signal Fn and finally accumulates all the pulse signals Fn into the last signal accumulation module. The signal sampling unit samples the accumulated signal J1 outputted at the last accumulation. In the process of the photoelectric receiving module 210 continuously receiving the light signal, the signal sampling unit will output a discrete accumulated signal intensity distribution diagram according to the distance and reflectivity of the target object.

[0133] When the photoelectric receiving module 210 outputs the pulse signal Fn, if the OR gate module 240 does not receive the pulse signal Fn, it does not output the pulse signal to the time digital conversion module 250. If the output pulse signal Fn includes at least one pulse signal, it outputs the pulse signal to the time digital conversion module 250. When the photoelectric receiving module 210 continuously outputs the pulse signal Fn, the time digital conversion module 250 outputs a discrete time digital signal distribution diagram according to the received pulse signals of different levels.

[0134] The photoelectric sensing acquisition module 20 disclosed in the embodiment of the present application can accurately measure the distance of the target object, with low cost and high reliability of the distance measurement data.

[0135] The above is a detailed introduction to a photoelectric sensing acquisition module disclosed in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A photoelectric sensing acquisition module, characterized in that: include: A photoelectric receiving module, comprising a plurality of photoelectric sensing units arranged in a matrix, wherein the photoelectric sensing units are used to convert received optical signals into pulse signals in digital form, wherein the optical signals include light reflected from the target object to the photoelectric receiving module after receiving the transmitted optical signal; A signal accumulation module, electrically connected to the photoelectric receiving module through a pulse conversion module, the signal accumulation module is used to accumulate the received pulse signal to obtain an accumulated signal after the pulse conversion module adjusts the pulse width of the pulse signal, and the accumulated signal is sampled according to a sampling signal to obtain a plurality of digital accumulated signals with different signal strength values, the digital accumulated signal representing a first position range of the target object; An OR gate module, electrically connected to the pulse conversion module, for transmitting the pulse signal to the time-to-digital conversion module to indicate that the photoelectric receiving module has received the optical signal; A time-to-digital conversion module is electrically connected between the OR gate module and the signal output end, and is used to measure the time interval from the signal transmitting module emitting a light signal to the photoelectric receiving module receiving the light signal, and obtain a time digital signal based on the time interval to determine the distance of the target object, and determine the first position of the target object in the first position range based on the distance of the target object, wherein the time interval is the transmission time of the light signal when the signal strength value is the maximum in the signal strength distribution range.

2. The photoelectric sensing acquisition module according to claim 1, characterized in that: The photoelectric sensing acquisition module also includes: The pulse conversion module is used to adjust the pulse width of the pulse signal received from the photoelectric receiving module and then input it into the signal accumulation module. The signal accumulation module accumulates the pulse signal after adjusting the pulse width and obtains the accumulated signal.

3. The photoelectric sensing acquisition module according to claim 2, characterized in that: The OR gate module is electrically connected between the pulse conversion module and the time-to-digital conversion module, and is used to transmit the pulse signal to the time-to-digital conversion module when any photoelectric sensing unit of the photoelectric receiving module receives the light signal and converts it into the pulse signal, so as to indicate that the photoelectric receiving module has received the light signal.

4. The photoelectric sensing acquisition module according to claim 3, characterized in that: The OR gate module includes at least one level OR gate sub-unit, and the level OR gate sub-unit includes multiple OR gate input terminals and one OR gate output terminal. The total number of the level OR gate input terminals is the same as the number of the photoelectric sensing units, wherein the level OR gate input terminal is electrically connected to at least one pulse conversion module, and the OR gate output terminal is electrically connected to the time digital conversion module. When any one of the OR gate input terminals in the OR gate sub-unit receives the pulse signal, the OR gate output terminal outputs the pulse signal to the time digital conversion module.

5. The photoelectric sensing acquisition module according to claim 4, characterized in that: The OR gate module includes K-level cascaded OR gate subunits, where K is greater than or equal to 2. The first-stage OR gate subunit in the K-stage OR gate subunits includes j OR gate circuits, where j is an integer greater than 1, and the j OR gate circuits perform OR gate operations on a preset number of pulse signals and input the signals to the second-stage OR gate subunit; The second-stage OR gate subunit to the K-th-stage OR gate subunit perform OR gate operations on the pulse signal step by step and then transmit the pulse signal to the time-to-digital conversion module.

6. The photoelectric sensing acquisition module according to claim 2, characterized in that: The signal accumulation module includes at least one level of signal accumulation subunit and at least one level of signal sampling subunit; The signal accumulation module includes at least one level of signal accumulation subunit, each level of the signal accumulation subunit is correspondingly connected to a preset number of the pulse conversion modules, and the last level of the signal accumulation subunit is used to accumulate the preset number of pulse signals and transmit them to the last level of the signal sampling subunit; The last-stage signal sampling subunit is electrically connected to the pulse output end. The signal sampling subunit is used to sample the received accumulated signal according to the sampling signal and output the digital accumulated signal with different signal strength values. The digital accumulated signal is output through the pulse output end.

7. The photoelectric sensing acquisition module according to claim 6, characterized in that: The signal accumulation module includes N-level signal accumulation subunits and a first-level signal sampling subunit connected in cascade, where N is greater than or equal to 2; The first-stage signal accumulation subunit in the N-stage signal accumulation subunit includes i signal accumulators, i is an integer greater than 1, and the i signal accumulators perform a first signal accumulation on the preset number of pulse signals and obtain i accumulated signals; The second-stage signal accumulation subunit to the N-stage signal accumulation subunit in the N-stage signal accumulation subunit accumulate i accumulated signals stage by stage to obtain a target accumulated signal; The first-level signal sampling subunit is electrically connected between the output end of the Nth-level signal accumulation subunit and the output end of the pulse conversion module, and samples the received target accumulation signal to obtain the digital accumulation signal.

8. The photoelectric sensing acquisition module according to claim 6, characterized in that: The signal accumulation module includes N-level signal accumulation subunits and M-level signal sampling subunits which are cascaded, and both N and M are greater than or equal to 2; If the circuit delay of any two adjacent signal sampling subunits is less than the sampling period of the sampling signal, at least one signal accumulation subunit is electrically connected between any two adjacent signal sampling subunits.

9. The photoelectric sensing acquisition module according to claim 8, characterized in that: The first-stage signal accumulation subunit in the N-stage signal accumulation subunit includes i signal accumulators, i is an integer greater than 1, and the i signal accumulators perform a first signal accumulation on the preset number of pulse signals and obtain i accumulated signals; The second-level signal accumulation subunit to the N-level signal accumulation subunit in the N-level signal accumulation subunits accumulate i accumulated signals step by step in turn; the output end of each signal accumulator in each level of the signal accumulation subunit is electrically connected to the first-level signal sampling subunit, and the signal sampling subunit samples the accumulated signal output by each signal accumulator and outputs it to the next-level signal accumulation subunit.

10. The photoelectric sensing acquisition module according to claim 8, characterized in that: A signal sampling subunit is further provided between the first-stage signal accumulation subunit in the N-stage signal accumulation subunit and the pulse conversion circuit. The signal sampling subunit samples the pulse signal and transmits the sample to the first-stage signal accumulation subunit.

11. The photoelectric sensing acquisition module according to claim 6, characterized in that: The pulse width of the pulse signal is greater than or equal to the sampling period of the sampling signal.

12. The photoelectric sensing acquisition module according to any one of claims 1 to 11, characterized in that: The photoelectric receiving module is composed of a plurality of silicon photomultiplier tubes connected in parallel.

13. The photoelectric sensing acquisition module according to claim 12, characterized in that: The optoelectronic receiving module further includes at least one transistor and at least one buffer unit; The photoelectric sensing unit is electrically connected between the driving voltage terminal and the source of the transistor, the buffer unit is electrically connected between the source of the transistor and the pulse conversion module, the drain of the transistor is electrically connected to the ground terminal, the transistor is a quenching transistor, and the driving voltage terminal is used to receive a driving voltage to drive the photoelectric sensing collection module to work; When the photoelectric sensing unit receives the light signal, the photoelectric sensing unit is turned on, and the driving voltage is buffered by the buffer unit and then input into the pulse conversion module.

14. A photoelectric sensing distance detection method, applied to a photoelectric sensing acquisition module, wherein the photoelectric sensing acquisition module comprises a plurality of photoelectric sensing units arranged in a matrix, and the photoelectric sensing units are used to convert received light signals into pulse signals in digital form, wherein: The optical signal includes light reflected by the target object to the photoelectric receiving module after receiving the transmitted optical signal, and is characterized in that it includes the steps of: Accumulating the received pulse signals to obtain an accumulated signal, sampling the accumulated signal according to the sampling signal to obtain a digital accumulated signal, wherein the digital accumulated signal represents a first position range of the target object; Detecting the time interval from the emitted light signal to the photoelectric receiving module receiving the light signal, obtaining a time digital signal according to the time interval to characterize the distance of the target object, and determining the first position of the target object in the first position range according to the distance of the target object; The accumulated signal is sampled to obtain N signal intensity distribution graphs, the N signal intensity distribution graphs are accumulated to obtain a target signal intensity distribution graph, the time interval of the transmission of the optical signal when the signal intensity in the optical signal is the highest is measured, a time digital signal is obtained based on the time interval to determine the distance of the target object, and the first position of the target object is determined within the first position range based on the distance of the target object.

15. The photoelectric sensing distance measurement method according to claim 14, characterized in that: Determining the first position range of the target object according to the digital accumulated signal includes: After receiving the optical signal, converting the optical signal into a digital pulse signal; Accumulating the received digital pulse signal to obtain the accumulated signal that changes with the intensity of the optical signal; Sampling the accumulated signal according to the sampling signal to obtain a first signal strength distribution diagram; The first signal strength distribution graph is analyzed to determine the first location range.

16. The photoelectric sensing distance measurement method according to claim 15, characterized in that: After sampling the accumulated signal according to the sampling signal to obtain the first signal strength, the method further includes: Repeating at least once receiving the optical signal and converting the optical signal into the digital pulse signal; Accumulating the received digital pulse signal to obtain the accumulated signal that changes with the intensity of the optical signal; The target signal strength distribution diagram is analyzed to determine the first position range.

17. The photoelectric sensing distance measurement method according to claim 15 or 16, characterized in that: Performing at least one level of signal accumulation on a preset number of pulse signals to obtain a target accumulated signal; At least one level of signal sampling is performed on the accumulated pulse signal to obtain the digital accumulated signal with different signal strength values.

18. The photoelectric sensing distance measurement method according to claim 17, characterized in that: Performing N-level signal accumulation and one-level signal sampling for the preset number of pulse signals, where N is greater than or equal to 2, and the first-level signal accumulation in the N-level signal accumulation includes: Performing a first signal accumulation on the pulse signal through i signal accumulators to obtain i accumulated signals, where i is an integer greater than 1; Performing the second to Nth step-by-step accumulation on the i accumulated signals and obtaining a target accumulated signal; A signal sampling is performed once on the target accumulated signal according to the sampling signal to obtain the digital accumulated signal.

19. The photoelectric sensing distance measurement method according to claim 17, characterized in that: Performing N-level signal accumulation and M-level signal sampling for the preset number of pulse signals, where both N and M are greater than or equal to 2; If the delay between any two adjacent signal sampling stages is less than the sampling period of the sampling signal, the signal accumulation is performed at least once between any adjacent signal sampling stages.

20. The photoelectric sensing distance measurement method according to claim 19, characterized in that: The first stage of signal accumulation in the N stages of signal accumulation includes: Performing a first signal accumulation on the pulse signal through i signal accumulators to obtain i accumulated signals, where i is an integer greater than 1; Performing second to Nth step-by-step signal accumulation for the i accumulated signals; According to the sampling signal, signal sampling is performed once after each level of signal accumulation until the digital accumulation signal is obtained.

21. The photoelectric sensing distance measurement method according to claim 20, characterized in that: Performing signal sampling on the pulse signal according to the sampling signal and then transmitting the sampled signal to the i signal accumulators; The i signal accumulators perform the first signal accumulation on the pulse signal and obtain i accumulated signals, and the i accumulated signals perform the second to Nth step-by-step signal accumulation and signal sampling and obtain the digital accumulated signal.

22. The photoelectric sensing distance detection method according to any one of claims 18 to 21, characterized in that: The pulse width of the pulse signal is greater than or equal to the sampling period of the sampling signal.

23. A distance measuring device, characterized in that: Comprising the photoelectric sensing acquisition module, data processing module and signal transmission module as described in any one of claims 1 to 13; The signal transmission module and the photoelectric sensing collection module are both electrically connected to the data processing module; The signal transmitting module is used to transmit an optical signal to the target object; The data processing module is used to process the received digital accumulation signal and the time digital signal, and calculate the distance of the target object.

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