A detection device for improving frame rate

Abstract

The present invention provides a detection device for improving the frame rate, which is characterized in that it includes: a first transmitting part and a second transmitting part for transmitting a detection light source to a target to be detected; a first receiving part and a second receiving part for receiving the echo signal of the target; a first controller and a second controller for controlling the transmitting part to emit the detection light source and for controlling the receiving part to receive the echo signal; an information acquisition unit for obtaining detection information according to the echo signals received by the first receiving part and the second receiving part. By such a design, the frame rate can be increased, and the detection problem in a high-frame-rate detection scenario can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar ranging, and more particularly, to a detection device for improving frame rate. Background Art

[0002] In the field of detection technology, more and more technologies are being introduced. In order to ensure the goal of efficient and fast detection in application fields such as image or ranging, more and more devices are designed to have a structure with multiple taps (two or more). They can work in different time periods to read the photo-generated electrons generated in the pixel units connected to them. When the multiple taps are reasonably arranged, efficient operation can be achieved within the chip or the receiving part it constitutes. However, there are deviations in the signals captured by different taps due to various factors. Even for the photo-generated electrons generated by the same incident return light, there are differences in the output values of different taps. This phenomenon will have an important impact on image acquisition or ranging.

[0003] In recent years, with the progress of semiconductor technology, miniaturization of ranging modules for measuring the distance to an object has made progress. Therefore, for example, it has been possible to install a ranging module in a mobile terminal such as a so-called smart phone, which is a small information processing device with a communication function. With the progress of technology, in the process of detecting distance or depth information, the commonly used method is the time-of-flight ranging method (Time of flight, TOF). Its principle is to continuously send light pulses to the target object, and then use a sensor to receive the light returned from the object. The distance to the target object is obtained by detecting the flight (round-trip) time of the light pulse. In TOF technology, the technology for directly measuring the light flight time is called DTOF (direct-TOF); the transmitted light signal is periodically modulated, and the measurement technology for calculating the flight time by measuring the phase delay of the reflected light signal relative to the transmitted light signal and then calculating the flight time from the phase delay is called ITOF (Indirect-TOF) technology. According to the different types of modulation and demodulation methods, it can be divided into continuous wave (Continuous Wave, CW) modulation and demodulation method and pulse modulation (Pulse Modulated, PM) modulation and demodulation method. Furthermore, adopting the ITOF scheme can also obtain a high-precision and high-sensitivity distance detection scheme, so the ITOF scheme has also been more widely applied.

[0004] In order to obtain efficient measurement results and higher chip integration, it is more common to use a two-tap or more method to achieve ranging. The distance information of the target object can be obtained according to the phase ranging algorithm. For example, the simplest two-phase method can be used, or the three-phase or four-phase method or even the five-phase scheme can be used to obtain the distance information. Here, taking a four-phase algorithm as an example, at least two exposures (usually four exposures are required to ensure measurement accuracy) are required to complete the acquisition of four-phase data and output a frame of depth image. Therefore, it is difficult to obtain a high frame rate. The ranging efficiency is relatively low, and there is an urgent need for a solution to solve the above problems and improve the frame rate. Summary of the Invention

[0005] The object of the present invention is to provide a high-frame-rate detection device for solving a series of problems in the existing detection device, such as low frame rate and inability to be applicable to high-frame-rate application scenarios, aiming at the deficiencies in the above-mentioned prior art.

[0006] To achieve the above object, the technical solutions adopted in the embodiments of the present invention are as follows:

[0007] The embodiment of the present invention provides a detection device for improving the frame rate, which is characterized by including:

[0008] The first transmitting part and the second transmitting part are used to transmit a detection light source to the target detection object; the first receiving part and the second receiving part are used to receive the echo signal of the target; the first controller and the second controller are used to control the transmitting part to transmit the detection light source and to control the receiving part to receive the echo signal; the information acquisition unit is used to obtain detection information according to the echo signals received by the first receiving part and the second receiving part.

[0009] Optionally, the first receiving part includes a first receiving circuit and a second receiving circuit, and the channel deviation between the first receiving circuit and the second receiving circuit is obtained through calibration. The second receiving part includes a third receiving circuit and a fourth receiving circuit, and the channel deviation between the third receiving circuit and the fourth receiving circuit is obtained through calibration.

[0010] Optionally, the first receiving part includes a first reset time, a first integration time, and a first data output time; the second receiving part includes a second reset time, a second integration time, and a second data output time; wherein the first integration time and the second integration time do not overlap in time.

[0011] Optionally, the first data output time and the second integration time overlap at least partially in time.

[0012] Optionally, the second data output time and the first reset time overlap at least partially in time.

[0013] Optionally, the second data output time at least partially overlaps with the first integration time in terms of time.

[0014] Optionally, when obtaining the channel deviation between different receiving circuits by a calibration method, the transmitting part emits uniform light, and the first receiving part and the second receiving part receive the echo signals with the same phase delay difference.

[0015] Optionally, during the detection process, the detection information is calibrated according to the functional relationship of the channel deviation between different receiving circuits obtained by calibration.

[0016] Optionally, during the detection process, the detection information is calibrated through a look-up table according to the channel deviation relationship between different receiving circuits obtained by calibration.

[0017] Optionally, when obtaining the channel deviation between different receiving circuits by a calibration method, the transmitting part emits uniform light with different intensities.

[0018] The beneficial effects of the present invention are as follows: The present invention provides a detection device for improving the frame rate, which is characterized by including: a first transmitting part and a second transmitting part for emitting a detection light source to a target to be detected; a first receiving part and a second receiving part for receiving the echo signals of the target; a first controller and a second controller for controlling the transmitting part to emit the detection light source and for controlling the receiving part to receive the echo signals; and an information acquisition unit for obtaining detection information according to the echo signals received by the first receiving part and the second receiving part.

[0019] It can increase the frame rate and solve the detection problems in high frame rate detection scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic diagram of the functional modules of a detection device provided by an embodiment of the present application;

[0022] Figure 2 It is a schematic diagram of a method for eliminating differences between different circuits provided by an embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of eliminating differences between different circuits without reducing the frame rate provided by an embodiment of the present application;

[0024] Figure 4 Schematic diagram of a frame structure for improving frame rate provided by an embodiment of the present application;

[0025] Figure 5 Schematic diagram of functional modules of a high frame rate detection device provided by an embodiment of the present application;

[0026] Figure 6 Schematic diagram of the working timing of a high frame rate detection device provided by an embodiment of the present application;

[0027] Figure 7 Schematic diagram of functional modules of another high frame rate detection device provided by an embodiment of the present application. Detailed implementation manners

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention.

[0029] Figure 1 Schematic diagram of functional modules of a detection device provided by an embodiment of the present application. As Figure 1 shown, the detection device includes: a light source 110, a controller 120, a receiving part 130, and an information acquisition unit 140. The light source 110 can be configured as a unit for emitting continuous light or an array-type light source system, which can be a semiconductor laser, an LED, or other light sources that can be pulse-modulated. When a semiconductor laser is used as the light source, a vertical-cavity surface-emitting laser (VCSEL) or an edge-emitting laser (EEL) can be used. This is only an exemplary illustration and is not specifically limited. The waveform of the light output by the light source 110 is also not limited and can be a square wave, a triangular wave, a sine wave, etc. The receiving part 130 includes a photoelectric conversion module, which has a photoelectric conversion function and can be implemented by a photodiode (PD), and can specifically be a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The type is not specifically limited here either.

[0030] The controller 120 controls the light source to emit light for different times. The receiving unit 130 obtains the light reflected back by the object to be detected 150 corresponding to different phase delays respectively when the phase difference delays between the controller 120 and the emitted light at the moment when the light source 110 emits light are 0°, 180°, 90° and 270° respectively. The reflected light forms incident light in the receiving unit 130, and then different information is generated through photoelectric conversion in the receiving unit. In some cases, the information of the object to be detected is obtained by using the two-phase scheme of 0° and 180°. Some documents have also disclosed the three-phase scheme of 0°, 120° and 240° to obtain the target information. Even some documents have disclosed the five-phase difference delay scheme. The present invention does not specifically limit it. The obtained target information can be the image information of the target or the distance information, contour information, etc. of the target. The present invention does not specifically limit it either. In the following, in order to illustrate the specific technical problems, the problems and solutions are specifically elaborated by taking the four-phase time-of-flight distance acquisition scheme as an example. The multi-tap structure can have an independent tap for each phase, and the four-phase taps are connected to a pixel unit (which can be directly connected or connected through an intermediate medium), or two phases can share a tap. For example, 0° and 90° share a tap, and 180° and 270° share a tap. Such a design can not only achieve the purpose of reliable information transmission, but also further ensure the optimization of the pixel size design and layout structure. The multi-tap connection realizes the effect of efficiently obtaining target information (such as distance, depth, contour or image, etc.) on one pixel.

[0031] On the basis described above, the light source 110 emits emitted light, and the receiving unit 130 is controlled by the controller 120 to obtain the light reflected by the object to be detected 150 at a predetermined delay phase with respect to the emitted light, for example, four different delay phases. The returned reflected light forms incident light in the receiving unit 130. There are no special requirements for the light source. The light emitted by the light source each time is the same light without phase difference, avoiding errors caused by the need to adjust the light-emitting state parameters of the light source device during use. Moreover, the implementation of the device is very simple, ensuring the reliability of the entire detection device system. In this solution, the implementation of the phase delay is achieved within the receiving unit and the controller. The controller can be integrated into the receiving unit to ensure the simplicity and efficiency of the system structure. Additionally, the multi-phase delay receiving scheme adopted in the receiving unit also avoids the need to emit emitted light for each phase at the transmitting end. For example, in the four-phase scheme, we can obtain the object information with two phase delays of 0° and 180° in one emission, which enables the entire ranging system to achieve the goal of efficient ranging. The light emitted by the light source 110 and reflected by the object to be detected 150 is converted into photo-generated electrons (or photo-generated charges) in the photoelectric conversion module of the receiving unit. The photo-generated electrons are modulated by the taps and transfer charges in part according to the first circuit or the second circuit inside the device (the first circuit or the second circuit mentioned here includes the charge or electron transfer channels inside the pixel), and are respectively transmitted to different external entity circuit parts (the first circuit or the second circuit also includes the first entity circuit part and the second entity circuit part outside the pixel) through the first electron transfer channel or the second electron transfer channel inside the pixel. Then, physical operations (such as using charge storage units: capacitors, etc.) or digital operations (such as integrating the sensor and the operation unit into an integrated chip structure) are performed inside the pixel, or physical operations or digital operations are performed in the subsequent ADC or other circuit parts. The present invention does not limit the specific implementation scheme.

[0032] Taking the four-phase two-tap structure as an example for illustration, where 0° and 90° share one tap, and 180° and 270° share one tap (however, in the specific operation, sharing one tap does not mean sharing a fixed tap, and the taps shared by the two phase delays can be interchanged). The controller 120 controls the light source 110 to emit light. After the light is reflected by the object to be detected 150, the controller 120 controls the receiving unit 130 to receive with two phase delays. For example, it receives with the two phase delays of 0° and 180° in the above four-phase. The photoelectric conversion module in the receiving unit 130 converts the delayed-phase optical signal into photo-generated electrons in the pixel. The tap of the first circuit receives the first modulation signal, transfers the photo-generated electrons converted by the 0° phase in the pixel in the photoelectric conversion module, and forms an electrical signal, which is output by the first circuit. The tap of the second circuit receives the second modulation signal, transfers the photo-generated electrons converted by the 180° phase in the pixel in the photoelectric conversion module, and forms an electrical signal, which is output by the second circuit. It is also possible that each phase delay corresponds to one tap. In the first circuit, 0° and 90° share one floating diffusion node (FD), and 180° and 270° share one floating diffusion node (FD). However, in the specific operation, sharing one floating diffusion node does not mean sharing a fixed floating diffusion node, and the floating diffusion nodes shared by the two phase delays can be interchanged. In this embodiment, the electrical signals corresponding to the 0° and 180° phase delays can be obtained in one light source emission. In the next control of the controller, it receives with the two phase delays of 90° and 270° in the four-phase. The photoelectric conversion module in the receiving unit 130 converts the delayed-phase optical signal into photo-generated electrons in the pixel. The tap of the first circuit receives the first modulation signal, transfers the photo-generated electrons converted by the 90° phase in the pixel in the photoelectric conversion module, and forms an electrical signal, which is output by the first circuit. The tap of the second circuit receives the second modulation signal, transfers the photo-generated electrons converted by the 270° phase in the pixel in the photoelectric conversion module, and forms an electrical signal, which is output by the second circuit. In this mode, the information corresponding to 90° and 270° is obtained at one time.The last controller 120 can also control the light source 110 to output transmitted light, and at least control the two phase delays of 0° and 180° in the four phases for reception. The photoelectric conversion module in the receiving unit 130 converts the delayed phase optical signal into photo-generated electrons in the pixel. The tap of the first circuit receives the first modulation signal, transfers the photo-generated electrons converted by the 180° phase in the pixel, and forms an electrical signal, which is output by the first circuit. The tap of the second circuit receives the second modulation signal, transfers the photo-generated electrons converted by the 0° delay phase in the pixel, and forms an electrical signal, which is output by the second circuit. Thus, the effect that the two circuits respectively obtain electrical signals corresponding to at least one same-phase reception control signal is achieved. During the final target information calculation process, the at least two electrical signals obtained by the two circuits can be calculated to obtain the target information. For example, for image or distance information, the signals obtained by the two circuits can be used for the following calculations:.

[0033] f(0°) = mf(0°_1) + nf(0°_2);

[0034] f(180°) = lf(180°_1) + hf(180°_2); (1)

[0035] The 90° and 270° delay phase results are obtained through a similar scheme, and can be corrected by operations similar to those in Equation (1), and the corrected results are used in the final acquisition of target information. The corrected results can be the process results in the detection of the detection device, or can be directly used in the specific expressions of the final image or distance calculation. The present invention does not limit the specific implementation manner. In the formula, f(0°) refers to the final information result corresponding to the 0° phase to be corrected, f(0°_1) refers to the information result corresponding to the 0° phase obtained by the first circuit, f(0°_2) refers to the information result corresponding to the 0° phase obtained by the second circuit, where m, n, l, and h can be correction coefficients taking values in the range of [-1, 1].

[0036] In the above embodiments, the received phases with phase delays of 0° and 180° have a phase difference of 180°; the modulation signals corresponding to the two delayed received phases in the first circuit and the second circuit are reciprocal signals. That is, when the 0° phase delay receives and outputs an electrical signal through the first circuit or the second circuit during the first time period, the corresponding 180° delayed reception on the pixel does not output an electrical signal through any of the above two circuits, and the opposite operation is exactly performed during another time period. The same operation is also performed on the received phases with phase delays of 90° and 270° whose phase difference is 180°. In this way, a scheme is obtained in which the circuit modulation signals corresponding to the received phases with a phase difference of 180° are reciprocal signals, achieving the effects of obtaining signal reliability and efficient system operation when multiple phases share taps or floating diffusions (FD) or other circuit elements. When obtaining the phase information with a phase difference of 90°, there is a first time interval, which is the autonomous adjustment time interval within the system and can be designed in cooperation with the reset timing to ensure the reliability of the output of different phase signal results.

[0037] The following further explains the technical problems and solutions existing in multiple taps in TOF ranging. When distributing charges to the first tap and the second tap according to the distance to the object, by using all eight detections (for each phase signal, electrical signals corresponding to the phase delay are obtained through two circuits), the signal performs an operation of calculating the depth representing the distance to the object. Different-phase electrical information, such as the accumulated charge quantity signal, can be output through two different circuits. During the distance acquisition process, the phase difference of the light signal traveling back and forth between the lidar and the target can be calculated based on 4 groups of integrated charges. Taking sinusoidally modulated light as an example, the phase difference between the echo signal corresponding to the modulated light and the transmitted signal is:

[0038]

[0039] In Equation 2 above, Q 0° , Q 90° , Q 180° , Q 270° are respectively the electrical signals converted by the receiving part circuits corresponding to different phase delays. Combining the relationship between the distance and the phase difference, the final distance result can be obtained:

[0040]

[0041] In Equation 3 above, c is the speed of light and f is the laser frequency emitted by the light source 110. For the case where the light emitted by the light source 110 is a square wave, it can be divided into different situations, and the final distance information is obtained according to the following calculation method:

[0042] When Q 0° >Q180° and Q 90° >Q 270° when

[0043]

[0044] When Q 0° <Q 180° and Q 90° >Q 270° when

[0045]

[0046] When Q 0° <Q 180° and Q 90° <Q 270° when

[0047]

[0048] When Q 0° >Q 180° and Q 90° <Q 270° when

[0049]

[0050] In Equation 4-7 for calculating the distance of the above square wave, Q 0° , Q 90° , Q 180° , Q 270° are respectively the electrical signals converted by the receiving circuit corresponding to different phase delays. c is the speed of light, and f is the laser frequency. Of course, in some special cases, some companies directly use the sine wave method to approximately calculate the distance of the square wave.

[0051] Figure 2 is a schematic diagram of a method for eliminating differences between different circuits provided by an embodiment of the present application; during the four-phase ranging process, it involves the results of different phase delay signals output by different circuits (including the internal charge transfer channel of the pixel and the external physical circuit part of the pixel). However, in actual use, due to the influence of the delay and offset of the column line and comparator, etc., there are also differences in the results obtained by the two circuits for processing the same-phase received signals. For example, classifying these influences into Q 0° , Q 180° the inherent deviation electron numbers are △Q1 and △Q2, then in reality, there are certain deviations in the electron numbers obtained by Q 0° , Q 180° . For example, the electrical signals corresponding to the four phase delays obtained by the first circuit and the second circuit respectively are:

[0052] Q 0°，r1= Q 0° + ΔQ1; Q 180°，r2 = Q 180° + ΔQ2; (8)

[0053] The Q in Equation (8) 0°，r1 refers to the value of the electrical signal obtained by converting the 0° delay phase actually substituted into the distance operation formula through the first circuit. Q 0° refers to the ideal calculation true value obtained without considering the differences between the first circuit and the second circuit under ideal conditions. ΔQ1 refers to the deviation electrical signal value generated during the conversion of the 0° delay phase signal by the first circuit. In the calculation formula of the electrical signal corresponding to the 180° delay phase in Equation (8), the meanings of each symbol are similar to those in the 0° delay phase calculation formula, and will not be elaborated here. The value of ΔQ1 can be a linear function relationship or a polynomial function relationship. As Figure 2 shown in the solution to this technical problem in the proposed solution, two electrical signal values can be obtained for each of the four different delay phases by the first circuit and the second circuit respectively, and then the arithmetic mean method (or a similar algorithm) can be used to obtain the electrical signal value finally substituted into the expression, which can be expressed by the following formula:

[0054] Q 0°，r1 = Q 0° + ΔQ1; Q 0°，r2 = Q 0° + ΔQ2; Q 0°，r = (Q 0°，r1 + Q 0°，r2 ) / 2

[0055] Q 180°，r1 = Q 180° + ΔQ1; Q 180°，r2 = Q 180° + ΔQ2; Q 180°，r = (Q 180°，r1 + Q 180°，r2 ) / 2

[0056] Q 90°，r1 = Q 90° + ΔQ1; Q 90°，r2 = Q 90° + ΔQ2; Q 90°，r = (Q 90°，r1 + Q 90°，r2 ) / 2 (9)

[0057] Q 270°，r1 = Q 270° + ΔQ1; Q 270°，r2 = Q 270° + ΔQ2; Q 270°，r = (Q 270°，r1 + Q 270°，r2 ) / 2

[0058] That is, the signals obtained from two circuits are subjected to an addition operation. After the addition operation, the results obtained at the outputs of different circuits with the same phase are superimposed. On this basis, the influencing factors △Q1 and △Q2 are also superimposed. Therefore, the differences in the same phase outputs of different circuits are considered in the result, and the result after superposition is used for subsequent distance calculation to obtain an accurate distance result. The case of formula 4 with square wave detection is used for illustration:

[0059] When Q 0° >Q 180° And Q 90° >Q 270° At this time,

[0060]

[0061] In the above formula 10, the addition result can be directly used in the final distance acquisition without averaging to obtain the final accurate distance information. The result can be achieved through the accumulation of physical capacitance charges or through digital operations in subsequent arithmetic circuits. In the calculation, since the subtraction operation of different phases is involved, the offset caused by column comparators, etc. can be eliminated. On the other hand, the transfer function mismatch phenomenon caused by non-ideal factors such as taps can also be removed. The deviation charges caused by the transfer function mismatch can also be classified as linear or non-linear relationships, and its fundamental principle is similar to the charge difference caused by offset. A scheme similar to using the values obtained from two channels in image sensing applications to correct and obtain the most accurate value as in formula 1 before can also be adopted. As Figure 2 As shown, in order to accurately obtain the offset of different circuits in the first sub-frame of the Nth frame, the first circuit receives the signal with a phase delay of 0°, and the second circuit receives the signal with a phase delay of 180°. In the second sub-frame, the first circuit receives the signal with a phase delay of 90°, and the second circuit receives the signal with a phase delay of 270°. In the third sub-frame, the first circuit receives the signal with a phase delay of 180°, and the second circuit receives the signal with a phase delay of 0°. In the fourth sub-frame, the first circuit receives the signal with a phase delay of 270°, and the second circuit receives the signal with a phase delay of 90°. In this way, the accurate distance can be obtained according to formula 10 through four sub-frames, and the offset between different circuits can be accurately eliminated. However, the disadvantage of this method is that the frame rate is reduced by half, which cannot be used in application scenarios that require a high frame rate. The first sub-frame, second sub-frame, third sub-frame, and fourth sub-frame described here are only for illustrative purposes and are not limited to the specific first, second, third, and fourth.

[0062] Figure 3 This is a schematic diagram provided by an embodiment of the present application for eliminating the differences between different circuits without reducing the frame rate. In order to solve Figure 2The problem that the method shown cannot be used in the scenario of high-demand frame rate can be solved by calibrating the offset between different circuits. First, the light source emits uniform light, and the first circuit and the second circuit receive signals with the same phase delay. For example, both the first circuit and the second circuit receive signals with a phase delay of 0°. If there is no channel offset between the first circuit and the second circuit, the received signals should be the same. However, in actual situations, there is an offset between the first circuit and the second circuit. Based on the received signals, the relationship between the first circuit and the second circuit can be fitted, as Figure 2 shown. According to the relationship between the first circuit and the second circuit calibrated before measurement, it can be used to calibrate the measurement offset during actual measurement.

[0063] Of course, in order to more accurately calibrate the offset between the first circuit and the second circuit, the light source emits uniform light, and the first circuit and the second circuit receive signals with the same phase delay. They can receive signals with a phase delay of 0°, 90°, 180°, and 270° respectively to jointly calibrate the offset between the first circuit and the second circuit. Any combination of these phase delays can also be selected to calibrate the offset between the first circuit and the second circuit. For example, only the signals received with a phase delay of 0° and 90° can be used to calibrate the offset between the first circuit and the second circuit, which will not be elaborated here. Of course, the light source can also emit uniform light with different light intensities to calibrate the offset between the first circuit and the second circuit. The calibrated offset between the first circuit and the second circuit can be a functional relationship used to calibrate the offset during measurement, or a table can be formulated based on the calibration results, and the offset can be calibrated by looking up the table during the measurement process. This will not be elaborated here.

[0064] Figure 4 This is a schematic diagram of a frame structure for improving the frame rate provided by an embodiment of the present application. The offset between the first circuit and the second circuit is obtained through calibration. Therefore, there is no need to use the method as Figure 2 shown to obtain the offset between the first circuit and the second circuit. In the first sub-frame, the first circuit receives signals with a phase delay of 0°, and the second circuit receives signals with a phase delay of 180°. In the second sub-frame, the first circuit receives signals with a phase delay of 90°, and the second circuit receives signals with a phase delay of 270°. In the third sub-frame, it is the same as the first sub-frame, the first circuit receives signals with a phase delay of 0°, and the second circuit receives signals with a phase delay of 180°. In the fourth sub-frame, it is the same as the second sub-frame, the first circuit receives signals with a phase delay of 90°, and the second circuit receives signals with a phase delay of 270°. As Figure 4As shown, the distance information can be obtained according to Equation 4-7, and the calibration result shown in Figure 3 can be used for calibration during the process of obtaining the distance information. Figure 4 The frame structure shown in Figure 2 has a frame rate that is doubled compared to the frame structure shown in Figure 2 . For example, if the frame rate shown in Figure 4 is 30 fps, then the frame rate shown in

[0065] Figure 5 can reach 60 fps, which can meet the application scenarios with high frame rates. Figure 5 FIG. 14 is a schematic diagram of the functional modules of a high-frame-rate detection device provided by an embodiment of the present application. To further increase the frame rate, a detection device such as the one shown in

[0066] The controller 403 controls the light source 402 to emit light for different times. The receiving unit 404 obtains the light reflected back by the object to be detected 401 corresponding to different phase delays respectively when the phase differences between the controller 403 and the emitted light at the moment of the light source 402 emitting light are 0°, 180°, 90° and 270° respectively. The reflected light forms incident light in the receiving unit 404, and then different information is generated through photoelectric conversion in the receiving unit. In some cases, the information of the object to be detected is also obtained by using the two-phase scheme of 0° and 180°. There are also documents disclosing the three-phase scheme of 0°, 120° and 240° to obtain the target information. There are even documents disclosing the five-phase difference delay scheme. The present invention does not specifically limit it. The obtained target information can be the image information of the target, or the distance information, contour information, etc. of the target. The present invention does not specifically limit it either. In the following, in order to illustrate the specific technical problems, the problems and solutions are specifically elaborated by taking the four-phase time-of-flight distance acquisition scheme as an example. The multi-tap structure can have an independent tap for each phase. Four phase taps are connected to a pixel unit (which can be directly connected or connected through an intermediate medium). It can also be that two phases share a tap. For example, 0° and 90° share a tap, and 180° and 270° share a tap. Such a design can not only achieve the purpose of reliable information transmission, but also further ensure the optimization of the pixel size design and layout structure. The multi-tap connection on one pixel realizes the effect of efficiently obtaining target information (such as distance, depth, contour or image, etc.).

[0067] On the basis described above, the light source 402 emits transmitted light. The receiving unit 404 is controlled by the controller 403 to obtain the light reflected by the object to be detected 401 at a predetermined delay phase with respect to the transmitted light, for example, four different delay phases. The returned reflected light forms incident light at the receiving unit 404. There are no special requirements for the light source in this solution. The light emitted by the light source each time is the same light without phase difference, which avoids the error caused by the need to adjust the light-emitting state parameters of the light source device during use. Moreover, the implementation of the device is very simple, ensuring the reliability of the entire detection device system. In this solution, the implementation of the phase delay is achieved within the receiving unit and the controller. The controller can be integrated into the receiving unit to ensure the simplicity and efficiency of the system structure. Additionally, the multi-phase delay receiving solution adopted in the receiving unit also avoids the need to emit transmitted light for each phase at the transmitting end. For example, in a four-phase solution, we can obtain the object information with two phase delays of 0° and 180° in one emission, which enables the entire ranging system to achieve the goal of efficient ranging. The light emitted by the light source 402 and reflected by the object to be detected 401 is converted into photo-generated electrons (or photo-generated charges) within the photoelectric conversion module of the receiving unit. The photo-generated electrons are modulated by the taps and transfer partial charges according to the first circuit or the second circuit inside the device (the first circuit or the second circuit mentioned here includes the charge or electron transfer channels inside the pixel). They are respectively transmitted to different external physical circuit parts (the first circuit or the second circuit also includes the first physical circuit part and the second physical circuit part outside the pixel) through the first electron transfer channel or the second electron transfer channel inside the pixel. Then, physical operations (such as using charge storage units: capacitors, etc.) or digital operations (such as integrating the sensor and the operation unit into an integrated chip structure) are performed inside the pixel, or physical or digital operations are performed in subsequent ADCs or other circuit parts. The present invention does not limit the specific implementation solution.

[0068] The working processes of the light source 408, the controller 407, and the receiving unit 406 are similar to those above and will not be elaborated here. As Figure 5 shown, it can be seen that there are two sets of test devices working simultaneously, and then the received signals are uniformly processed by the information acquisition unit to obtain detection information.

[0069] Figure 6 This is a schematic diagram of the working timing of a high frame rate detection device provided by an embodiment of the present application. Figure 6 For Figure 5 the working timing diagram of the simultaneous detection of the two sets of detection devices shown. As Figure 6The so-called rest1 resets the detection device 1. TX is a switch. PGA1 and PGB1 detect the switches of the first circuit and the second circuit of the detection device 1 respectively. SEL1 and SEL2 are read strobe signals respectively. A sub-frame is divided into three parts. The first part is the RST part, the second part is the integration part, and the third part is the readout part. First, TX1 is turned on during the RST time period, and PGA1 and PGB1 are reset. Then, during the integration time period, PGA1 integrates charges with a 0° phase difference, and PGB1 integrates charges with a 180° phase difference. After the integration is completed, SEL1 is turned on to read out the data, and then immediately SEL2 is turned on to read out the data, and so on until all the data is read out. Generally, the detection device reads by row selection and column readout. Only when all the column readouts are completed is the data readout considered complete. Here, only SEL1 and SEL2 are used for schematic illustration. In the next sub-frame, the working process is similar. Only after the reset is completed, during the integration time period, PGA1 integrates charges with a 90° phase difference, and PGB1 integrates charges with a 270° phase difference, and then the data is read out. In this way, the detection information can be obtained after two sub-frames of detection. The working process of the detection device 2 is similar to that of the detection device 1 and will not be elaborated here. Because the two sets of devices work simultaneously, the integration process must be staggered in time. When the detection device 1 outputs, the detection device 2 integrates, and when the detection device 2 integrates, the detection device 1 outputs. Such a working mode can double the frame rate. For example, in Figure 4 the frame structure shown, the frame rate is 60fps. In the working mode of the two sets of detection devices, the frame rate can reach up to 120fps at most. It can solve the problem of detecting with a higher frame rate. As Figure 6 shown, the readout time of the detection device 2 can start from the reset time of the detection device 1 until all the data is read out. However, the integration times of the two sets of devices within the same sub-frame must be staggered to avoid interference.

[0070] Figure 7 FIG. is a schematic diagram of the functional modules of another high-frame-rate detection device provided by an embodiment of the present application. Figure 5 and Figure 6 are only for schematic illustration and are not limited to only two sets of detection devices. It can also be three sets, four sets, etc. of detection devices working simultaneously. This will not be elaborated here in detail. Figure 5 The two sets of detection devices shown in FIG. 6 can be two different pixel units, or two different parts of pixel units, or two relatively independent detection devices, and no specific limitations are made here. As Figure 7 shown, it can be N sets of detection devices working simultaneously. Its working principle is the same as that of Figure 5 and Figure 6Similarly, it will not be elaborated here. However, it is required that the integration times in the working timings of N sets of detection devices should not overlap to avoid interference. If the two sets of detection devices are two or two different pixel units, then the light source, the receiving part, and the controller can be shared or independent parts, and the present application does not make specific restrictions.

[0071] The following advantages are achieved through the technical solution of the present invention: the frame rate is increased, and the problem of high-frame-rate detection requirements is solved.

[0072] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0073] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A detection device for improving frame rate, characterized in that Including: A first emission part and a second emission part for emitting a detection light source towards a target detection object; A first controller and a second controller for controlling the emission part to emit the detection light source; A first receiving part and a second receiving part for receiving an echo signal of the target, the first receiving part includes a first receiving circuit and a second receiving circuit, and the second receiving part includes a third receiving circuit and a fourth receiving circuit; The first controller is used to control the first receiving circuit to receive the echo signal with a 0° phase delay signal in the first sub-frame and the second receiving circuit to receive the echo signal with a 180° phase delay signal in the first sub-frame; The first controller is used to control the first receiving circuit to receive the echo signal with a 90° phase delay signal in the second sub-frame and the second receiving circuit to receive the echo signal with a 270° phase delay signal in the second sub-frame; The first controller is used to control the first receiving circuit to receive the echo signal with a 0° phase delay signal in the third sub-frame and the second receiving circuit to receive the echo signal with a 180° phase delay signal in the third sub-frame; The first controller is used to control the first receiving circuit to receive the echo signal with a 90° phase delay signal in the fourth sub-frame and the second receiving circuit to receive the echo signal with a 270° phase delay signal in the fourth sub-frame; The channel deviation between the first receiving circuit and the second receiving circuit is obtained through calibration; the channel deviation between the third receiving circuit and the fourth receiving circuit is obtained through calibration; An information acquisition unit for obtaining detection information according to the echo signals received by the first receiving part and the second receiving part and the channel deviation.

2. The detection device for increasing the frame rate according to claim 1, characterized in that, The first receiving part includes a first reset time, a first integration time, and a first data output time; the second receiving part includes a second reset time, a second integration time, and a second data output time; Wherein the first integration time and the second integration time do not overlap in time.

3. The detection device for increasing the frame rate according to claim 2, wherein, The first data output time and the second integration time overlap at least partially in time.

4. The detection device for improving the frame rate according to claim 2, characterized in that The second data output time and the first reset time overlap at least partially in time.

5. The detection device for increasing the frame rate according to claim 2, wherein The second data output time and the first integration time overlap at least partially in time.

6. The detection device for increasing the frame rate according to claim 2, wherein, When obtaining the channel deviation between different receiving circuits by means of calibration, the emission part emits uniform light, and the first receiving part and the second receiving part receive the echo signal with the same phase delay difference.

7. The detection device for increasing the frame rate according to claim 6, characterized in that, During the detection process, calibrate the detection information according to the channel deviation function relationship between different receiving circuits obtained by calibration.

8. The detection device for increasing the frame rate according to claim 7, characterized in that, During the detection process, calibrate the detection information through a look-up table according to the channel deviation relationship between different receiving circuits obtained by calibration.

9. The detection device for increasing frame rate according to claim 2, wherein When obtaining the channel deviation between different receiving circuits by means of calibration, the emission part emits uniform light with different intensities.

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