Detection Unit, Detection Device and Method

Abstract

The present application provides a detection unit, a detection device and a detection method using the detection device. The detection device includes a light source operable to emit light for illuminating an object to be detected. The photosensitive module can output an electrical signal through a first circuit for receiving a first modulation signal and a second circuit for receiving a second modulation signal. The processing module can be controlled by receiving different control signals and thus can operate in different modes within the detection system. Among them, the two circuits can respectively output the electrical signals corresponding to the phase delays of one of the phase delays of the received control signals for the delay phase, so as to achieve the accuracy of detection information. At the same time, the system can also reasonably arrange the phase delay information and exposure time information within the sub-frame in a certain frame rate mode, ensuring the high efficiency of the entire system.

Description

Technical Field

[0001] This application relates to the field of detection technologies, and particularly to a detection unit, a detection device, and a method. Background Art

[0002] In the field of detection technologies, more and more technologies are being continuously introduced. To ensure the goal of efficient and rapid detection in application fields such as imaging 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 thereto. When the multiple taps are reasonably arranged, efficient operation within the chip or the receiving part formed thereby can be achieved. 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 by different taps. This phenomenon will have an important impact on image acquisition or ranging.

[0003] In recent years, with the progress of semiconductor technologies, 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 having 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 optical pulses to a 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 optical pulse. In TOF technology, the technology for directly measuring the optical flight time is called DTOF (direct-TOF); the transmitted optical signal is periodically modulated, and the measurement technology for calculating the flight time by measuring the phase delay of the reflected optical signal relative to the transmitted optical 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] To obtain efficient measurement results and higher chip integration, a method with two or more taps is often used 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 needed 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. At the same time, there are result differences as described above when different taps output information. To ensure the accuracy of the results during ranging or image acquisition, and to ensure the target information of efficient and rapid detection in application fields such as image or ranging, the acquisition efficiency of detection information has attracted more and more attention. Whether the detection system can efficiently and quickly process high-quality pictures during image acquisition will directly affect the user experience, especially in the ranging field. For example, when there is a certain relative speed between the detection device and the detected object, it is very important to quickly and accurately obtain and process the distance data. Especially when the detection device is a vehicle-mounted device, fast and accurate distance information will be very helpful for users to achieve full automation driving during fast driving and can also ensure the safety of autonomous driving.

[0005] At the same time, based on four-phase ranging, different exposure times for different phases need to be arranged to ensure higher efficiency of the ranging system. Therefore, it is even more difficult to obtain a high information output frame rate. Therefore, there is an urgent need for a solution that can solve the problem that the detection information, especially during ranging, can ensure accurate detection results of the detection device, has a high dynamic range characteristic, and can also ensure the efficient and rapid output of results of the entire ranging device. Summary of the Invention

[0006] The purpose of this application is to provide a detection unit to solve the technical problem that the existing detection unit cannot cope with multi-target high-precision and rapid detection in view of the above-mentioned deficiencies in the prior art.

[0007] To achieve the above purpose, the technical solutions adopted in the embodiments of this application are as follows:

[0008] In the first aspect, the embodiments of this application provide a detection pixel unit, including: a photosensitive module that receives the light emitted by the light source to perform exposure processing on the pixel;

[0009] a processing module that can process the exposure to obtain an exposure signal;

[0010] It further includes a first circuit and a second circuit for converting incident light into respective electrical signals. The first circuit is configured to receive a first modulation signal, and the second circuit is configured to receive a second modulation signal. The first circuit and the second circuit are configured to generate respective electrical signals according to the first modulation signal and the second modulation signal;

[0011] The processing module receives a first signal and is electrically connected to the light source to emit light for illuminating the detected object. At the same time, the processing module is also electrically connected to the photosensitive module. The photosensitive module can receive a plurality of reception control signals that are in the same phase or different phases from the light signal emitted by the light source, and obtain electrical signals corresponding to at least one reception control signal with the same phase through the two circuits respectively;

[0012] The information acquisition module can obtain the target information of the detected object based on the electrical signals corresponding to the reception control signals with the same phase respectively obtained by the two circuits.

[0013] Optionally, the processing module can also receive a second signal, be electrically connected to the photosensitive module, and obtain electrical signals corresponding to the plurality of reception control signals with different phases through the two circuits respectively;

[0014] The information acquisition module can obtain the target information of the detected object based on the electrical signals corresponding to the plurality of reception control signals with different phases.

[0015] Optionally, the pixel unit is a distance acquisition pixel unit, and the target information is target distance information.

[0016] On the other hand, the present invention also provides a detection device, including a light source that can operate to emit light for illuminating the detected object;

[0017] A photosensitive module that performs an exposure process on the pixel array at a time associated with the light emitted by the light source;

[0018] A processing module that can respectively process the exposure to obtain an exposure signal;

[0019] It further includes a first circuit and a second circuit for converting incident light into respective electrical signals. The first circuit is configured to receive a first modulation signal, and the second circuit is configured to receive a second modulation signal. The first circuit and the second circuit are configured to generate respective electrical signals according to the first modulation signal and the second modulation signal;

[0020] The processing module receives a first signal, is electrically connected to the light source to emit light for illuminating the detected object, and at the same time, the processing module is also electrically connected to the photosensitive module. The photosensitive module can receive multiple reception control signals that are in the same phase or different phases as the light signal emitted by the light source, and obtain electrical signals corresponding to at least one reception control signal with the same phase through the two circuits respectively;

[0021] An information acquisition module can obtain the target information of the detected object based on the electrical signals corresponding to the reception control signals with the same phase respectively obtained by the two circuits.

[0022] Optionally, the processing module can also receive a second signal, is electrically connected to the photosensitive module, and obtains electrical signals corresponding to the multiple reception control signals with different phases through the two circuits respectively;

[0023] An information acquisition module can obtain the target information of the detected object based on the electrical signals corresponding to the multiple reception control signals with different phases.

[0024] Optionally, the phases of the multiple reception control signals that are in the same phase or different phases as the light signal emitted by the light source include 0°, 90°, 180°, and 270°.

[0025] Optionally, the information acquisition module can obtain the target information of the detected object based on the different electrical signals corresponding to each phase of the four reception control signals respectively obtained by the two circuits.

[0026] Optionally, the exposure information includes N groups, where N is an integer greater than or equal to 2. The N groups of exposures include at least two groups of exposures of a first exposure time and a second exposure time, and the first exposure time is less than the second exposure time.

[0027] Optionally, the exposure information includes two sub-frame information, and both of the two sub-frame information include information of four different reception control phase signals.

[0028] Optionally, the two sub-frames include the same number of first exposure time information, and the first exposure time information includes four different reception control phase information.

[0029] Optionally, the two sub - frames further include the same number of second exposure time information. The first sub - frame includes information corresponding to at least one second exposure time, and the second exposure time includes output information corresponding to a reception control signal with two phase information having a phase difference of 180°. The second sub - frame includes at least one second exposure time information, and the second exposure time includes output information corresponding to a reception control signal with two phase information having a phase difference of 180°. The reception control signals with a phase difference of 180° within the second exposure time included in the two sub - frames can form the output signals of the four reception control signals with different phases.

[0030] Optionally, the N - group exposure information includes multiple sub - frame information, and the multiple sub - frame information all includes information of four different reception control phase signals.

[0031] Optionally, for two adjacent sub - frames among the multiple sub - frames, each includes output information corresponding to a reception control signal with two phase information having a phase difference of 180°. The reception control signals with a phase difference of 180° within the second exposure time included in the two adjacent sub - frames can form the output signals of the four reception control signals with different phases. The processing module can receive a third control signal and output at least one electrical signal obtained through the two circuits from at least one of the different phase control information of at least one exposure duration in different sub - frames. The information acquisition module can obtain the target information of the detected object based on the electrical signals corresponding to the reception control signals with the same phase respectively obtained by the two circuits.

[0032] In a third aspect, an embodiment of the present application provides a detection method, which is applied to the detection device described in the second aspect above. The detection method includes:

[0033] The light source is operable to emit light to illuminate the detected object;

[0034] The photosensitive module performs an exposure process on the pixel array at a time associated with the light emitted by the light source;

[0035] The processing module can respectively process the exposure to obtain an exposure signal;

[0036] It further includes a first circuit and a second circuit for converting incident light into respective electrical signals. The first circuit is configured to receive a first modulation signal, and the second circuit is configured to receive a second modulation signal. The first circuit and the second circuit are configured to generate their respective electrical signals according to the first modulation signal and the second modulation signal;

[0037] The processing module receives the first signal control. The photosensitive module can receive multiple reception control signals that are in the same phase or different phases from the light signal emitted by the light source, and respectively obtain electrical signals corresponding to at least one reception control signal with the same phase through the two circuits;

[0038] The information acquisition module can obtain the target information of the detected object based on the electrical signals corresponding to the reception control signals with the same phase respectively obtained by the two circuits.

[0039] Optionally, the processing module can also receive the second signal control, and respectively obtain electrical signals corresponding to the multiple reception control signals with different phases through the two circuits;

[0040] The information acquisition module can obtain the target information of the detected object based on the electrical signals corresponding to the multiple reception control signals with different phases.

[0041] Optionally, the phases of the multiple reception control signals that are in the same phase or different phases from the light signal emitted by the light source include 0°, 90°, 180°, and 270°.

[0042] Optionally, the information acquisition module can obtain the target information of the detected object based on the different electrical signals corresponding to each phase of the four reception control signals respectively obtained by the two circuits.

[0043] Optionally, the exposure information includes N groups, where N is an integer greater than or equal to 2. The N groups of exposures include at least two groups of exposures of the first exposure time and the second exposure time, and the first exposure time is less than the second exposure time.

[0044] Optionally, the N groups of exposure information include multiple sub-frame information, and the multiple sub-frame information all includes information of four different reception control phase signals.

[0045] Optionally, for two adjacent sub-frames among the multiple sub-frames, each includes output information corresponding to reception control signals with a phase difference of at least 180° between at least one pair of phases, and the reception control signals with a phase difference of 180° within the second exposure time included in the two adjacent sub-frames can form the output signals of the four reception control signals with different phases; the processing module can receive the third control signal, output at least one electrical signal obtained through the two circuits from the different phase control information of at least one exposure duration in different sub-frames, and the information acquisition module can obtain the target information of the detected object based on the electrical signals corresponding to the reception control signals with the same phase respectively obtained by the two circuits.

[0046] The beneficial effects of this application are:

[0047] A detection unit, a detection device and a method provided by an embodiment of the present application. The detection device includes: a light source operable to emit light to illuminate a detected object; a photosensitive module for performing an exposure process on the pixel array at a time associated with the light emitted by the light source; a processing module for respectively processing the exposure to obtain an exposure signal; and further includes a first circuit and a second circuit for converting incident light into respective electrical signals. The first circuit is configured to receive a first modulation signal, and the second circuit is configured to receive a second modulation signal. The first circuit and the second circuit are configured to generate respective electrical signals according to the first modulation signal and the second modulation signal. The processing module receives a first signal and is electrically connected to the light source to emit light to illuminate the detected object. At the same time, the processing module is also electrically connected to the photosensitive module. The photosensitive module can receive a plurality of reception control signals that are in the same phase or different phases as the light emission signal of the light source, and obtain electrical signals corresponding to at least one reception control signal with the same phase through the two circuits respectively. An information acquisition module can obtain target information of the detected object based on the electrical signals corresponding to the reception control signals with the same phase respectively obtained by the two circuits. Thus, the detection device has an intelligent selection function. In the first mode, it is realized that in the receiving part, electrical signals corresponding to at least one reception control signal with the same phase respectively obtained by the two circuits are obtained. That is to say, for the completely same emitted light reflected by the target, it is received by different circuits. It can be understood that it is obtained by different taps and processed by arithmetic operations in subsequent circuits. Finally, certain arithmetic operations, including difference and other schemes, can be performed using the two electrical signal values of the same signal to obtain more accurate information ultimately, so that the accuracy of the detector in obtaining the image quality or the measured distance is maximally improved. Through the autonomous selection or mode selection of the system, for example, the first control signal can be selected by the user's key, or an adaptive control generates a signal. The adaptive control generates a signal that can be the relative movement speed between the detected object and the detection device. When the speed is less than a certain threshold, the detection device mainly focuses on the accuracy of information output to ensure the accuracy of information of different detected objects in the detection field of view of the entire device. On the other hand, the processing module can also receive a second signal, be electrically connected to the photosensitive module, and obtain electrical signals corresponding to the plurality of reception control signals with different phases through the two circuits respectively. An information acquisition unit can obtain target information of the detected object based on the electrical signals corresponding to the plurality of reception control signals with different phases. In this mode, the system can quickly output information to ensure the safety of the detection system and a high user experience effect. Description of the Drawings

[0048] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0049] Figure 1 Schematic diagram of the functional modules of a detection device provided by an embodiment of the present application;

[0050] Figure 2 Schematic diagram of the working principle of a photosensitive module provided by an embodiment of the present application;

[0051] Figure 3 Schematic diagram of the working process of an information acquisition module provided by an embodiment of the present application;

[0052] Figure 4 Schematic diagram of a control timing diagram provided by an embodiment of the present application;

[0053] Figure 5 Another schematic diagram of a control timing provided by an embodiment of the present application;

[0054] Figure 6 Schematic diagram of a different exposure duration mode provided by an embodiment of the present application;

[0055] Figure 7 Schematic diagram of a sub-frame control timing for coordinating different exposure durations provided by an embodiment of the present application;

[0056] Figure 8 Another schematic diagram of a sub-frame control timing for coordinating different exposure durations provided by an embodiment of the present application;

[0057] Figure 9 Schematic diagram of a multi-sub-frame control timing for coordinating different exposure durations provided by an embodiment of the present application;

[0058] Figure 10 Another schematic diagram of a multi-sub-frame control timing for coordinating different exposure durations provided by an embodiment of the present application;

[0059] Figure 11 Another schematic diagram of a multi-sub-frame control timing for coordinating different exposure durations provided by an embodiment of the present application;

[0060] Figure 12 Schematic diagram of the process of a detection method provided by an embodiment of the present application;

[0061] Figure 13 Another schematic diagram of the process of a detection method provided by an embodiment of the present application. Detailed implementation manners

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0063] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0064] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0065] Figure 1 This is a functional module diagram of a detection device provided in an embodiment of the present application. Figure 1 As shown, the detection device includes: a light source 110, a processing module 120, a photosensitive module 130, and an information generation module 140, wherein the light source 110 can be configured as a unit or array-type light source system that emits continuous light, which can be a semiconductor laser, or an LED or other light source that can be pulsed. When a semiconductor laser is used as a light source, a vertical cavity surface emitting laser VCSEL (Vertical-cavity surface-emitting laser) or an edge emitting semiconductor laser EEL (edge-emitting laser) can be used. This is only an exemplary description 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 triangle wave or a sine wave. The photosensitive module 130 includes a photoelectric conversion module, which has a photoelectric conversion function and can be implemented by a photodiode (PD), which can be specifically a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). Its type is not specifically limited here.

[0066] The processing module 120 may include a control module, which can control the light source to emit light a different number of times. The processing module 120 can cause the photosensitive module 130 to obtain the light reflected back by the detected object 150 corresponding to different phase delays at four values of phase difference delays of 0°, 180°, 90°, and 270° respectively when the light source 110 emits light. The reflected light forms incident light at the photosensitive module 130, and then different information is generated through photoelectric conversion by the receiving part. In some cases, the information of the detected object is obtained using the two-phase scheme of 0° and 180°. There are also documents that disclose the three-phase scheme of 0°, 120°, and 240° to obtain target information. Even some documents disclose the five-phase difference delay scheme. The present invention does not specifically limit this. 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 this either. In the following, in order to illustrate 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 designed 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 achieves the effect of efficiently obtaining target information (such as distance, depth, contour, or image, etc.).

[0067] On the basis described above, the light source 110 emits emitted light. The photosensitive module 130 is controlled by the processing module 120 to obtain the light reflected by the detected object 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 photosensitive module 130. 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, 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 carried out in the receiving part and the controller. The information processing module 120 and / or the information generation module 140 can be integrated in the photosensitive module 130, ensuring the simplicity and efficiency of the system structure. In addition, the multi-phase delay receiving scheme adopted in the receiving part 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 target 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 detected object 150 is converted into photo-generated electrons (or photo-generated charges) in the photoelectric conversion module of the photosensitive module 130. 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). They 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 the structure of integrating the sensor and the operation unit into one chip) 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.

[0068] Take a four-phase two-tap structure as an example for explanation, where 0° and 90° share a tap, and 180° and 270° share a tap as an example (however, in specific operations, sharing a tap does not mean sharing a fixed tap, and the taps shared by two phase delays can be interchanged). The controller 120 controls the light source 110 to emit light, which is reflected by the detected object 150. The processing module 120 controls the photosensitive module 130 to receive light with two phase delays, for example, the two phase delays of 0° and 180° in the above four phases are received. The photoelectric conversion module in the photosensitive module 130 converts the delayed phase light signal into photogenerated electrons in the pixel. The tap of the first circuit receives the first modulation signal, transfers the photogenerated electrons converted by the 0° phase in the pixel in the photoelectric conversion module, and forms an electrical signal. This electrical signal is output by the first circuit, and the tap of the second circuit receives the second modulation signal, transfers the photogenerated electrons converted by the 180° phase in the pixel in the photoelectric conversion module, and forms an electrical signal. This electrical signal is output by the second circuit. It is also possible to have a tap corresponding to each phase delay. In the first circuit, 0° and 90° share a floating diffusion node (FD), while 180° and 270° share a floating diffusion node (FD). However, in specific operations, sharing a floating diffusion node does not mean sharing a fixed floating diffusion node. 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, and in the next control of the controller, the two phase delays of 90° and 270° in the four phases are received, and the photoelectric conversion module in the photosensitive module 130 converts the delayed phase light signal into photogenerated electrons in the pixel. The tap of the first circuit receives the first modulation signal, and transfers the photogenerated electrons converted by the photoelectric conversion module at the 90° phase in the pixel to form an electrical signal, which is output by the first circuit. The tap of the second circuit receives the second modulation signal, and transfers the photogenerated electrons converted by the photoelectric conversion module at the 270° phase in the pixel to form 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 final processing module 120 can also control the light source 110 to output transmitted light, and at least control the time delays of two phases, 0° and 180°, in the four phases for reception. The photoelectric conversion module in the receiving unit 130 converts the time-delay 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 two circuits respectively obtain electrical signals corresponding to at least one same-phase reception control signal is achieved. In the process of performing the final target information operation, at least two electrical signals obtained by the two circuits can be operated to obtain the target information. For example, for image or distance information, the signals obtained by the two circuits can be operated as follows:.

[0069] f(0°) = mf(0°_1) + nf(0°_2);

[0070] f(180°) = lf(180°_1) + hf(180°_2); (1)

[0071] The 90° and 270° delay phase results are obtained through a similar scheme, and operations similar to those in Equation (1) can be performed for correction, and the corrected result can be used in the final acquisition of the target information. The corrected result can be the process result in the detection by the detection device, or can be directly used in the specific expression 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 that needs 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].

[0072] In the above embodiments, the reception phases with time delays of 0° and 180° have a phase difference of 180°; the modulation signals corresponding to the two time-delay reception phases in the first circuit and the second circuit are inverse signals. That is, when the 0° phase delay reception outputs an electrical signal through the first circuit or the second circuit in the first time period, the corresponding 180° delay reception on the pixel does not output an electrical signal through any of the above two circuits, and the opposite operation is exactly performed in another time period. The same operation is also performed for the reception phases with time delays of 90° and 270° and a phase difference of 180°. Thus, a scheme is obtained in which the circuit modulation signals corresponding to the reception phases with a phase difference of 180° are inverse signals, achieving the effects of obtaining signal reliability and efficient operation of the system when multiple phases share taps or floating diffusion (FD) or other circuit elements.

[0073] On the other hand, in order to obtain higher detection accuracy, when the system detects, different exposure durations need to be adopted to ensure that there are multiple detected objects 150 in the entire field of view and they have different states of near and far. The first exposure with the first exposure duration and the second exposure with the second exposure duration are included in N groups of exposures. The first exposure is an exposure with a short exposure time. The two exposures are realized on the same pixel or pixel array, which can ensure the adaptability of the entire receiving array to the field of view, and prevent the generation of blind spots due to the different units of the receiving array receiving different exposures. Moreover, it is easier to implement in terms of control. The long and short exposures are realized on the same pixel using different timings, and a reset control timing can be set between the timings, thus ensuring that there is no interference effect between different exposure information and eliminating the need to design complex isolation techniques at the pixel level.

[0074] The detection device can receive a first signal during operation, which can be a user's selection button signal. For example, when the user selects a smart driving or similar function button, the first control signal is generated. At this time, in order to ensure the ranging accuracy, the detection device will output an electrical signal corresponding to at least one phase delay signal through different circuits. Using this electrical signal to perform previous similar operations can ensure the accuracy of the signal. In addition, long and short exposure signals are included in multiple exposures. All four phase delay signals during the short exposure time of one of the multiple exposure signals are output by two output signals, which can ensure a fast effect when detecting a nearby object in the field of view, and at the same time ensure the accuracy of the finally obtained distance of the detection. In the second signal state, in order to ensure the efficiency of the detection in the system, each phase of the four phases only has one circuit output under this signal. At this time, the distance of the detected object 150 can be obtained quickly, ensuring the user experience. The second signal can be adaptively generated by the system and can be related to the near and far state of the detected object 150 and / or the relative motion speed between the detection device and the detected object 150. For example, when the detected object 150 is relatively close to the detection device and the relative motion speed between the two is relatively fast, there is no limitation here. The detection device can also receive a third control signal, which is similar to the generation of the first detection signal and will not be elaborated here. Even the third control signal can be the same signal as the first control signal. At detection frequencies of, for example, 15 FPS, 30 FPS, or 60 FPS per second, the detection information includes multiple sub-frame signals. At this time, by reasonably configuring different phase delay signals and exposure durations, the information complementarity between two adjacent sub-frames can be achieved, ensuring that the detection device can detect with high precision while also ensuring that the frame rate of information acquisition does not decrease, thus ensuring the efficiency of the system.

[0075] The following further elaborates on the technical problems and solutions in multiple taps of TOF ranging. When distributing charges to the first tap and the second tap according to the distance to an 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 to calculate 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 optical signal traveling back and forth between the lidar and the target can be calculated based on 4 groups of integrated charges. Taking the sinusoidal modulated light as an example, the phase difference between the echo signal corresponding to the modulated light and the transmitted signal is:

[0076]

[0077] In Equation 2 above, Q 0° , Q 90° , Q 180° , Q 270° are respectively the electrical signals converted by the receiving circuit corresponding to different phase delays. Combining the relationship between the distance and the phase difference, the final distance result can be obtained:

[0078]

[0079] 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 can be obtained according to the following calculation method:

[0080] When Q 0° > Q 180° and Q 90° > Q 270° ,

[0081]

[0082] When Q 0° < Q 180° and Q 90° > Q 270° ,

[0083]

[0084] When Q 0° < Q 180° and Q 90° < Q 270° ,

[0085]

[0086] When Q 0°>Q 180° and Q 90° <Q 270° When

[0087]

[0088] 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 part 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. During the four-phase ranging process, it involves the results of different phase delay signals output by different circuits (including the charge transfer channel inside the pixel and the physical circuit part outside the pixel). However, in the actual use process, 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 received signals of the same phase. 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:

[0089] Q 0°，r1 =Q 0° +△Q1; Q 180°，r2 =Q 180° +△Q2; (8)

[0090] The Q 0°，r1 in Equation 8 refers to the electrical signal value converted by the first circuit for the 0° delay phase actually substituted into the distance operation formula, Q 0°Refers to the ideal calculated true value obtained without considering the differences between the first circuit and the second circuit. △Q1 refers to the deviation electrical signal value generated when the 0° delay phase signal is converted by the first circuit. In the formula 8, the meanings of the symbols in the electrical signal calculation formula corresponding to the 180° delay phase are similar to those in the 0° delay phase calculation formula, and will not be elaborated here. The value of △Q1 can be a linear function relationship or a polynomial function relationship, and this value can be simulated according to the actual situation. This deviation electrical signal is very difficult to obtain in actual use. Therefore, substituting the actual values of the electrical signals converted by different delay phases under this condition into the distance calculation formula will cause certain deviations, resulting in inaccurate final distance calculation. In the solution of this invention, in order to solve this technical problem, 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:

[0091] Q 0°，r1 =Q 0° +△Q1; Q 0°，r2 =Q 0° +△Q2; Q 0°，r =(Q 0°，r1 +Q 0°，r2 ) / 2

[0092] Q 180°，r1 =Q 180° +△Q1; Q 180°，r2 =Q 180° +△Q2; Q 180°，r =(Q 180°，r1 +Q 180°，r2 ) / 2

[0093] Q 90°，r1 =Q 90° +△Q1; Q 90°，r2 =Q 90° +△Q2; Q 90°，r =(Q 90°，r1 +Q 90°，r2 ) / 2 (9)

[0094] Q 270°，r1 =Q 270° +△Q1; Q 270°，r2 =Q 270° +△Q2; Q 270°，r =(Q 270°，r1 +Q 270°，r2 ) / 2

[0095] That is, the signals obtained from two circuits are subjected to 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 of the outputs of different circuits are considered in the result, and the superimposed result is used for subsequent distance calculation to obtain an accurate distance result. Taking the case of square wave detection in Equation 4 as an example:

[0096] When Q 0° >Q 180° and Q 90° >Q 270° then,

[0097]

[0098] In Equation 10 above, 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 capacitor 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 the column comparator, 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 the 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 Equation 1 before can also be adopted.

[0099] Figure 2 FIG. shows a schematic diagram of the internal signal transmission and connection relationship of a photosensitive module 130. The photosensitive module 130 internally includes a first circuit and a second circuit. The first circuit can receive a first modulation signal. Under the control of this signal, the photo-generated electrons generated by the photoelectric conversion module inside the photosensitive module 130 can be transferred by the first circuit to form a first electrical signal. As described before, the first circuit includes an electron transfer channel inside the pixel unit and a physical circuit part outside the pixel unit. The first modulation signal can be a modulation signal generated by an entity device or device such as a modulation gate in the first circuit, realizing the transfer of different photo-generated electrons by the first circuit or the second circuit to form corresponding electrical signals. The basic principle of the second modulation signal acting on the second circuit is similar to that of the first circuit and will not be elaborated here. Of course, the same pixel can also be connected to more circuits to obtain more electrical signals, which will not be elaborated here either. The above-mentioned first circuit and second circuit can be directly connected to the same pixel unit. Through the time-sharing output of the pixel unit, more pixels can detect the detected object, ensuring the accuracy of detection. In addition, multiple such pixels form the entire pixel array to achieve efficient detection and targeted detection, and can also achieve simultaneous detection of multiple targets.

[0100] Figure 3 FIG. shows a schematic diagram of obtaining result information of a detected object 150 through electrical signals obtained by different circuits (here, two circuits, i.e., the first circuit and the second circuit, are taken as examples for illustration, but the specific implementation is not limited to only two circuits outputting signals). The first electrical signal may include electrical signals output by the first circuit corresponding to different phase delays. For example, the first electrical signal may include four electrical signals corresponding to four phase delays of 0°, 90°, 180°, and 270°. Similarly, the second electrical signal may also include four electrical signals corresponding to four phase delays of 0°, 90°, 180°, and 270°. The information generation module 140 obtains the final target information according to the electrical signals corresponding to at least one same-phase reception control signal obtained by the first circuit and the second circuit. At least one same-phase reception control signal may be any one or more of the above four phases. The four-phase method can be used to achieve the high efficiency of ranging, and the method shown in Equation 1 can also be used to correct at least part of the information obtained in the entire pixel array to obtain the information required for calculating the final target information (distance or image, etc.). That is, the first electrical signal and the second electrical signal can be used in the calculation process of the final target information or can directly calculate the final target information in a physical or digital manner according to the four-phase method ranging formula described above. Here, it is not limited that the electrical signals obtained by the first circuit or the second circuit are directly used for the target information of the detected object to be directly used in the final operation.

[0101] Figure 4 and Figure 5 FIG. shows a schematic diagram of using a light source 110 to emit square emission light for detection. Taking two phases and two taps as an example for illustration, in Figure 4 and Figure 5 401 and 501 represent the emission lights emitted by the light source twice, and 402 and 502 represent the echo signals obtained after the emission lights are reflected by the target. Q 0°,r1 represents the first electrical signal corresponding to the 0° phase delay output by the first circuit. Q 180°,r2 represents the second electrical signal corresponding to the 180° phase delay output by the second circuit. Q 0°,r2 represents the second electrical signal corresponding to the 0° phase delay output by the second circuit. Q 0°,r1 represents the first electrical signal corresponding to the 180° phase delay output by the first circuit. From Figure 4 and Figure 5It can be clearly seen that the 0° delay phase refers to the receiver control signal controlled by the controller 130 that has no delay with the transmitted light. The other delay phases have the same meaning as 0°. The four obtained electrical signals are processed in the information acquisition unit 140, and the final target information can be obtained in the manner described previously.

[0102] Figure 6 It shows a schematic diagram of the settings of different phase delays and different exposure durations for multiple sub - frames. For example, when the frame rates are 15 FPS, 30 FPS, or 60 FPS respectively, that is, each second can contain 15, 30, or 60 sub - frames. Four - phase information with different long and short exposures is set for the Nth frame and the (N + 1)th frame. Complementary sub - frames can be formed using the previous sub - frame and the subsequent sub - frame. In the detection of multiple sub - frames, information of adjacent two sub - frames can achieve detection of different distances in a multi - target scene. And through this setting method, distance information of the detected object can be obtained in the same way, such as the four - phase algorithm. Information of each adjacent two sub - frames can form complementary information. Therefore, in the result output, the frame rate of the result output will not be reduced due to the large amount of information required to obtain the result.

[0103] Figure 7 It shows a timing diagram of setting different phases and different exposure time information. In the current Nth sub - frame, the short exposure time includes four - phase data, and the phase delay of each short exposure is obtained by two circuits respectively. When the detection system is in this mode, on the one hand, accurate distance information of the detected object with a relatively short distance can be directly obtained within this sub - frame, eliminating the influence of offset and transfer function mismatch, etc. On the other hand, long - exposure data of the detected object with a long distance can be obtained through two phases, ensuring a higher possibility of frame rate arrangement for the entire detection.

[0104] Figure 8 It shows another timing diagram of setting different phases and different exposure time information. Similar parts to Figure 7 's settings will not be elaborated again. The difference is that the long - exposure phase delays corresponding to long distances are 90° and 270°. In this way, it can achieve alternating cooperation with the sub - frames of Figure 7 , realize information complementarity at a high frame rate, and ensure the output accuracy and the efficiency of the output result.

[0105] Figure 9Schematically shows a timing diagram for setting different phase and different exposure time information in multi-subframe information. This setting, on the one hand, takes into account the high requirements for detection accuracy in close-range detection. Therefore, the results of each phase delay of short-exposure detection are obtained by two circuits, ensuring the user experience and the safe and reliable operation of the equipment used. On the other hand, the long-exposure information can be complementarily arranged within adjacent subframes, thus ensuring the rapid output of the ranging result, enabling the system to operate in a higher frame rate mode and enhancing the user experience.

[0106] Figure 10 Schematically shows a timing diagram for setting different phase and different exposure time information in multi-subframe information. Compared with Figure 9 the way of, this mode, on the one hand, utilizes the complementarity of two adjacent subframe information to ensure that the system can operate in a high frame rate mode. On the other hand, the long-exposure long distance obtains the distance value of the long-distance target through a two-phase method, and can also ensure that the detection device has a more reliable distance result.

[0107] Figure 11 Schematically shows a timing diagram for setting different phase and different exposure time information in multi-subframe information. Compared with Figure 10 the way of, in this mode, the different phase information of different exposure durations is output by two different circuits, ensuring that each target in the field of view can be efficiently and accurately detected. The complementarity of all adjacent two subframe information can also achieve the effect of not reducing the output result frame rate in the detection distance.

[0108] In actual use, it is not limited to the layout schemes for obtaining different exposure times and different phase delay information in the above several embodiments, and can also be reasonably arranged according to the required frame rate independently. Here, the second exposure time can be more than four times the first exposure time, which is not limited here.

[0109] Figure 12The implementation steps of the present invention are shown. In S101, the processing module 120 controls the light source 110 to emit light, which can be a square wave, a triangular wave, a sine wave, etc., and is not specifically limited herein. Under the action of the emitted light, the field of view is illuminated, and the detected object 150 reflects the emitted light, thereby forming a reflected light echo. In S102, while the processing module 120 controls the light source to emit the emitted light, it controls the photosensitive module 130 to receive the echo of the reflected light with a control signal having a different phase delay from the light source 110. In S103, the photosensitive module 130 obtains the electrical signals corresponding to at least one phase control signal in multiple same-phase or different-phase received signals through two circuits, where multiple same-phase or different-phase received signals mean that there are multiple same-phase and different-phase delay control signals. For example, the number of four-delay phases is four. In S104, the information acquisition module 140 obtains the target information of the detected object 150 based on the electrical signals corresponding to at least one same-phase control signal obtained by the two circuits respectively. The electrical signals corresponding to at least one same-phase control signal can be used in the middle or final calculation of target information acquisition. The schemes for using this electrical signal in physical or digital ways have been described before and will not be elaborated here.

[0110] Figure 13 Schematically shows another implementation step of the present invention, similar to Figure 11 the steps shown, and further defines a scheme for obtaining target information using a four-phase scheme in Figure 13 , and defines that for each of the four delay phases, the corresponding electrical signals are obtained by two circuits. The implementation manner of the corresponding steps can be referred to Figure 7 the steps described, and will not be elaborated here either.

[0111] 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 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 including 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 "including one..." does not exclude the existence of another identical element in the process, method, article or device including the said element.

[0112] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and variations can be made to the present application. 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 indicate 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 intended to limit the present application. For those skilled in the art, various modifications and variations can be made to the present application. 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 unit, characterized in that include: The photosensitive module receives light emitted by the light source and performs exposure processing on the pixels; a processing module, configured to obtain an exposure signal according to the exposure processing, the exposure signal comprising N sets of exposure information, where N is an integer greater than or equal to 2, the N sets of exposure information comprising at least two sets of exposures having a first exposure time and a second exposure time, the first exposure time being less than the second exposure time; The photosensitive module further includes a first circuit and a second circuit for converting incident light into respective electrical signals, wherein the first circuit and the second circuit are configured to generate respective electrical signals according to the first modulation signal and the second modulation signal, respectively, within a first time; The first circuit and the second circuit are configured to generate respective electrical signals according to the second modulation signal and the first modulation signal, respectively, within a second time; The processing module receives the first signal and can be electrically connected to the light source to emit light to illuminate the detected object. At the same time, the processing module can also be electrically connected to the photosensitive module. The photosensitive module can receive multiple receiving control signals with the same phase or different phases as the light signal emitted by the light source, and obtain at least one electrical signal corresponding to the receiving control signal with the same phase through two circuits; The processing module can also receive a second signal, can be electrically connected to the photosensitive module, and obtain electrical signals corresponding to a plurality of receiving control signals with different phases through the two circuits; An information acquisition module, which can obtain target information of the detected object according to the electrical signals corresponding to the multiple control signals received at different phases; The information acquisition module can obtain target information of the detected object based on the electrical signals corresponding to the same-phase reception control signals respectively obtained by the two circuits, where the target information is target distance information.

2. An array type detection device comprising the detection unit according to claim 1, characterized in that include: a light source operable to emit light to illuminate an object to be detected; a photosensitive module, performing exposure processing on the pixel array at a time associated with light emission from the light source; a processing module, configured to obtain an exposure signal according to the exposure processing, the exposure signal comprising N sets of exposure information, where N is an integer greater than or equal to 2, the N sets of exposure information comprising at least two sets of exposures having a first exposure time and a second exposure time, the first exposure time being less than the second exposure time; The photosensitive module further includes a first circuit and a second circuit for converting incident light into respective electrical signals, wherein the first circuit and the second circuit are configured to generate respective electrical signals according to the first modulation signal and the second modulation signal, respectively, within a first time; The first circuit and the second circuit are configured to generate respective electrical signals according to the second modulation signal and the first modulation signal, respectively, within a second time; The processing module receives the first signal and can be electrically connected to the light source to emit light to illuminate the detected object. At the same time, the processing module can also be electrically connected to the photosensitive module. The photosensitive module can receive multiple receiving control signals with the same phase or different phases as the light signal emitted by the light source, and obtain at least one electrical signal corresponding to the receiving control signal with the same phase through the two circuits; The information acquisition module can obtain target information of the detected object based on the electrical signals corresponding to the same-phase receiving control signals respectively obtained by the two circuits.

3. The detection device according to claim 2, characterized in that The processing module can also receive a second signal, can be electrically connected to the photosensitive module, and obtain electrical signals corresponding to a plurality of receiving control signals with different phases through the two circuits; The information acquisition module can obtain target information of the detected object according to the electrical signals corresponding to the multiple control signals received at different phases.

4. The detection device according to claim 2, wherein: The phases of the multiple receiving control signals that are in phase with or out of phase with the light signal emitted by the light source include 0°, 90°, 180° and 270°.

5. The detection device according to claim 4, characterized in that The information acquisition module can obtain target information of the detected object by respectively obtaining different electrical signals corresponding to each phase of the four phase reception control signals from the two circuits.

6. The detection device according to claim 2, characterized in that The exposure information includes two sub-frames of information, and each of the two sub-frames includes information of four different phase reception control signals.

7. The detection device according to claim 6, characterized in that The two subframes include the same number of first exposure time information, and the first exposure time information includes information of four different phase reception control signals.

8. The detection device according to claim 7, characterized in that The two subframes also include the same number of second exposure time information, and the first subframe contains information corresponding to the second exposure time at least once, and the second exposure time contains output information corresponding to the receiving control signal of two phase information with a phase difference of 180°. The second subframe contains at least one second exposure time information, and the second exposure time contains output information corresponding to the receiving control signal of two phase information with a phase difference of 180°, and the receiving control signals with a phase difference of 180° within the second exposure time contained in the two subframes can form output signals of four different phase receiving control signals.

9. The detection device according to claim 2, characterized in that The N groups of exposure information include a plurality of sub-frame information, and each of the plurality of sub-frame information includes information of four different phase reception control signals.

10. The detection device according to claim 9, characterized in that Two adjacent subframes in a plurality of subframes each contain output information corresponding to a receiving control signal of two phase information with a phase difference of 180°, and the receiving control signals with a phase difference of 180° contained in the second exposure time of the two adjacent subframes can constitute an output signal of four different phase receiving control signals; the processing module can receive a third control signal, output at least one of the different phase control information of at least one exposure time in different subframes, and obtain an electrical signal through the two circuits; the information acquisition module can obtain target information of the detected object based on the electrical signal corresponding to the same phase receiving control signal obtained by the two circuits respectively.

11. A detection method using the detection device according to any one of claims 2 to 10, characterized in that include: The light source is operable to emit light to illuminate the object to be detected; a photosensitive module, performing exposure processing on the pixel array at a time associated with light emission from the light source; a processing module, configured to obtain an exposure signal according to the exposure processing, the exposure signal comprising N sets of exposure information, where N is an integer greater than or equal to 2, the N sets of exposure information comprising at least two sets of exposures having a first exposure time and a second exposure time, the first exposure time being less than the second exposure time; The photosensitive module further includes a first circuit and a second circuit for converting incident light into respective electrical signals, wherein the first circuit and the second circuit are configured to generate respective electrical signals according to the first modulation signal and the second modulation signal, respectively, within a first time; The first circuit and the second circuit are configured to generate respective electrical signals according to the second modulation signal and the first modulation signal, respectively, within a second time; The processing module receives a first signal control and can be electrically connected to the light source to emit light to illuminate the detected object. At the same time, the processing module can also be electrically connected to the photosensitive module. The photosensitive module can receive multiple receiving control signals with the same phase or different phases as the light signal emitted by the light source, and obtain at least one electrical signal corresponding to the same phase receiving control signal through the two circuits; The information acquisition module can obtain target information of the detected object based on the electrical signals corresponding to the same-phase receiving control signals respectively obtained by the two circuits.

12. The detection method according to claim 11, wherein: The multiple phase receiving control signals that are in phase with or out of phase with the light signal emitted by the light source include 0°, 90°, 180° and 270°.

13. The detection method according to claim 12, wherein: The information acquisition module can obtain target information of the detected object by respectively obtaining different electrical signals corresponding to each phase of the four phase reception control signals from the two circuits.

14. The detection method according to claim 13, wherein: The N groups of exposure information include a plurality of sub-frame information, and each of the plurality of sub-frame information includes information of four different phase reception control signals.

15. The detection method according to claim 14, wherein: Two adjacent subframes in the multiple subframes each contain output information corresponding to a receiving control signal of two phase information with a phase difference of 180°, and the receiving control signals with a phase difference of 180° contained in the second exposure time of the two adjacent subframes can constitute an output signal of four different phase receiving control signals; the processing module can receive a third control signal, and output at least one of the different phase control information of at least one exposure time in different subframes obtained by the two circuits. The information acquisition module can obtain target information of the detected object based on the electrical signal corresponding to the same phase receiving control signal obtained by the two circuits respectively.

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