Detection device and electronic device

Abstract

The application discloses a detection device and an electronic device. The detection device comprises: a driving unit driving a transmitting unit to transmit first and second modulated light beams; an iTOF unit receiving a first echo light signal of the first modulated light beam; a dTOF unit receiving a second echo light signal of the second modulated light beam; and a processing unit generating a detection strategy based on a first depth map generated by the first echo light signal: when the detection distance of the depth map is less than a first threshold, the driving unit drives the transmitting unit to continue transmitting the first modulated light beam to enable the iTOF unit to realize iTOF imaging; and when the detection distance is greater than or equal to the threshold, the driving unit drives the transmitting unit to transmit the second modulated light beam to enable the dTOF to realize dTOF imaging. The scheme determines the detection strategy through the corresponding detection result of the iTOF unit, ensures that the detection device realizes high-precision measurement in the full detection distance range, reduces energy consumption, and improves the near-distance high-reflection expansion of dTOF imaging.

Description

Technical Field

[0001] This application relates to the field of detection technology, and in particular to a detection device and electronic equipment. Background Technology

[0002] With the widespread application of smart terminals in daily life and various industries, sensing systems, as the core perception components of smart terminals, are becoming increasingly important. Depth sensing systems can capture complete geometric information of a scene, enabling high-precision identification, localization, and reconstruction. They are currently a research hotspot in the sensing field and have enormous application potential in consumer electronics, autonomous driving, and other scenarios. Time-of-flight (TOF) technology, due to its advantages such as long detection range and fast response, has become the mainstream solution for depth sensing.

[0003] Time-of-flight (TOF) technology calculates the target distance by measuring the round-trip time of a light pulse and combining this with the speed of light, thus achieving depth measurement. It is mainly divided into two categories: indirect time-of-flight (iTOF) and direct time-of-flight (dTOF). iTOF offers high accuracy at short distances, but its accuracy significantly decreases with increasing distance, failing to meet long-distance requirements. dTOF is more suitable for long-distance scenarios, but its overall accuracy is lower, making it difficult to achieve satisfactory accuracy at short distances. Currently, in existing technologies combining iTOF and dTOF, iTOF and dTOF are two independent ranging systems that do not interfere with each other. Both operate in fixed modes, resulting in insufficient measurement accuracy within certain detection distance ranges and high energy consumption.

[0004] In summary, achieving high-precision measurements across the entire detection range while reducing energy consumption is a pressing technical challenge that needs to be addressed. Summary of the Invention

[0005] This application provides a detection device and electronic device that determines the detection strategy based on the detection results corresponding to the iTOF unit, ensuring that the detection device achieves high-precision measurement across the entire detection range, while reducing energy consumption and improving the near-range high-inflection dilatation of dTOF imaging.

[0006] In a first aspect, this application provides a detection device, which includes a processing unit, a transmitting unit, a driving unit, a first receiving unit, and a second receiving unit. The driving unit is used to drive the transmitting unit to transmit a first modulated light beam and a second modulated light beam. The first receiving unit is used to receive a first echo light signal of the first modulated light beam. The second receiving unit is used to receive a second echo light signal of the second modulated light beam. The first receiving unit is an indirect time-of-flight (iTOF) unit, and the second receiving unit is a dTOF unit. The processing unit is used to generate a first depth map based on the first echo light signal and to generate a detection strategy for the first and second receiving units based on the first depth map. The detection strategy includes: when the detection distance of the first depth map is less than a first threshold, the driving unit drives the transmitting unit to continue transmitting the first modulated light beam so that the first receiving unit achieves iTOF imaging; when the detection distance of the first depth map is greater than or equal to a second threshold, the driving unit drives the transmitting unit to transmit the second modulated light beam so that the second receiving unit achieves dTOF imaging. The first threshold is less than or equal to the second threshold.

[0007] As can be seen, this scheme determines the detection strategy by using the detection results corresponding to the iTOF unit, ensuring that the detection device achieves high-precision measurement across the entire detection range, while reducing energy consumption and improving the near-range high-inflection dilatation of dTOF imaging.

[0008] In one possible implementation, the processing unit is further configured to adjust the operating timing of the first receiving unit and the second receiving unit, the operating timing including simultaneous or alternating operation of the first receiving unit and the second receiving unit; and / or, the processing unit is further configured to configure the power parameters of the first receiving unit and the second receiving unit.

[0009] In one possible implementation, the detection range includes a near-range region and a far-range region. The near-range region is the area where the detection range is less than a first threshold; the far-range region is the area where the detection range is greater than or equal to a second threshold. The detection strategy includes: controlling the first receiving unit to operate when detecting the near-range region; and controlling the second receiving unit to operate when detecting the far-range region; wherein the first threshold is equal to the second threshold. or, The detection strategy also includes: when the detection distance of the first depth map is greater than or equal to the first threshold and less than the second threshold, the driving unit is further used to drive the transmitting unit to simultaneously or alternately transmit the first modulated beam and the second modulated beam, so that the first receiving unit realizes iTOF imaging and the second receiving unit realizes dTOF imaging; the processing unit is used to fuse the iTOF image and the dTOF image; wherein, the first threshold is less than the second threshold.

[0010] In one possible implementation, the transmitting unit includes multiple independently controlled sub-transmitting regions, and the detection strategy further includes: the driving unit controls all sub-transmitting regions to emit modulated beams to form a first modulated beam; the driving unit controls the sub-transmitting regions to emit modulated beams sequentially, or controls the sub-transmitting regions to emit modulated beams at different powers to form a second modulated beam.

[0011] In one possible implementation, each sub-emission region includes multiple point light sources; the detection strategy further includes: the driving unit controls the number of light emitted by the point light sources in each sub-emission region to adjust the power of each sub-emission region or the spatial density of the effective light-emitting point light sources in each sub-emission region.

[0012] In one possible implementation, the transmitting unit includes multiple independently controlled sub-transmitting regions, and the processing unit is further configured to determine the region of interest based on the first depth image; the detection strategy further includes: controlling the sub-transmitting regions in the transmitting unit corresponding to the region of interest to transmit modulated beams at a first power; controlling the sub-transmitting regions in the transmitting unit corresponding to the non-region of interest to transmit modulated beams at a second power; wherein the first power is greater than the second power.

[0013] In one possible implementation, the processing unit is further configured to: acquire first depth map data detected by the first receiving unit, and acquire second depth map data detected by the second receiving unit; the calculation method for the depth map data of the entire scene is as follows: ;in, As weight, This is the first depth map data. This is the second depth map data; ;in, d The current distance to the target; d 0 is the center point of the transition zone; k This is the slope adjustment factor.

[0014] In one possible implementation, the optical axes of the transmitting unit, the first receiving unit, and the second receiving unit are in the same plane, and the transmitting unit is located at the geometric center of the first receiving unit and the second receiving unit.

[0015] In one possible implementation, the emitting unit includes a laser and an optical shaping device; the optical shaping device is disposed in the output optical path of the laser and is positioned opposite to the output port of the laser; the optical shaping device includes a first functional zone corresponding to the near-distance region and a second functional zone corresponding to the far-distance region, the optical structures of the first functional zone and the second functional zone are different, so that the beam density passing through the first functional zone is greater than the beam density passing through the second functional zone; wherein, the near-distance region is the region where the detection distance of the first depth map is less than a first threshold; the far-distance region is the region where the detection distance of the first depth map is greater than or equal to the second threshold.

[0016] Secondly, this application provides an electronic device, including a processor and a detection device as described in any of the first aspects, wherein the processor is used to control the detection device to detect a detection area. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a detection device provided in an embodiment of this application; Figure 2 A schematic diagram of the data structure of iTOF and dTOF provided in the embodiments of this application; Figure 3 A schematic diagram showing the positions of the transmitting unit, iTOF, and dTOF provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of a transmitting unit provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items.

[0021] It should be noted that the terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the term "comprising" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0022] To facilitate the description of the solutions in the embodiments of this application, some technical terms involved in the embodiments of this application are introduced below: I. A Microcontroller Unit (MCU) is a chip-level computer that integrates a Central Processing Unit (CPU) with a reduced frequency and specifications, along with peripheral interfaces such as memory, timer, Universal Serial Bus (USB), Serial Peripheral Interface (SPI), Universal Asynchronous Receiver / Transmitter (UART), analog-to-digital converter (A / D) conversion, Programmable Logic Controller (PLC), Direct Memory Access (DMA), and LCD driver circuitry, all onto a single chip. An MCU includes program memory, a CPU, and random access memory (RAM). The program memory stores the program to be executed. After the MCU powers on and stabilizes, the CPU can retrieve and execute instructions from the program memory via the Program Counter (PC) pointer. An MCU can also be called a single-chip microcomputer or a microcontroller. MCUs can be integrated into a processing unit or set up independently.

[0023] II. iTOF and dTOF iTOF offers high accuracy at short ranges, but its accuracy significantly decreases with increasing distance, failing to meet long-range requirements. dTOF is more suitable for long-range scenarios, but its overall accuracy is low, making it difficult to achieve satisfactory accuracy at short ranges. Currently, in existing technologies combining iTOF and dTOF for detection, iTOF and dTOF are two independent ranging systems that do not interfere with each other. Both operate in fixed modes, resulting in insufficient measurement accuracy within certain detection distance ranges and high energy consumption.

[0024] To address the aforementioned problems, this application provides a detection device and an electronic device. The detection device includes a processing unit, a transmitting unit, a driving unit, a first receiving unit, and a second receiving unit. The driving unit drives the transmitting unit to emit a first modulated light beam and a second modulated light beam. The first receiving unit receives a first echo signal from the first modulated light beam. The second receiving unit receives a second echo signal from the second modulated light beam. The first receiving unit is an iTOF unit, and the second receiving unit is a dTOF unit. The processing unit generates a first depth map based on the first echo signal and generates a detection strategy for the first and second receiving units based on the first depth map. The detection strategy includes: when the detection distance of the first depth map is less than a first threshold, the driving unit drives the transmitting unit to continue emitting the first modulated light beam, enabling the first receiving unit to achieve iTOF imaging; when the detection distance of the first depth map is greater than or equal to the second threshold, the driving unit drives the transmitting unit to emit the second modulated light beam, enabling the second receiving unit to achieve dTOF imaging. The first threshold is less than or equal to the second threshold. This scheme determines the detection strategy based on the detection results corresponding to the iTOF unit, ensuring that the detection device achieves high-precision measurement across the entire detection range, while reducing energy consumption and improving the near-range high-inflection dilatation of dTOF imaging.

[0025] The specific structure of the detection device will be described in detail below.

[0026] Please see Figure 1 , Figure 1 This is a schematic diagram of a detection device provided in this application. Figure 1 As shown, the detection device 100 includes a processing unit 101, a driving unit 102, a transmitting unit 103, a first receiving unit 104, and a second receiving unit 105.

[0027] The driving unit 102 can be used to drive the transmitting unit 103 to emit a first modulated beam and a second modulated beam. The first modulated beam can be a surface beam, and the second modulated beam can be a multi-segment line beam, without specific limitations.

[0028] The first receiving unit 104 is an iTOF unit, which can be used to receive the first echo light signal of the first modulated beam and transmit the first echo light signal to the processing unit 101.

[0029] The second receiving unit 105 is a dTOF unit, which can be used to receive the second echo light signal of the second modulated beam and transmit the second echo light signal to the processing unit 101.

[0030] The processing unit 101 can be an image signal processor (ISP), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), a digital signal processor (DSP), etc., without specific limitations.

[0031] Optionally, the processing unit 101 can be used to generate a first depth map (iTOF image) based on the first echo light signal.

[0032] Optionally, the processing unit 101 can be used to generate a first depth map (iTOF image) based on the first echo light signal; generate a second depth map (dTOF image) based on the second echo light signal; and fuse the first depth map (iTOF image) and the second depth map (dTOF image) to generate a third depth map of the entire scene.

[0033] The processing unit 101 can be used to generate a detection strategy for a first receiving unit and a second receiving unit based on a target depth map (the aforementioned first depth map or a fused third depth map). This detection strategy may include: when the detection distance of the target depth map is less than a first threshold, the driving unit drives the transmitting unit to continue emitting a first modulated beam, enabling the first receiving unit to achieve iTOF imaging; when the detection distance of the target depth map is greater than or equal to a second threshold, the driving unit drives the transmitting unit to emit a second modulated beam, enabling the second receiving unit to achieve dTOF imaging; wherein the first threshold is less than or equal to the second threshold. In other words, the processing unit 101 can generate a detection strategy based on the iTOF depth map.

[0034] In this embodiment of the application, the processing unit 101 can be used to determine the target depth map, divide the detection area into regions according to the detection distance of the target depth map, and configure corresponding detection strategies based on different region division results.

[0035] Specifically, when the first threshold is less than or equal to the second threshold, the detection range can include a near-field region and a far-field region. The near-field region is the area where the detection range of the depth map is less than the first threshold; the far-field region is the area where the detection range of the depth map is greater than or equal to the second threshold. For example, the first threshold could be 2 meters, 3 meters, etc.

[0036] For both near-field and far-field areas, the detection strategy may include: controlling the first receiving unit to operate when detecting near-field areas; and controlling the second receiving unit to operate when detecting far-field areas.

[0037] Furthermore, when the first threshold is less than the second threshold, the detection range may also include an intermediate distance region in addition to the near-distance and far-distance regions. The intermediate distance region is the area where the detection range of the depth map is greater than or equal to the first threshold and less than the second threshold. For example, the first threshold can be 2 meters, and the second threshold can be 10 meters. In this embodiment, the first and second thresholds can be set as needed, and no specific limitations are imposed on the first and second thresholds.

[0038] For the intermediate distance region, the detection strategy may include: when the detection distance of the target depth map is greater than or equal to a first threshold and less than a second threshold, the driving unit is further configured to drive the transmitting unit to simultaneously or alternately transmit a first modulated beam and a second modulated beam, so that the first receiving unit achieves iTOF imaging and the second receiving unit achieves dTOF imaging; the processing unit is configured to fuse the iTOF image and the dTOF image. In other words, the detection strategy includes the processing unit 101 executing a fusion strategy for the iTOF image and the dTOF image.

[0039] When the target depth map is a third depth map, the processing unit 101 will also execute a fusion strategy for the iTOF image and the dTOF image to generate a detection strategy.

[0040] The following section, using the processing unit 101 as the execution entity, details the fusion strategy for iTOF and dTOF images. The processing unit 101 is also used to: acquire the first depth map (iTOF image) data detected by the first receiving unit, and acquire the second depth map (dTOF image) data detected by the second receiving unit; the calculation method for the depth map data of the entire scene is as follows: ; in, As weight, This is the first depth map data. This is the second depth map data; ; in, d The current distance to the target; d 0 is the center point of the transition zone; k This is the slope adjustment factor.

[0041] In other words, when < (At close range) 0 ==》d≈ Take the measurement results data from iTOF; when (At long distances) 1 ==》d≈ Take the dTOF measurement results data.

[0042] For example, the continuous change of weight in the 2-10m transition zone, taking k=0.5 and d0=6 as an example, d = 4m → ρ ≈0.27 (measurement results biased towards iTOF cells); d = 6m → ρ = 0.5 (equalization fusion); d = 8m → ρ ≈0.73 (measurement results biased towards dTOF cells).

[0043] Preferably, in close-range areas, depth can be used directly. Figure 1 (That is, the first depth map) data, in the middle distance region, uses depth Figure 1 Data and Depth Figure 2 (That is, the fusion of second depth map data) data, directly using depth in long-distance regions. Figure 2 The data ultimately generates depth. Figure 3 This enables high-precision detection across the entire measurement range.

[0044] In some possible implementations, the processing unit 101 (or the MCU integrated in the processing unit 101) can also be used to perform at least one of the following operations: 1) Unit Timing Switching: Based on the detection scenario requirements (close-range detection / long-range detection), the system autonomously issues commands to adjust the working timing of the first and second receiving units. This working timing includes simultaneous or alternating operation of the first and second receiving units.

[0045] 2) Driving parameter configuration: While switching the receiving unit, configure the power parameters for the driving unit 102 (or the transmitting unit 103). The power parameters include key parameters such as the operating voltage threshold and the operating current threshold to ensure stable output of the driving signal and guarantee the laser emission quality of the transmitting unit.

[0046] 3) Coordinated Management and Control: Synchronously coordinate the working timing of the transmitting unit and the two receiving units (the first receiving unit and the second receiving unit) to ensure the consistency of the "transmit-receive" link. It should be noted that when the processing unit 101 and the MCU are set up independently, the above operations can be performed by the processing unit 101 controlling the MCU.

[0047] In addition, the processing unit 101 can also be used to perform the following operations: status monitoring and anomaly handling: receive real-time operating status feedback information from each unit, including drive failure, VCSEL light emission abnormality, and signal reception abnormality, and adjust the control strategy or trigger the corresponding alarm mechanism.

[0048] In one possible implementation, the transmitting unit 103 may include multiple independently controlled sub-transmitting regions. This design enables the driving unit 102 to execute flexible and intelligent detection strategies, thereby significantly improving the adaptability, energy efficiency, and accuracy of the detection device in different scenarios.

[0049] The detection strategy also includes the following steps: (1) The driving unit 102 controls all sub-emission areas to emit modulated beams to form a first modulated beam.

[0050] Specifically, the driving unit 102 can control all sub-emission regions to simultaneously emit modulated beams with the same or similar parameters (such as power and modulation frequency). These beams are combined in space to form a first modulated beam, whose optical field distribution is usually relatively uniform, making it suitable for global, synchronous depth detection of the detection area.

[0051] (2) The driving unit 102 controls the sub-emission area to emit modulated beams sequentially, or controls the sub-emission area to emit modulated beams with different powers to form a second modulated beam.

[0052] Specifically, the driving unit 102 controls each sub-emission region to sequentially emit modulated beams according to a predetermined timing or scanning pattern to form a second modulated beam. This time-division multiplexing method helps to distinguish optical signals from different directions at the receiving end, effectively suppressing ambient light interference and crosstalk between multiple devices, improving the signal-to-noise ratio and the system's robustness in multi-device coexistence environments. Alternatively, the driving unit 102 controls different sub-emission regions to emit modulated beams at different transmission powers to form a second modulated beam. For example, the transmission field can be pre-divided into a central high-power region and an edge low-power region to accommodate target detection requirements of different distances or importance.

[0053] Furthermore, each sub-emission region may include multiple point light sources. Based on this, the driving unit 102 can not only control the switching and power of the entire sub-emission region, but also precisely control the number of point light sources actually emitting light in each sub-emission region.

[0054] In other words, the detection strategy also includes: the driving unit 102 controls the number of light emitted by the point light source in each sub-emission region to adjust the power of each sub-emission region or the spatial density of the effective light-emitting point light source in each sub-emission region.

[0055] Optionally, the total output power of a sub-emission region can be directly and linearly adjusted by increasing or decreasing the number of point light sources emitting light in each sub-emission region.

[0056] Optionally, by controlling the emission pattern of the point light sources (e.g., intermittent lighting, partial lighting), the spatial density of the effective emission point light sources within the sub-emission region can be dynamically changed. This allows the system to dynamically balance spatial resolution and single-point signal strength (signal-to-noise ratio). For example, a high-density dot matrix can be used in edge regions requiring high-precision contours, while a low-density dot matrix can be used in flat or background regions to improve overall energy efficiency.

[0057] In one possible implementation, processing unit 101 can also be used to determine a region of interest (ROI) based on the first depth image. The ROI may include key areas such as moving targets, faces, or objects to be manipulated. The non-ROI refers to areas other than the ROI.

[0058] Based on this, the detection strategy also includes: the processing unit 101 can control the sub-emission region in the transmission unit corresponding to the region of interest to transmit a modulated beam at a first power; and control the sub-emission region in the transmission unit corresponding to the region of non-interest to transmit a modulated beam at a second power; wherein the first power is greater than the second power.

[0059] Below, in conjunction with Figure 2 A specific operational timing sequence for the above detection strategy is described. Figure 2 This application provides a schematic diagram of the data structures for iTOF and dTOF, as shown in the embodiments. Figure 2 As shown, the collaborative working timing of iTOF and dTOF can be flexibly configured, for example, using A+B frames, AB frames, or AAB frames. The iTOF unit can use a four-phase, dual-frequency (e.g., 37.65MHz and 45.18MHz) modulation method to improve accuracy, while the dTOF unit can use a repetition rate configuration of 0.1-0.5MHz to optimize long-range detection. Under the control of the driving unit 102, the transmitting unit 103 can sequentially illuminate according to the sequence of partition 1 to partition N, completing a partitioned scan of the entire field of view within one frame, and precisely synchronizing with the acquisition frame period of the iTOF, thereby efficiently realizing the above-mentioned global detection, partitioned scanning, and ROI enhancement and other intelligent lighting strategies.

[0060] As can be seen, this detection strategy achieves "on-demand illumination," concentrating limited emission energy (and corresponding power consumption and heat load) on the most critical areas. This significantly reduces the overall power consumption and heat generation of the system, while significantly improving the depth measurement signal-to-noise ratio and accuracy within the ROI, and helps avoid receiver saturation caused by highly reflective objects at close range.

[0061] The layout and optical implementation of the transmitting unit, the first receiving unit, and the second receiving unit will be described below.

[0062] From the perspective of system module layout, the optical axes of the transmitting unit, the first receiving unit, and the second receiving unit are on the same plane, and the transmitting unit is located at the geometric center of the first receiving unit and the second receiving unit.

[0063] For example, the first receiving unit is iTOF, and the second receiving unit is dTOF. Please refer to [reference needed]. Figure 3 , Figure 3 This is a schematic diagram showing the positions of the transmitting unit, iTOF, and dTOF provided in the embodiments of this application, as shown below. Figure 3 As shown, the optical axes of the emission unit, iTOF, and dTOF are in the same plane, and the emission unit is located at the geometric center of iTOF and dTOF.

[0064] As can be seen, the transmitting unit is located at the geometric center of the two receiving units, forming a symmetrical structure. This makes the transmitted beam paths to the iTOF and dTOF geometrically highly symmetrical, reducing the systematic deviation introduced by the difference in optical path length between the two received signals. Furthermore, this symmetrical layout is an ideal physical basis for subsequent "common-path optical designs" (such as using beam-splitting prisms). It provides the most direct and simplest mechanical structural foundation for coupling the three separate optical axes into a shared main optical path through internal optical elements (such as lenses and beam splitters).

[0065] Furthermore, from an optical implementation perspective, both the first and second receiving units correspond to the same transmitting unit. Moreover, through a precise common-path optical design (e.g., using a beam splitter within the optical path), the transmitting and receiving field of view are made consistent (e.g., transmitting 120...). 90 degrees, reception is also 120. (90 degrees). By using a common optical path design to ensure that the beam emission origins of the two receiving units are consistent, and combined with the collaborative design of the dual receiving units, pixel offset can be reduced, making the pixel positions of the same target in the iTOF and dTOF depth map data more matched, and the depth map data of the whole scene generated after fusion has higher accuracy.

[0066] As can be seen, this solution ensures that the first receiving unit and the second receiving unit output simultaneously through a common optical path design, and reduces the impact of pixel parallax caused by the fusion of the first receiving unit and the second receiving unit.

[0067] In one possible implementation, the emitting unit includes a laser and an optical shaping device; the optical shaping device is disposed in the output optical path of the laser, and the optical shaping device is disposed opposite to the output port of the laser.

[0068] Among them, the laser can be, for example, an edge-emitting laser (EEL) or a vertical-cavity surface-emitting laser (VCSEL) array, etc.; the optical shaping device can be, for example, a diffractive optical element (DOE), a microlens array (MLA), or a freeform lens, etc.

[0069] Combination Figure 4 The structure and working logic of the transmitting unit will be introduced. Figure 4 This is a schematic diagram of the structure of a transmitting unit provided in an embodiment of this application, and Figure 4 This example uses a vertical-cavity surface-emitting laser (VCSEL) array as the emitting unit. Figure 4 As shown, the transmitting unit includes a VCSEL array and an optical shaping device.

[0070] The VCSEL array comprises multiple partitioned VCSELs, each supporting independent switching control, with the drive current for each partition configured by the processing unit. When the VCSEL array receives a series drive signal from the driving unit, all partitioned VCSELs emit light synchronously; when receiving a timing drive signal from the driving unit, each partitioned VCSEL emits light independently in a time-division manner. The output light source types of the transmitting unit include area array, linear array, and square array. Furthermore, each partitioned VCSEL can be connected to an independent current source, and each partitioned VCSEL can be individually configured for timing control via the processing unit. The VCSEL array can be illuminated in a single partition or by illuminating different smaller partition areas within a single partition. In other words, a single partition can be further subdivided into N illuminated smaller partitions, for example... Figure 4 The single partition is further subdivided into three smaller illuminated partitions. Furthermore, it allows for increasing the corresponding drive current for the iTOF-marked region of interest and decreasing the corresponding drive current for the non-region of interest, thereby improving the ROI signal-to-noise ratio without increasing power consumption.

[0071] Among them, the optical shaping device can be a traditional lens or a meta-lens, which is attached to the light-emitting surface of the VCSEL to optimize the beam quality through collimation (reducing beam divergence), homogenization (making the energy distribution uniform) or focusing (increasing energy density).

[0072] Furthermore, the optical shaping device may be designed to include a first functional zone corresponding to the near-distance region and a second functional zone corresponding to the far-distance region, wherein the optical structures of the first functional zone and the second functional zone are different, so that the beam density passing through the first functional zone is greater than the beam density passing through the second functional zone.

[0073] The optical shaping device is specifically designed to have at least two functional zones: a first functional zone and a second functional zone. These two zones correspond to different distance ranges in the target detection space. The first functional zone: its optical structure is designed to correspond to the near-field region, for example, the region where the detection distance is less than a preset first threshold, such as 0-2m, as determined by the target depth map. The optical structure of this zone (such as microlens curvature, diffraction pattern) is designed to cause a stronger diffusion or specific distribution change of the modulated beam passing through it, thereby forming a higher beam density (stronger light power per unit area) on the target surface.

[0074] The second functional zone: its optical structure is designed to correspond to a long-distance region (e.g., a region where the detection distance is greater than or equal to a preset second threshold, such as 10 meters to infinity). The optical structure of this zone allows the modulated beam to have different diffusion angles or energy distributions, resulting in a relatively low beam density formed on the target surface.

[0075] As can be seen, this scheme can balance the signal level across the entire detection range without dynamically changing the transmission power by configuring a higher beam density for near-field areas (which typically have strong backlight signals but are prone to saturation or require high resolution) and a more concentrated beam for far-field areas (where backlight signals are severely attenuated) (although the surface density may be lower, the energy is more concentrated and directed to distant areas). This expands the effective dynamic range of the system and improves the uniformity of the overall ranging performance.

[0076] This application also provides an electronic device, which includes a processor and any of the detection devices described in the foregoing detection device embodiments, wherein the processor is used to control the detection device to detect a detection area.

[0077] This application also provides a computer-readable storage medium (Memory), which is a memory device of the detection device for storing programs and data. It is understood that the computer-readable storage medium here may include the detection device or its built-in storage medium, or it may include the detection device or an extended storage medium supported by the detection device. The computer-readable storage medium provides storage space for storing the detection device or its operating system. Furthermore, the storage space also stores one or more computer programs suitable for being loaded and executed by a processor. It should be noted that the computer storage medium here may be high-speed RAM or non-volatile memory, such as at least one disk storage device; optionally, it may also be at least one computer-readable storage medium located remotely from the aforementioned processor.

[0078] Based on the same inventive concept, the principle and beneficial effects of the computer-readable storage medium provided in the embodiments of this application in solving the problem can be found in the principle and beneficial effects of the detection device, which will not be repeated here for the sake of brevity.

[0079] The aforementioned computer-readable storage medium can be the detection device provided in any of the foregoing embodiments or the internal storage unit of the aforementioned computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the computer device. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the computer device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0080] This application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned... Figure 3 The description of the detection device in the corresponding embodiments is already provided, and therefore will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated. For technical details not disclosed in the computer-readable storage medium embodiments related to this application, please refer to the description of the device embodiments of this application.

[0081] This application provides an electronic device, including a processor and a detection device as described in any of the first aspects, wherein the processor is configured to control the detection device to detect a detection area. For technical details not disclosed in the embodiments of the electronic device involved in this application, please refer to the description of the device embodiments of this application.

[0082] The terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other step units inherent to these processes, methods, apparatuses, products, or devices.

[0083] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0084] The methods and related apparatus provided in this application are described with reference to the method flowcharts and / or structural diagrams provided in this application. Specifically, each block of the method flowchart and / or structural diagram, as well as combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable probe device to create a machine, such that the instructions, which execute via the processor of the computer or other programmable probe device, generate instructions for implementing the process... Figure 1 A schematic diagram of one or more processes and / or structures. Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable probe to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 A schematic diagram of one or more processes and / or structures. Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable probe device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 A process or multiple processes and / or structures illustrate the steps of the functions specified in one or more boxes.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A detection device, characterized in that, The detection device includes a processing unit, a transmitting unit, a driving unit, a first receiving unit, and a second receiving unit; The driving unit is used to drive the transmitting unit to emit a first modulated beam and a second modulated beam; The first receiving unit is used to receive the first echo light signal of the first modulated beam; The second receiving unit is used to receive the second echo signal of the second modulated beam; wherein, the first receiving unit is an indirect time-of-flight (iTOF) unit, and the second receiving unit is a direct time-of-flight (dTOF) unit; The processing unit is configured to generate a first depth map based on the first echo light signal; and generate a detection strategy for the first receiving unit and the second receiving unit based on the first depth map. The detection strategy includes: when the detection distance of the first depth map is less than a first threshold, the driving unit drives the transmitting unit to continue emitting the first modulated beam so that the first receiving unit can achieve iTOF imaging; when the detection distance of the first depth map is greater than or equal to a second threshold, the driving unit drives the transmitting unit to emit the second modulated beam so that the second receiving unit can achieve dTOF imaging; wherein the first threshold is less than or equal to the second threshold.

2. The detection device according to claim 1, characterized in that, The processing unit is further configured to adjust the operating timing of the first receiving unit and the second receiving unit, the operating timing including simultaneous or alternating operation of the first receiving unit and the second receiving unit; and / or, the processing unit is further configured to configure the power parameters of the first receiving unit and the second receiving unit.

3. The detection device according to claim 1, characterized in that, The detection range includes a near-range area and a far-range area, wherein the near-range area is the area where the detection range is less than a first threshold; The long-distance region is the region where the detection distance is greater than or equal to the second threshold. The detection strategy includes: controlling the first receiving unit to operate when detecting the near-field region; controlling the second receiving unit to operate when detecting the far-field region; wherein the first threshold is equal to the second threshold; or, The detection strategy further includes: when the detection distance of the first depth map is greater than or equal to the first threshold and less than the second threshold, the driving unit is further configured to drive the transmitting unit to simultaneously or alternately transmit the first modulated beam and the second modulated beam, so that the first receiving unit realizes iTOF imaging and the second receiving unit realizes dTOF imaging; the processing unit is configured to fuse the iTOF image and the dTOF image; wherein, the first threshold is less than the second threshold.

4. The detection device according to claim 1, characterized in that, The transmitting unit includes multiple independently controlled sub-transmission areas, and the detection strategy further includes: The driving unit controls all sub-emission regions to emit modulated beams to form a first modulated beam; The driving unit controls the sub-emitting regions to emit modulated beams sequentially, or controls the sub-emitting regions to emit modulated beams at different powers to form a second modulated beam.

5. The detection device according to claim 4, characterized in that, Each sub-emission region includes multiple point light sources; the detection strategy also includes: The driving unit controls the number of light emitted by the point light sources in each sub-emission region to adjust the power of each sub-emission region or the spatial density of the effective light-emitting point light sources in each sub-emission region.

6. The detection device according to claim 1, characterized in that, The transmitting unit includes multiple independently controlled sub-transmitting regions, and the processing unit is further configured to determine the region of interest based on the first depth image; The detection strategy also includes: The sub-emission region in the control unit corresponding to the region of interest emits a modulated beam at a first power. The sub-emission region corresponding to the region of non-interest in the control emission unit emits a modulated beam at a second power; wherein the first power is greater than the second power.

7. The detection device according to claim 1, characterized in that, The processing unit is further configured to: Acquire the first depth map data detected by the first receiving unit, and acquire the second depth map data detected by the second receiving unit; The calculation method for the depth map data of the entire scene is as follows: ； in, As weight, This is the first depth map data. This is the second depth map data; ； in, d The current distance to the target; d 0 is the center point of the transition zone; k This is the slope adjustment factor.

8. The detection device according to claim 1, characterized in that, The optical axes of the transmitting unit, the first receiving unit, and the second receiving unit are in the same plane, and the transmitting unit is located at the geometric center of the first receiving unit and the second receiving unit.

9. The detection device according to claim 1, characterized in that, The emitting unit includes a laser and an optical shaping device; the optical shaping device is disposed in the light output path of the laser, and the optical shaping device is disposed opposite to the light output port of the laser; The optical shaper includes a first functional zone corresponding to the near-distance region and a second functional zone corresponding to the far-distance region. The optical structures of the first functional zone and the second functional zone are different, so that the beam density passing through the first functional zone is greater than the beam density passing through the second functional zone. The near-field region is the region where the detection distance of the first depth map is less than the first threshold; the far-field region is the region where the detection distance of the first depth map is greater than or equal to the second threshold.

10. An electronic device, characterized in that, It includes a processor and a detection device as described in any one of claims 1 to 9, wherein the processor is used to control the detection device to detect a detection area.

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