Arrangement structure of ranging photosensitive receiving array and DTOF ranging sensor
Through the combination of the arrangement structure of the surface array and the line array and the triangular ranging principle, the problem of insufficient close-range accuracy of the DTOF range measurement is solved, and a higher ranging accuracy is achieved.
Patent Information
- Application Number
- CN202420602737.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-26
- Publication Date
- 2025-03-21
- Estimated Expiration
- 2034-03-26
AI Technical Summary
The existing DTOF ranging method has insufficient accuracy during close distance measurement, so it is impossible to achieve the close distance accuracy of triangular ranging.
The arrangement structure of the surface array and line array is adopted, combined with the TDC time digital converter and triangular ranging principle, and the close-range ranging error is compensated through the grayscale output of the surface array and line array.
It effectively improves the close-range accuracy of DTOF ranging, combines the advantages of the time domain and the spatial domain to achieve excellent overall system accuracy.
Smart Images
Figure CN222653110U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of laser ranging, in particular to an arrangement structure of a ranging photosensitive receiving array and a DTOF ranging sensor. Background Art
[0002] DTOF is the abbreviation of Direct Time of flight. It literally means direct flight time. DTOF distance measurement is to send light pulses to the target continuously, and then use the sensor to receive the light returned from the object, and obtain the distance of the target by detecting the round-trip flight time of the light pulses. Distance D = C*T / 2, C is the speed of light, 3*10 8 Meters per second, T is the time interval from sending to receiving.
[0003] At present, there are generally two methods for DTOF ranging. One is to use a single APD avalanche photodiode (Avalanche Photo Diode) or PD tube photodiode (Photo Diode) as a receiving device, and each emission generates a ranging time. The second is to use a single photon avalanche diode (Single Photon Avalanche Diode) array. Since it can be manufactured using CMOS circuit integration technology, it can be integrated with TDC time digital converter and back-end processing circuit. Because it is very sensitive, it will use multiple laser emission, generate a histogram after receiving multiple ranging data, and find the ranging time by searching the peak of the histogram. Therefore, a large area of RAM random access memory (Random Access Memory) resources are required on the chip for histogram storage. In addition, due to the TDC accuracy and peak search error, under the influence of PILEUP (cumulative effect), the peak value moves under strong light, and the temperature rise causes the device delay to change. Therefore, the array's short-range ranging accuracy is poor and cannot achieve the short-range accuracy of triangulation ranging. Utility Model Content
[0004] 1. Technical issues to be solved
[0005] The utility model aims to solve the problem of large short-range error in conventional distance measurement in the prior art, and proposes an arrangement structure of a distance measurement photosensitive receiving array and a DTOF distance measurement sensor.
[0006] 2. Technical solution
[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:
[0008] A layout structure of a ranging photosensitive receiving array includes a surface array and a line array, characterized in that the line array is arranged on one side of the surface array, the surface array is a square array or a circle, the size of the surface array is 120-480um×120-480um as a special case, and the size of the line array is 20×2000um.
[0009] Preferably, the size of the surface array is 120um×120um.
[0010] Preferably, the photosensitive receiving array is a SiPM array or an APD array.
[0011] The utility model also proposes an application method of the arrangement structure of a ranging photosensitive receiving array, connecting the surface array to a TDC time-to-digital converter, and connecting the line array to the TDC time-to-digital converter, and using the principle of triangulation to compensate for the main short-range ranging error.
[0012] The utility model also proposes a DTOF ranging sensor, including a planar array detector, a linear array, a laser transmitter, a TDC time-to-digital converter, a memory and a processor. The output ends of the planar array detector and the processor are both connected to the input end of the TDC time-to-digital converter. The output end of the linear array is provided with a grayscale image. The output ends of the TDC time-to-digital converter and the grayscale image are both connected to the input end of the memory. The output end of the memory is bidirectionally connected to the input end of the processor. The output end of the processor is connected to the input end of the laser transmitter.
[0013] 3. Beneficial effects
[0014] Compared with the prior art, the advantages of the present invention are:
[0015] In the utility model, by setting the arrangement structure of the surface array and the line array and using the grayscale image output of the received line array light spot, the problem of insufficient accuracy of the existing DTOF ranging can be effectively solved, and the advantages of both tof ranging and triangulation ranging can be combined to achieve excellent overall system accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is a structural schematic diagram of the arrangement structure of a ranging photosensitive receiving array proposed by the utility model;
[0017] Figure 2 A schematic diagram of imaging light spots at different distances of an arrangement structure of a ranging photosensitive receiving array proposed by the utility model;
[0018] Figure 3 A schematic diagram of a linear array and a planar array structure of an arrangement structure of a ranging photosensitive receiving array proposed by the utility model;
[0019] Figure 4 This is a schematic diagram of the arrangement structure of the sensor array proposed in Example 2 of the present utility model;
[0020] Figure 5 This is a functional schematic diagram of the DTOF ranging sensor proposed in the utility model. DETAILED DESCRIPTION
[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.
[0022] Embodiment 1:
[0023] Reference Figure 1-3 , an arrangement structure of a ranging photosensitive receiving array, including a surface array and a line array, characterized in that the line array is arranged on one side of the surface array, the surface array is a square array, the size of the surface array is 120~480um×120~480um, the size of the line array is 20×2000um, and the photosensitive receiving array is a SiPM array or an APD array.
[0024] In this embodiment, a method for applying the arrangement structure of a ranging photosensitive receiving array is provided, where the planar array is connected to a TDC time-to-digital converter, and the linear array is also connected to the TDC time-to-digital converter, and the principle of triangulation is used to compensate for the main close-range ranging error.
[0025] In this embodiment, by setting the arrangement structure of the surface array and the line array and using the grayscale output of the light spot of the receiving line array, the problem of insufficient accuracy of the existing DTOF ranging can be effectively solved, and the advantages of both the time domain and the space domain can be combined to achieve excellent overall system accuracy.
[0026] Embodiment 2:
[0027] In this embodiment, refer to Figure 3 , an arrangement structure of a ranging photosensitive receiving array, including a surface array and a line array, the line array is arranged on one side of the surface array, the surface array is a square array, the size of the surface array is 240um×240um, and the size of the line array is 20×2000um.
[0028] Embodiment 3:
[0029] In this embodiment, the DTOF ranging sensor includes a planar array detector, a linear array, a laser transmitter, a TDC time-to-digital converter, a memory and a processor. The output ends of the planar array detector and the processor are connected to the input end of the TDC time-to-digital converter. The output end of the linear array is provided with a grayscale image. The output ends of the TDC time-to-digital converter and the grayscale image are connected to the input end of the memory. The output end of the memory is bidirectionally connected to the input end of the processor. The output end of the processor is connected to the input end of the laser transmitter.
[0030] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.
Claims
1. An arrangement structure of a ranging photosensitive receiving array, including a surface array and a line array, characterized in that: The line array is arranged on one side of the surface array, the surface array is a square array or a circle, the size of the surface array is a special case of 120-480um×120-480um, and the size of the line array is a special case of 20×2000um.
2. The arrangement structure of the ranging photosensitive receiving array according to claim 1, characterized in that: The size of the surface array is 120um×120um.
3. The arrangement structure of the ranging photosensitive receiving array according to claim 1, characterized in that: The photosensitive receiving array is a SiPM array or an APD array.
4. A DTOF ranging sensor using the ranging photosensitive receiving array arrangement structure according to any one of claims 1 to 3, characterized in that: The invention comprises a planar array detector, a linear array, a laser transmitter, a TDC time-to-digital converter, a memory and a processor. The output ends of the planar array detector and the processor are both connected to the input end of the TDC time-to-digital converter. The output end of the linear array is provided with a grayscale image. The output ends of the TDC time-to-digital converter and the grayscale image are both connected to the input end of the memory. The output end of the memory is bidirectionally connected to the input end of the processor. The output end of the processor is connected to the input end of the laser transmitter.