Regulation method, regulation device and detection device

Abstract

A regulation method, a regulation device (300) and a detection device (1000), which are used for improving the detection performance of the detection device (1000). The method comprises: generating a regulation voltage on the basis of stray light received by a detector (200); and, on the basis of the regulation voltage, regulating a power supply voltage of the detector (200) to obtain a target voltage of the detector (200), wherein the target voltage is used for regulating the photon detection efficiency (PDE) of the detector (200). The power supply voltage and the target voltage are both working voltages of the detector (200), the power supply voltage being a voltage directly provided by a power supply to the detector (200), and the target voltage being a voltage obtained after the power supply voltage is regulated.

Description

Adjustment method, adjustment device and detection device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on January 18, 2024, with application number 202410075237.X and application name "A method of adjustment, a device of adjustment and a detection device", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of detection technology, and in particular to an adjustment method, an adjustment device, and a detection device. Background Art

[0004] Photon detection efficiency (PDE) refers to the degree to which photons are detected by a photodetector. For example, the PDE of a single-photon detector can be characterized by dividing the number of detected photons by the number of incident photons.

[0005] In the complex operating environment of automotive LiDAR, the light intensities of the different echo signals received by the LiDAR detector vary significantly. Furthermore, the PDE of existing detectors is fixed, which can affect LiDAR performance indicators such as ranging accuracy, reflectivity estimation accuracy, and crosstalk. As shown in Figure 1A, the greater the peak intensity of the light received by the detector, the lower the detector's ranging accuracy. As shown in Figure 1B, the reflectivity estimation accuracy increases with increasing light intensity.

[0006] Therefore, how to improve the detection performance of lidar in complex environments is a technical problem that needs to be solved urgently. Summary of the Invention

[0007] The present application provides an adjustment method, an adjustment device, and a detection device to improve the detection performance of the detection device.

[0008] In a first aspect, the present application provides an adjustment method, which includes: generating an adjustment voltage based on the stray light received by the detector; adjusting the power supply voltage of the detector based on the adjustment voltage to obtain a target voltage of the detector; wherein the target voltage is used to adjust the PDE of the detector.

[0009] Among them, the supply voltage and the target voltage can both be used as the working voltage of the detector. The supply voltage is the voltage directly provided by the power supply to the detector, and the target voltage is the voltage obtained after adjusting the supply voltage.

[0010] In this method, experimental studies have found a correlation between the intensity of stray light received by the detector and the detector's operating voltage. Therefore, a regulating voltage can be generated based on the stray light received by the detector to adjust the detector's power supply voltage (i.e., the voltage directly supplied to the detector by the power supply). By adjusting the detector's power supply voltage based on this regulating voltage, a target voltage can be obtained, which can serve as the detector's operating voltage. A linear mapping relationship exists between the detector's operating voltage and its PDE. Therefore, when the target voltage serves as the detector's operating voltage, the PDE can be adjusted based on the target voltage, resulting in a non-fixed PDE. Because the target voltage varies with stray light, the PDE also varies with the target voltage. Therefore, the detector's PDE may have high or low PDE values. The value of PDE directly affects the number of photons that the detector effectively captures and converts into usable signals. When the PDE value is high, the detector can more effectively detect and convert weak photons in low-intensity echo signals; when the PDE value is low, the detector can effectively detect and convert photons in high-intensity echo signals. In this way, the detection range of the detector is effectively expanded, so that the detector can effectively detect and convert photons in low-intensity echo signals, as well as photons in high-intensity echo signals, which helps to improve the detector's target recognition ability and measurement accuracy.

[0011] For example, for the same target, under high PDE values, the detector can detect and convert weak photons in the low-intensity echo signal reflected by the target to form a corresponding point cloud; under low PDE values, the detector can effectively detect and convert photons in the high-intensity echo signal reflected by the target to form a corresponding point cloud; combining the point cloud formed under high PDE values ​​and the point cloud formed under low PDE values ​​for the same target can effectively improve the detector's recognition ability and measurement accuracy for the target.

[0012] In one possible design, generating an adjustment voltage based on stray light received by a detector includes: obtaining a mapping relationship between the peak intensity of the stray light and the adjustment voltage of the detector; and determining the adjustment voltage based on the stray light and the mapping relationship.

[0013] In this design, the mapping relationship between the peak intensity of the stray light and the adjustment voltage of the detector can reflect the correlation between the peak intensity of the stray light and the adjustment voltage of the detector. Then, based on the mapping relationship and the stray light currently received by the detector, the adjustment voltage of the detector can be determined.

[0014] In one possible design, the mapping relationship is obtained by analyzing the peak intensity of stray light and the adjustment voltage of the detector at different temperatures. In this design, by analyzing the peak intensity of stray light and the adjustment voltage of the detector at different temperatures to obtain a mapping relationship between the peak intensity of stray light and the adjustment voltage of the detector, the reliability of this mapping relationship at different temperatures can be guaranteed, allowing the adjustment method provided in the embodiments of the present application to improve the detection performance of the detection device at different temperatures.

[0015] In one possible design, the peak intensity of stray light is linearly related to the adjustment voltage of the detector at the same temperature.

[0016] In one possible design, the target voltage and the supply voltage are switched into the detector at different times. This allows for dynamic adjustment of the detector's PDE, making it more precise and improving its detection performance.

[0017] In one possible design, the target voltage and the supply voltage switch input detectors at different times, including: switching the target voltage and the supply voltage at different frames; switching the target voltage and the supply voltage at different time slots; or switching the target voltage and the supply voltage at different events. This design provides multiple implementations for dynamically switching the target voltage and the supply voltage input detectors.

[0018] In one possible design, the target voltage and the supply voltage are switched into the detector at different times, including: the target voltage is input into the detector when the first switch circuit is turned on; the first switch circuit is triggered by the first switch signal; the supply voltage is input into the detector when the second switch circuit is turned on; the second switch circuit is triggered by the second switch signal; wherein the timing of the first switch signal and the second switch signal are the same, and the level states of the first switch signal and the second switch signal are opposite; the first switch circuit and the second switch circuit are both low-level triggered or high-level triggered.

[0019] In this design, the target voltage can be input into the detector when the first switch signal triggers the first switch circuit to turn on, and the supply voltage can be input into the detector when the second switch signal triggers the second switch circuit to turn on; and the first switch signal and the second switch signal have the same timing and opposite level states, and the first switch circuit and the second switch circuit are both triggered at a low level or a high level, so that the PDE of the detector can be dynamically adjusted according to a certain timing.

[0020] In one possible design, the first switching signal and the second switching signal are obtained by level-converting the control signal. In this design, the first switching signal and the second switching signal with the same timing but opposite level states can be obtained by level-converting the control signal.

[0021] In one possible design, the timing and level of the control signal are determined based on the laser's emission timing and the detector's reception timing. This design combines the laser's emission timing and the detector's reception timing to determine the timing and level of the control signal, ensuring that the control signal matches the operating conditions of the laser and detector. This helps enhance the detector's PDE regulation and thus improves its detection performance.

[0022] In second aspect, an embodiment of the present application provides an adjustment device, which includes a control module and an adjustment module; the control module is used to generate an adjustment voltage based on the stray light received by the detector; the adjustment module is used to adjust the power supply voltage of the detector according to the adjustment voltage to obtain the target voltage of the detector; wherein the target voltage is used to adjust the photon detection efficiency PDE of the detector.

[0023] In one possible design, the control module generates an adjustment voltage based on the stray light received by the detector, including: obtaining a mapping relationship between the peak light intensity of the stray light and the adjustment voltage of the detector; and determining the adjustment voltage based on the stray light and the mapping relationship.

[0024] In one possible design, the target voltage and the supply voltage switch input detectors at different times.

[0025] In one possible design, the target voltage and the supply voltage switch input detectors at different times, including: the target voltage and the supply voltage switch input detectors in different frames; or, the target voltage and the supply voltage switch input detectors in different time slots; or, the target voltage and the supply voltage switch input detectors when triggered by different events.

[0026] In one possible design, the regulating device also includes a first switching circuit and a second switching circuit, and the first switching circuit and the second switching circuit are respectively connected to the detector; the target voltage and the supply voltage are switched and input into the detector at different times, including: the target voltage is input into the detector when the first switching circuit is turned on; the first switching circuit is triggered by the first switching signal; the supply voltage is input into the detector when the second switching circuit is turned on; the second switching circuit is triggered by the second switching signal; wherein, the timing of the first switching signal and the second switching signal is the same, and the level states of the first switching signal and the second switching signal are opposite; the first switching circuit and the second switching circuit are both low-level triggered or high-level triggered.

[0027] In a possible design, the first switching signal and the second switching signal are obtained by performing level conversion on the control signal.

[0028] In a possible design, the timing and level state of the control signal are determined by the control module according to the emission timing of the laser and the reception timing of the detector.

[0029] In a possible design, the mapping relationship is obtained by analyzing the peak intensity of stray light and the adjustment voltage of the detector at different temperatures.

[0030] In one possible design, the peak intensity of stray light is linearly related to the adjustment voltage of the detector at the same temperature.

[0031] In a third aspect, an embodiment of the present application further provides a detection device, which includes a detector and an adjustment device as described in the second aspect and any one of the second aspects. Optionally, the detection device further includes a laser.

[0032] In a fourth aspect, an embodiment of the present application further provides an electronic device, which includes the detection device as described in the third aspect.

[0033] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed by a communication device, the method as described in the first aspect and any one of the first aspects is implemented.

[0034] In a sixth aspect, an embodiment of the present application further provides a chip, which reads a computer program stored in a memory and executes the method as described in the first aspect and any one of the first aspects.

[0035] In a seventh aspect, an embodiment of the present application further provides a computer program product, comprising: a computer program code, wherein when the computer program code is executed, the method as described in the first aspect and any one of the first aspects is implemented.

[0036] For the technical effects that can be achieved by any possible design in any of the second and seventh aspects mentioned above, please refer to the technical effects that can be achieved by any possible design in the first aspect mentioned above or in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG1A is a schematic diagram of the ranging accuracy of a detector provided in an embodiment of the present application;

[0038] FIG1B is a schematic diagram of the reflectivity accuracy of the detector provided in an embodiment of the present application;

[0039] FIG2 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0040] FIG3 exemplarily shows a schematic diagram of an application scenario of a laser radar provided in an embodiment of the present application;

[0041] FIG4 shows one of the schematic diagrams of the architecture of a laser radar provided in an embodiment of the present application;

[0042] FIG5 is a schematic flow chart of an adjustment method provided in an embodiment of the present application;

[0043] FIG6A is a schematic diagram showing the mapping relationship between the peak intensity of stray light and the preset operating voltage of the detector at different temperatures provided in an embodiment of the present application;

[0044] FIG6B is a schematic diagram showing the mapping relationship between the average intensity of stray light and the preset operating voltage of the detector at different temperatures provided in an embodiment of the present application;

[0045] FIG7 is a schematic diagram showing the mapping relationship between the detector's operating voltage and the detector's PDE;

[0046] FIG8 is a schematic diagram showing a scenario in which the target voltage and the supply voltage are dynamically switched into the input detector;

[0047] FIG9 is a schematic structural diagram of an adjustment device provided in an embodiment of the present application;

[0048] FIG10 shows a second schematic diagram of the architecture of a laser radar provided in an embodiment of the present application;

[0049] FIG11 shows a third schematic diagram of the architecture of a laser radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The specific operating methods in the method embodiments can also be applied to device embodiments or system embodiments. It should be noted that in the description of the present application, "at least one" refers to one or more, wherein "a plurality" refers to two or more. In view of this, "a plurality" can also be understood as "at least two" in the embodiments of the present application. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the previous and next associated objects are in an "or" relationship. In addition, it should be understood that in the description of the present application, words such as "first" and "second" are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0051] In the embodiments of the present application, "connection" can be understood as electrical connection. The connection between two electrical components can be a direct or indirect connection between the two electrical components. For example, the connection between A and B can be either a direct connection between A and B or an indirect connection between A and B through one or more other electrical components. For example, the connection between A and B can also be a direct connection between A and C, and C and B can be directly connected, with A and B connected through C.

[0052] The present application provides a regulation method, regulation device, and detection device. In this method, a regulation voltage is generated based on stray light received by a detector 200, and the supply voltage of the detector 200 is adjusted based on the regulation voltage to obtain a target voltage for the detector 200. This target voltage is used to regulate the PDE of the detector 200, thereby effectively improving the detection performance of the detector 200.

[0053] The following will introduce the system architecture involved in the embodiments of the present application with reference to specific drawings.

[0054] FIG2 shows a detection device provided in an embodiment of the present application. The detection device 1000 may include a laser 100 , a detector 200 , and an adjustment device 300 .

[0055] Among them, the laser 100 can emit a detection light signal to the target, and the detector 200 can receive the echo signal and stray light reflected by the target; the adjustment device 300 can generate an adjustment voltage according to the stray light received by the detector 200, and adjust the power supply voltage of the detector 200 according to the adjustment voltage to obtain the target voltage of the detector 200. The target voltage can be used to adjust the PDE of the detector 200 to improve the detection performance of the detector 200.

[0056] The detection device 1000 can be, for example, a laser radar, which is not specifically limited in the embodiments of the present application. The laser 100 can be a single laser, or a laser chain formed by multiple lasers connected in series, or a laser ring formed by multiple lasers connected in parallel, or a laser array formed by multiple lasers connected in series and in parallel. The type of laser can be an edge emitting laser (EEL) or a surface emitting laser (SEL), which is not specifically limited. The detector 200 can be, for example, one or more of a silicon carbide avalanche photodiode (SiC APD), a single photon avalanche diode (SPAD), or a silicon photomultiplier (SiPM).

[0057] The following detection device 1000 takes a laser radar as an example to provide a more detailed introduction to the solution of the embodiment of the present application.

[0058] FIG3 exemplarily shows a schematic diagram of an application scenario of a laser radar provided in an embodiment of the present application. In this example, the laser radar is installed on a vehicle, so it is also called a vehicle-mounted laser radar. In addition to vehicle-mounted laser radars, laser radars also include ship-mounted laser radars installed on ships, or airborne laser radars installed on machines, etc. In a possible example, as shown in FIG3 , the laser radar can be installed at the front of the vehicle, so that during the driving of the vehicle, the laser radar can emit a laser signal, which will be reflected by the object after being irradiated by the object, and the reflected target echo signal can be received by the laser radar, and then the laser radar detects the environmental information around the vehicle based on the target echo signal, so as to use the environmental information to assist or control the driving functions of the vehicle, such as including but not limited to automatic driving or assisted driving.

[0059] It should be noted that the above-mentioned laser radar can be a mechanical laser radar, a liquid laser radar, a pure solid-state laser radar, or a hybrid solid-state laser radar (also known as a semi-solid-state laser radar), or it can also be other types of laser radars, and this embodiment of the application does not specifically limit this. In addition, the shell of the laser radar can be a rectangular parallelepiped, a cube, a cylinder, a ring, or a special shape, and this embodiment of the application does not specifically limit the shape of the shell of the detection device.

[0060] For further example, FIG4 shows a schematic diagram of the internal architecture of a laser radar provided in an embodiment of the present application. As shown in FIG4 , the laser radar 400 may include a control circuit 410, a transmitting module 420, a scanning module 430, and a receiving module 440. The transmitting module 420 and the receiving module 440 include optical elements, such as one or more of lenses, filters, polarizers, reflectors, beam splitters, prisms, windows, and scatterers. The specific number and type of optical elements included are related to the optical design of the transmitting module 420 and the receiving module 440 in the laser radar 400, and are not specifically limited in the embodiment of the present application.

[0061] The control circuit 410 may include at least one integrated circuit chip, for example, the control circuit 410 may include at least one processor, and when including multiple processors, the types of the processors included may be the same or different. A processor is an element or circuit with processing capabilities, for example, including one or more of the following types: a general-purpose processor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a neural-network processing unit (NPU), a graphics processing unit (GPU), an application processor (AP), a modem processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), a baseband processor, a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic device (PLD) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components or other integrated chips. A general-purpose processor includes, for example, a central processing unit (CPU). In addition, all or part of the integrated circuit chips included in the control circuit 410 can be integrated together to present a system on chip (SoC). The above-mentioned adjustment device 300 can be implemented by the control circuit 410.

[0062] The emission module 420 may include at least one laser (eg, the laser 100 ). The at least one laser may be connected in series or in parallel to emit a detection laser under the control of the control circuit 410 .

[0063] The scanning module 430 may include one or more of a polygonal rotating mirror, an oscillating mirror, a micro-electromechanical system (MEMS) scanning mirror, or a prism. It is used to change the scanning angle of the detection laser emitted by the transmitting module 420 under the control of the control circuit 410 so that the detection laser can scan target objects in the environment. The implementation of the scanning module 430 varies among different types of lidars, and some types of lidars do not have a scanning module, such as the phased array radar in a solid-state lidar. Furthermore, the detection laser can be reflected by target objects in the environment, generating an echo signal. After the detection laser emitted by the transmitting module 420 passes through the scanning module 430, a portion of the detection laser is reflected by the mounting screen layer in the lidar, resulting in stray light. The mounting screen layer is a precision metal template that, in some cases, can be installed in a small area within the lidar's exit window or on a structural component surrounding the lidar's exit window.

[0064] The receiving module 440 may include at least one detector (e.g., detector 200), and the at least one detector 200 may be connected in series or in parallel, and is used to receive the echo signal and stray light corresponding to the detection laser under the control of the control circuit 410, and convert the stray light into an electrical signal (i.e., a light intensity signal) and send it to the control circuit 410. The control circuit 410 adjusts the operating voltage of the detector 200 according to the stray light.

[0065] It should be noted that the laser radar 400 may also include more or fewer components than those shown in FIG. 4 , and this embodiment of the present application does not specifically limit this.

[0066] FIG5 shows an adjustment method provided by an embodiment of the present application. The method can be implemented by an adjustment device 300 , and the method includes:

[0067] S501 : The adjustment device 300 generates an adjustment voltage according to the stray light received by the detector 200 .

[0068] In the embodiment of the present application, the regulating device 300 generates a regulating voltage according to the stray light received by the detector 200, which may include but is not limited to the following implementations:

[0069] In Embodiment 1, the adjustment device obtains a mapping relationship 1 between the peak intensity of stray light and the adjustment voltage of the detector 200, and determines the adjustment voltage based on the stray light and the mapping relationship 1. The mapping relationship 1 can reflect the correlation between the peak intensity of the stray light and the adjustment voltage of the detector 200. Based on the mapping relationship 1 and the stray light currently received by the detector 200, the adjustment voltage corresponding to the operating voltage of the detector 200 is determined.

[0070] Among them, mapping relationship 1 is obtained by analyzing the peak light intensity of stray light and the adjustment voltage of the detector 200 at different temperatures. In addition, the peak light intensity of stray light and the adjustment voltage of the detector 200 can be linearly related at the same temperature. Among them, the adjustment voltage of the detector 200 is the difference between the current operating voltage of the detector 200 and the preset operating voltage of the detector 200. Therefore, mapping relationship 1 can be determined based on the mapping relationship between the peak light intensity of stray light and the preset operating voltage of the detector 200 at different temperatures as shown in Figure 6A. In Figure 6A, the vertical axis is the peak light intensity of stray light and the horizontal axis is the preset operating voltage of the detector 200. It can be seen from Figure 6A that the peak light intensity of stray light and the preset operating voltage of the detector 200 can be linearly related at the same temperature.

[0071] In Embodiment 2, the adjustment device 300 obtains a mapping relationship 2 between the average intensity of stray light and the adjustment voltage of the detector 200, and determines the adjustment voltage based on the stray light and the mapping relationship 2. The mapping relationship 2 may reflect the correlation between the average intensity of the stray light and the adjustment voltage of the detector 200. Based on the mapping relationship 2 and the stray light currently received by the detector 200, the adjustment voltage corresponding to the operating voltage of the detector 200 is determined.

[0072] Similarly, mapping relationship 2 is obtained by analyzing the average intensity of stray light at different temperatures and the adjustment voltage of the detector 200. In addition, the average intensity of stray light and the adjustment voltage of the detector 200 can be linearly related at the same temperature. The adjustment voltage of the detector 200 is the difference between the current operating voltage of the detector 200 and the preset operating voltage of the detector 200. Therefore, mapping relationship 2 can be determined based on the mapping relationship between the average intensity of stray light at different temperatures and the preset operating voltage of the detector 200 as shown in FIG6B . In FIG6B , the vertical axis is the average intensity of stray light and the horizontal axis is the preset operating voltage of the detector 200. As can be seen from FIG6B , the average intensity of stray light and the preset operating voltage of the detector 200 can be linearly related at the same temperature.

[0073] In Embodiment 3, the adjustment device 300 obtains mapping relationship 1 between the peak intensity of stray light and the adjustment voltage of the detector 200, and mapping relationship 2 between the average intensity of stray light and the adjustment voltage of the detector 200, and determines the adjustment voltage based on the stray light, mapping relationship 1, and mapping relationship 2. In this way, by combining mapping relationship 1 and mapping relationship 2 to determine the adjustment voltage of the detector 200, more precise adjustment of the operating voltage of the detector 200 can be achieved.

[0074] S502 , the regulating device 300 regulates the power supply voltage of the detector 200 according to the regulating voltage to obtain a target voltage of the detector 200 ; wherein the target voltage is used to regulate the PDE of the detector 200 .

[0075] In the adjustment method shown in FIG5 , the adjustment device 300 can generate an adjustment voltage for adjusting the power supply voltage of the detector (i.e., the voltage directly supplied to the detector by the power supply) based on the stray light received by the detector. After adjusting the power supply voltage of the detector based on the adjustment voltage, a target voltage of the detector can be obtained, and the target voltage can be used as the operating voltage of the detector. There is a linear mapping relationship between the operating voltage of the detector and the PDE of the detector. Therefore, when the target voltage is used as the operating voltage of the detector, the PDE can be adjusted according to the target voltage, so that the PDE is a non-fixed value. Since the target voltage changes with the change of stray light, the PDE will also change with the change of the target voltage. Therefore, the PDE of the detector may have high PDE values ​​and low PDE values. The value of PDE directly affects the number of photons that the detector effectively captures and converts into usable signals. When the PDE value is high, the detector can more effectively detect and convert weak photons in low-intensity echo signals; when the PDE value is low, the detector can effectively detect and convert photons in high-intensity echo signals. In this way, the detection range of the detector is effectively expanded, so that the detector can effectively detect and convert photons in low-intensity echo signals, as well as photons in high-intensity echo signals, which helps to improve the detector's target recognition ability and measurement accuracy.

[0076] For example, for the same target, under high PDE values, the detector can detect and convert weak photons in the low-intensity echo signal reflected by the target to form a corresponding point cloud; under low PDE values, the detector can effectively detect and convert photons in the high-intensity echo signal reflected by the target to form a corresponding point cloud; combining the point cloud formed under high PDE values ​​and the point cloud formed under low PDE values ​​for the same target can effectively improve the detector's recognition ability and measurement accuracy for the target.

[0077] In an embodiment of the present application, both the supply voltage and the target voltage can be used as the working voltage of the detector 200. The supply voltage is the voltage directly provided by the power supply to the detector 200, and the target voltage is the voltage obtained after adjusting the supply voltage. The target voltage and the supply voltage can be switched and input into the detector 200 at different times to achieve dynamic adjustment of the working voltage of the detector 200, thereby improving the PDE of the detector 200. For example, Figure 7 shows a schematic diagram of the mapping relationship between the working voltage of the detector 200 and the PDE of the detector 200. When the working voltage of the detector 200 is the target voltage, the adjustment device 300 can adjust the PDE of the detector 200 based on the target voltage, thereby effectively improving the detection performance of the detector 200. For example, at 30°C, when the target voltage is -21.5V, the PDE of the detector 200 is adjusted to 0.34; for another example, at 30°C, when the target voltage is -21V, the PDE of the detector 200 is adjusted to 0.28.

[0078] In the embodiment of the present application, multiple methods of dynamically switching the target voltage and the supply voltage to input detector 200 are provided, including but not limited to the following implementations:

[0079] In mode 1, the target voltage and the supply voltage are switched and input into the detector 200 in different frames.

[0080] In mode 1, the regulating device 300 can control the target voltage and the supply voltage to switch between the inputs to the detector 200 in different frames (ie, millisecond level) through a logic configuration signal, thereby improving the detection performance of the detector 200 .

[0081] In mode 2, the target voltage and the supply voltage are switched into the detector 200 at different time slots.

[0082] In mode 2, the regulating device 300 can control the target voltage and the supply voltage to switch to the input detector 200 at different time slots (ie, microsecond level) through a logic configuration signal, thereby improving the detection performance of the detector 200.

[0083] Mode 3: The target voltage and the supply voltage are switched into the input detector 200 under the trigger of different events.

[0084] In mode 3, the regulating device 300 can configure events to control the target voltage and the supply voltage to switch input to the detector 200 under the trigger of different events (i.e., nanosecond level), which can effectively improve the flexibility of dynamically switching the target voltage and the supply voltage to the input detector 200. The event can be, for example, a pulse signal with a certain time sequence.

[0085] Mode 4: The target voltage is input to the detector 200 when the first switching circuit is turned on; the first switching circuit is triggered by a first switching signal; the supply voltage is input to the detector 200 when the second switching circuit is turned on; and the second switching circuit is triggered by a second switching signal. The first and second switching signals have the same timing and opposite levels; and both the first and second switching circuits are triggered at either a low or high level. This allows for dynamic adjustment of the PDE of the detector 200 according to a specific timing sequence. The first and second switching signals can be obtained by the adjustment device 300 by level-converting a control signal. The timing and level of the control signal are determined based on the emission timing of the laser 100 and the reception timing of the detector 200. By combining the emission timing of the laser 100 and the reception timing of the detector 200 to determine the timing and level of the control signal, the control signal matches the operating conditions of the laser and detector 200, enhancing the PDE adjustment effect of the detector 200 and thus improving the detection performance of the detector 200.

[0086] For example, see Figure 8, which shows a schematic diagram of a scenario in which the target voltage and the supply voltage are dynamically switched and input to the detector 200. The adjustment device 300 generates the control signal shown in Figure 8 based on the emission timing of the laser 100 and the reception timing of the detector 200, and further performs level conversion on the control signal to obtain a first switching signal and a second switching signal. The first switching signal and the control signal have the same timing but opposite level states, while the second switching signal has the same timing and the same level state as the control signal.

[0087] In one scenario, both the first switch circuit and the second switch circuit are triggered by a high-level signal. Specifically, when the first switch signal is at a high level, the first switch circuit is triggered to turn on. At this time, the target voltage can be input to the detector 200 as the operating voltage of the detector 200. Since the target voltage is obtained by adjusting the power supply voltage of the detector 200, the adjustment device 300 can adjust the PDE of the detector 200 based on the target voltage to improve the stability of the PDE. When the first switch signal is at a high level, the second switch signal is at a low level. At this time, the second switch circuit is in a closed state, and the power supply voltage of the detector 200 is not input to the detector 200. Correspondingly, when the first switch signal is at a low level, the first switch circuit is in a closed state, and the target voltage is not input to the detector 200. When the first switch signal is at a low level, the second switch signal is at a high level. At this time, the second switch signal triggers the second switch circuit to turn on. At this time, the power supply voltage of the detector 200 is input to the detector 200 as the operating voltage of the detector 200.

[0088] In another scenario, both the first switch circuit and the second switch circuit are triggered by a low-level signal. Specifically, when the first switch signal is at a low level, the first switch circuit is triggered to turn on. At this time, the target voltage can be input to the detector 200 as the operating voltage of the detector 200. Since the target voltage is obtained by adjusting the power supply voltage of the detector 200, the adjustment device 300 can adjust the PDE of the detector 200 based on the target voltage to improve the stability of the PDE. When the first switch signal is at a low level, the second switch signal is at a high level. At this time, the second switch circuit is in a closed state, and the power supply voltage of the detector 200 is not input to the detector 200. Correspondingly, when the first switch signal is at a high level, the first switch circuit is in a closed state, and the target voltage is not input to the detector 200. When the first switch signal is at a high level, the second switch signal is at a low level. At this time, the second switch signal triggers the second switch circuit to turn on. At this time, the power supply voltage of the detector 200 is input to the detector 200 as the operating voltage of the detector 200.

[0089] In an embodiment of the present application, the above-mentioned first switching circuit and the second switching circuit can be arranged in the detection device 1000, the first switching circuit can be connected to the detector 200 and the adjustment device 300 in the detection device 1000, respectively, and the second switching circuit can be connected to the detector 200 and the power supply in the detection device 1000, respectively. Among them, the first switching circuit and the second switching circuit can be implemented by one or more switching devices. The switching device can be, for example, one or more of various types of switching tubes such as a relay, a metal oxide semiconductor field effect transistor (MOSFET), a bipolar junction transistor (BJT), and an insulated gate bipolar transistor (IGBT), which are not listed one by one in the embodiment of the present application.

[0090] As shown in FIG9 , the regulating device 300 may include a control module 310 and a regulating module 320 ; wherein the control module 310 may generate a regulating voltage based on the stray light received by the detector 200 ; and the regulating module 320 may regulate the power supply voltage of the detector 200 based on the regulating voltage to obtain a target voltage of the detector 200 . The control module 310 may be any one of a microcontroller unit (MCU), a general-purpose central processing unit (CPU), a general-purpose processor, a digital signal processing (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), etc., or may be any one or more combinations of other programmable logic devices, transistor logic devices, and hardware components. The regulating module 320 may be implemented by an operational amplifier circuit, such as an operational amplifier or a comparator amplifier.

[0091] For example, when the detection device 1000 is the laser radar 400 shown in FIG10 , the receiving module 440 in the laser radar 400 is the detector 200 , the control circuit 410 in the laser radar 400 is the control module 310 in the regulating device 300 , and the operational amplifier circuit in the laser radar 400 is the regulating module 320 in the regulating device 300 . The first switch circuit is connected to the control circuit 410 , the receiving module 440 , and the operational amplifier circuit, respectively. The second switch circuit is connected to the control circuit 410 , the receiving module 440 , and the power supply in the laser radar 400 . The power supply can provide a supply voltage to the receiving module 440 , and the supply voltage can be input to the operational amplifier circuit and the second switch circuit respectively. After the control circuit 410 generates a regulating voltage based on the stray light received by the receiving module 440 , the regulating voltage can be input to the operational amplifier circuit. The operational amplifier circuit adjusts the supply voltage based on the regulating voltage to obtain a target voltage, and the target voltage is input to the first switch circuit. The control circuit 410 can generate a first switching signal and a second switching signal, and input the first switching signal to the first switching circuit. The first switching circuit, when triggered by the first switching signal, controls the target voltage to be input to the receiving module 440. Furthermore, the control circuit 410 can input the second switching signal to the second switching circuit. The second switching circuit, when triggered by the second switching signal, controls the target voltage to be input to the receiving module 440. Specifically, when the first switching signal triggers the first switching circuit to turn on, the target voltage is input to the receiving module 440 as the operating voltage of the receiving module 440. When the second switching signal triggers the second switching circuit to turn on, the supply voltage is input to the receiving module 440 as the operating voltage of the receiving module 440.

[0092] In other embodiments of the present application, the control module 310 and the adjustment module 320 in the adjustment device 300 can be integrated into one module. When the control module 310 and the adjustment module 320 are integrated into one module, this module can, for example, be the control circuit 410 in the laser radar 400 shown in FIG11 . In FIG11 , the power supply in the laser radar 400 is connected to the control circuit 410 and the second switching circuit, respectively. The power supply provides a supply voltage to the control circuit 410 and the second switching circuit, respectively. After the control circuit 410 generates an adjustment voltage based on the stray light received by the receiving module 440, it can adjust the supply voltage based on the adjustment voltage to obtain a target voltage and input the target voltage into the first switching circuit. Furthermore, the control circuit 410 generates a first switching signal and a second switching signal, and inputs the first switching signal to the first switching circuit. The first switching circuit, triggered by the first switching signal, controls the target voltage to be input into the receiving module 440. Furthermore, the control circuit 410 can input a second switching signal to the second switching circuit. The second switching circuit, triggered by the second switching signal, controls the target voltage to be input into the receiving module 440.

[0093] An embodiment of the present application further provides an electronic device, which includes the detection device described above. The electronic device may be, for example, a car, an airplane, a ship, a humanoid robot, or the like.

[0094] An embodiment of the present application provides a computer-readable storage medium for storing a computer program or instruction, which, when executed, implements any of the aforementioned adjustment methods. The computer-readable storage medium may be any available medium that a computing device can store or a data storage device such as a data center containing one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive).

[0095] The present application provides a computer program product comprising instructions that, when executed on a computer, implements any of the aforementioned adjustment methods. The computer program product may be software or a program product comprising instructions that can be executed on a computing device or stored in any available medium.

[0096] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. Of course, the processor and the storage medium can also exist in a base station or a terminal as discrete components.

[0097] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0098] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0099] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A regulation method, characterized in that, The method includes: Generating an adjustment voltage according to the stray light received by the detector; Adjusting the supply voltage of the detector according to the adjustment voltage to obtain the target voltage of the detector; wherein, the target voltage is used to adjust the photon detection efficiency (PDE) of the detector.

2. The method according to claim 1, wherein Generating an adjustment voltage according to the stray light received by the detector includes: Obtaining the mapping relationship between the peak light intensity of the stray light and the adjustment voltage of the detector; Determining the adjustment voltage according to the stray light and the mapping relationship.

3. The method according to claim 1 or 2, characterized in that, The target voltage and the supply voltage are switched and input into the detector at different times.

4. The method according to claim 3, wherein The target voltage and the supply voltage are switched and input into the detector at different times, including: The target voltage and the supply voltage are switched and input into the detector in different frames; or, The target voltage and the supply voltage are switched and input into the detector in different time slots; or, The target voltage and the supply voltage are switched and input into the detector triggered by different events.

5. The method according to claim 3, characterized in that, The target voltage and the supply voltage are switched and input into the detector at different times, including: The target voltage is input into the detector when the first switch circuit is turned on; the first switch circuit is triggered by a first switch signal; The supply voltage is input into the detector when the second switch circuit is turned on; the second switch circuit is triggered by a second switch signal; Wherein, the timing of the first switch signal is the same as that of the second switch signal, and the level states of the first switch signal and the second switch signal are opposite; both the first switch circuit and the second switch circuit are triggered by low level or high level.

6. The method according to claim 5, characterized in that, The first switch signal and the second switch signal are obtained by performing level conversion on a control signal.

7. The method according to claim 6, wherein The timing and level state of the control signal are determined according to the emission timing of the laser and the reception timing of the detector.

8. The method according to any one of claims 2-7, characterized in that, The mapping relationship is obtained by analyzing the peak light intensity of the stray light and the adjustment voltage of the detector at different temperatures.

9. The method according to any one of claims 2-8, characterized in that The peak light intensity of the stray light and the adjustment voltage of the detector are linearly related at the same temperature.

10. An adjusting device, characterized in that, It includes a control module and an adjustment module; The control module is configured to generate an adjustment voltage according to the stray light received by the detector; The adjustment module is configured to adjust the supply voltage of the detector according to the adjustment voltage to obtain the target voltage of the detector; wherein, the target voltage is used to adjust the photon detection efficiency (PDE) of the detector.

11. The device according to claim 10, characterized in that, The control module generating an adjustment voltage according to the stray light received by the detector includes: Obtaining the mapping relationship between the peak light intensity of the stray light and the adjustment voltage of the detector; Determining the adjustment voltage according to the stray light and the mapping relationship.

12. The device according to claim 10 or 11, characterized in that, The target voltage and the supply voltage are switched and input into the detector at different times.

13. The device according to claim 12, characterized in that, The target voltage and the supply voltage are switched and input into the detector at different times, including: The target voltage and the supply voltage are switched and input into the detector in different frames; or, The target voltage and the supply voltage are switched and input into the detector in different time slots; or, The target voltage and the power supply voltage are switched and input into the detector under the trigger of different events.

14. The device according to claim 12, characterized in that, The adjustment device further includes a first switch circuit and a second switch circuit, and the first switch circuit and the second switch circuit are respectively connected to the detector; The target voltage and the power supply voltage are switched and input into the detector at different times, including: The target voltage is input into the detector when the first switch circuit is turned on; the first switch circuit is triggered by a first switch signal; The power supply voltage is input into the detector when the second switch circuit is turned on; the second switch circuit is triggered by a second switch signal; Wherein, the timing of the first switch signal is the same as that of the second switch signal, and the level states of the first switch signal and the second switch signal are opposite; both the first switch circuit and the second switch circuit are triggered by low level or high level.

15. The device according to claim 14, wherein, The first switch signal and the second switch signal are obtained by performing level conversion on a control signal.

16. The device according to claim 15, wherein, The timing and level state of the control signal are determined by the control module according to the emission timing of the laser and the reception timing of the detector.

17. The device according to any one of claims 11-16, characterized in that, The mapping relationship is obtained by analyzing the peak light intensity of stray light and the adjustment voltage of the detector at different temperatures.

18. The device according to any one of claims 11-17, characterized in that, The peak light intensity of the stray light and the adjustment voltage of the detector are linearly related at the same temperature.

19. A detection device, characterized in that, It includes a detector and the adjustment device according to any one of claims 10-18.

20. A computer-readable storage medium, characterized in that, A computer program or instruction is stored in the computer-readable storage medium, and when the computer program or instruction is executed by a communication device, the method according to any one of claims 1-9 is implemented.

21. A chip, characterized in that, The chip reads the computer program stored in the memory and executes the method according to any one of claims 1-9.

Images