CN111123285A - Signal receiving system and method based on array type sensor and array type sensor - Google Patents
Signal receiving system and method based on array type sensor and array type sensor Download PDFInfo
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The invention provides a signal receiving system and method based on an array type sensor and the array type sensor, and relates to the technical field of microelectronics. In the signal receiving system, the control unit generates a demodulation signal by generating an electric signal based on the signal generated by the signal receiving unit, and instructs the signal receiving unit to receive an external signal based on the demodulation signal based on the generated demodulation signal. Through the updating of the demodulation signal, the control unit can control the signal conversion unit to update the signal receiving time sequence so as to change the receiving time length and/or the time point of starting receiving, which is beneficial to receiving the echo signal with a narrower pulse width at a position closer to the echo, thereby effectively inhibiting the interference of background light, effectively improving the signal-to-noise ratio of the received signal and improving the ranging precision.
Description
Technical Field
The present disclosure relates to the field of microelectronic technologies, and in particular, to a signal receiving system and method based on an array sensor, and an array sensor.
Background
With the development of microelectronic technology, array sensors such as image sensors are widely used for receiving external signals such as optical signals and acoustic signals in various fields, and therefore, the signal receiving capability is an important performance index of the array sensors.
In the prior art, more signals can be received by increasing the area of the array units in the array type sensor or prolonging the integration time of the received signals, but increasing the area of the array units will reduce the number of the array units in the array type sensor and reduce the measurement accuracy of the array type sensor, while increasing the integration time will receive more reference signals while receiving more target signals, and reduce the signal-to-noise ratio of the system, thereby reducing the measurement accuracy of the array type sensor.
Disclosure of Invention
The invention aims to provide a signal receiving system and method based on an array type sensor and the array type sensor, and aims to solve the problem that in the prior art, the target signal received by the array type sensor is weak in energy, so that the distance measurement precision is low.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, the present application proposes an array-type sensor-based signal receiving system, comprising at least one array module, each of the array modules comprising at least one array unit, each of the array units comprising a control unit and at least one signal receiving unit;
the signal receiving unit is used for receiving an external signal based on a corresponding first demodulation signal and generating a corresponding electric signal, wherein the first demodulation signal is generated by the control unit;
the control unit is configured to generate at least one second demodulation signal based on the electrical signal generated by the signal receiving unit, where each second demodulation signal is used to instruct a corresponding signal receiving unit to receive the external signal based on the second demodulation signal, and the second demodulation signal is within the range of the first demodulation signal.
Optionally, the signal receiving unit includes: a signal conversion unit and an integration unit;
the signal conversion unit is used for receiving an external signal based on the corresponding first demodulation signal, generating a corresponding electric signal and sending the electric signal to the integration unit;
the integration unit is configured to receive the electrical signal based on a corresponding first demodulation signal.
Optionally, the system further includes a signal processing unit connected to each signal receiving unit, and configured to process the electrical signals output by each integrating unit to obtain corresponding processing results, generate target demodulation signal parameters based on the processing results and a preset demodulation signal update rule, and send the target demodulation signal parameters to corresponding control units; the control unit is configured to generate at least one second demodulation signal based on the target demodulation signal parameter, where each second demodulation signal is used to instruct a corresponding signal conversion unit to receive the external signal based on the second demodulation signal.
Optionally, the first demodulated signal and the second demodulated signal comprise at least one of a time signal, an electrical signal, a thermal signal, a magnetic signal, an acoustic signal, an energy signal, and a distance signal.
Optionally, each integration unit is connected to the signal conversion unit and the signal processing unit in communication;
the integration unit is further configured to receive the electrical signal transferred by the signal conversion unit based on the first demodulation signal, and send the electrical signal to the signal processing unit;
the signal processing unit is further configured to generate the target demodulation signal parameter based on the preset demodulation signal update rule if it is determined that the first demodulation signal does not satisfy the preset integration condition based on the accumulated count value corresponding to the electrical signal output by each of the integration units and the electrical signal, and send the target demodulation signal parameter to the control unit.
Optionally, the first demodulation signal is a time signal, the array unit includes at least two integration units, each of the integration units is used for receiving the electric signal generated by the signal conversion unit, wherein at least two integration units are configured as a group; the signal processing unit is further configured to determine that the first demodulation signal does not satisfy the preset integration condition if a ratio of a current pulse width of the first demodulation signal to a pulse width of a target signal is not a first preset ratio, and/or there is no difference between signal quantities corresponding to the at least two integration units, where the signal quantity corresponding to the integration unit is determined according to the accumulated count value corresponding to the electrical signal output by the integration unit, and the external signal includes the target signal.
Optionally, the signal processing unit is further configured to obtain a maximum semaphore from the at least two semaphores, obtain a current phase of the first demodulated signal corresponding to the maximum semaphore as a target phase, and/or reduce a current pulse width of the first demodulated signal by a preset value to obtain a target pulse width; determining the target phase and/or the target pulse width as the target demodulated signal parameter.
Optionally, the array type sensor includes an image sensor, and the external signal includes a target signal reflected by an object to be detected and a reference signal;
the signal processing unit is further configured to determine the distance of the object to be detected based on the accumulated count value corresponding to the electrical signal output by each of the integrating units if it is determined that the first demodulation signal satisfies a preset integration condition based on the accumulated count value corresponding to the electrical signal output by each of the integrating units.
Optionally, each array module further includes a comparing unit and a counting unit, and each array unit is respectively connected to the comparing unit and the counting unit in communication;
the comparison unit is used for comparing the electric signal with a first preset electric signal and sending a comparison result to the counting unit;
and the counting unit is used for determining an accumulated count value corresponding to the electric signal output by the integrating unit based on the comparison result.
In a second aspect, the present application further provides an array-type sensor-based signal receiving method, which is applied to the array-type sensor-based signal receiving system of the first aspect, where the system includes at least one array module and a signal processing unit, each array module is communicatively connected to the signal processing unit, each array module includes at least one array unit, each array unit includes a control unit and at least one signal receiving unit, and the signal receiving unit includes: a signal conversion unit and an integration unit; the method comprises the following steps:
the signal conversion unit receives an external signal based on a corresponding first demodulation signal, generates a corresponding electric signal and sends the electric signal to the integration unit, wherein the first demodulation signal is generated by the control unit;
the integration unit receives the electrical signal based on the corresponding first demodulation signal;
the signal processing unit processes the electric signals generated by the signal conversion units to obtain corresponding processing results, generates target demodulation signal parameters based on the processing results and a preset demodulation signal updating rule, and sends the target demodulation signal parameters to corresponding control units;
the control unit generates at least one second demodulation signal based on the target demodulation signal parameter, and each second demodulation signal is used for instructing the corresponding signal conversion unit to receive the external signal based on the second demodulation signal.
Optionally, the integrating unit further receives the electrical signal transferred by the signal converting unit based on the first demodulated signal, and sends the electrical signal to the signal processing unit;
and if the signal processing unit determines that the first demodulation signal does not meet the preset integration condition based on the accumulated count value corresponding to the electric signal output by each integration unit and the electric signal, the signal processing unit generates the target demodulation signal parameter based on the preset demodulation signal updating rule and sends the target demodulation signal parameter to the control unit.
Optionally, the determining, by the signal processing unit, that the first demodulation signal does not satisfy a preset integration condition based on an accumulated count value corresponding to the electrical signal output by each of the integrating units and the electrical signal includes:
and if the ratio of the current pulse width of the first demodulation signal to the pulse width of the target signal is not a first preset proportion, and/or there is no difference between the signal quantities corresponding to at least two integration units, determining that the first demodulation signal does not satisfy the preset integration condition, wherein the signal quantity corresponding to the electric signal output by the integration unit is determined according to the accumulated count value corresponding to the electric signal output by the integration unit, and the external signal includes the target signal.
Optionally, generating the target demodulation signal parameter based on the preset demodulation signal update rule includes:
the signal processing unit acquires a maximum semaphore from at least two semaphores, acquires a current phase of the first demodulation signal corresponding to the maximum semaphore as a target phase, and/or reduces a current pulse width of the first demodulation signal by a preset value to obtain a target pulse width; determining the target phase and/or the target pulse width as the target demodulated signal parameter.
Optionally, if the signal processing unit determines that the first demodulation signal satisfies the preset integration condition based on the accumulated count value corresponding to the electrical signal output by each of the integrating units, the signal processing unit determines the distance to the object to be detected based on the accumulated count value corresponding to the electrical signal output by each of the integrating units.
Optionally, each array module further includes a comparing unit and a counting unit, each array unit is respectively in communication connection with the comparing unit and the counting unit, and determining an accumulated count value corresponding to the signal converting unit based on the electrical signal corresponding to the signal converting unit includes:
the comparison unit is used for comparing the electric signal with a first preset electric signal and sending a comparison result to the counting unit;
and the counting unit is used for determining an accumulated count value corresponding to the electric signal output by the integrating unit based on the comparison result.
In a third aspect, the present application also proposes an array-type sensor provided with a signal receiving system based on an array-type sensor as described in the first aspect above.
Compared with the prior art, the method has the following beneficial effects:
the present embodiment provides a signal receiving system, a method, and an array type sensor based on an array type sensor, in which a control unit generates a demodulation signal by based on an electric signal generated by a signal receiving unit, and instructs the signal receiving unit to receive an external signal based on the demodulation signal based on the generated demodulation signal. Through the updating of the demodulation signal, the control unit can control the signal conversion unit to update the signal receiving time sequence so as to change the receiving time length and/or the time point of starting receiving, which is beneficial to receiving the echo signal with a narrower pulse width at a position closer to the echo, thereby effectively inhibiting the interference of background light, effectively improving the signal-to-noise ratio of the received signal and improving the ranging precision.
And secondly, the charge reset unit is adopted to reset the corresponding integration unit, so that the accurate control of the reset charge quantity is realized, the accurate charge quantity is favorably obtained, and the ranging precision is further improved.
In addition, the system is also provided with an initial reset unit, so that when the reset signal is at a high level, the charge generated by the signal conversion unit can be controlled to be transferred to a power supply, and the ranging precision is effectively prevented from being influenced by noise caused by residual charge in the signal conversion unit.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly explain the technical solutions of the present application, the drawings needed for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also derive other related drawings from these drawings without inventive effort.
Fig. 1 is a schematic diagram of a signal receiving system based on an array sensor according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of another array-type sensor-based signal receiving system provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of another array-type sensor-based signal receiving system provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of a pulse width of a signal according to an embodiment of the present application;
fig. 5 is a schematic flowchart of a signal receiving method based on an array sensor according to an embodiment of the present disclosure.
Detailed Description
The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the invention, and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood that when an element/module is referred to as being "connected," it can be directly connected to the other element/module or intervening elements/modules may be present. In contrast, when units/modules are said to be "directly connected," there are no intervening units/modules.
Fig. 1 is a schematic diagram of a signal receiving system based on an array sensor according to an embodiment of the present disclosure, and fig. 2 is a schematic diagram of another signal receiving system based on an array sensor according to an embodiment of the present disclosure. Fig. 3 is a schematic diagram of another array-type sensor-based signal receiving system according to an embodiment of the present disclosure. The signal receiving system may include at least one array module, each array module including at least one array unit, as shown in fig. 1, each array unit including a control unit and at least one signal receiving unit.
A signal receiving unit for receiving an external signal based on a corresponding first demodulation signal generated by the control unit and generating a corresponding electrical signal.
As shown in fig. 2, the signal receiving unit may include: a signal conversion unit and an integration unit. The signal conversion unit is used for receiving an external signal based on the corresponding first demodulation signal, generating a corresponding electric signal and sending the electric signal to the integration unit; the integration unit is used for receiving the electric signal based on the corresponding first demodulation signal.
And a control unit for generating at least one second demodulation signal based on the electric signal generated by the signal receiving unit, each second demodulation signal being used for instructing the corresponding signal receiving unit to receive the external signal based on the second demodulation signal, and the second demodulation signal being in the range of the first demodulation signal.
Alternatively, the external signal may include echo information generated after the emission signal emitted by the sensor is reflected by the target object, and a background light signal. The distance between the sensor and the target object is obtained by controlling the array type sensor to receive an external signal and calculating a difference value according to the electric charge amount of an echo signal and a background light signal contained in the external signal.
Optionally, in order to improve the anti-interference capability of the sensor ranging, a demodulation signal may be introduced in this embodiment, so that only when a preset condition is met, the echo signal acquired by the signal receiving unit may be controlled to be integrated as effective radiation, and the control unit may control the signal conversion unit to update the signal receiving timing sequence to change the receiving duration and/or the time point of starting receiving, which is beneficial to receiving the echo signal at a position closer to the echo with a narrower pulse width, and thus avoiding that a received external signal has more background light signals, which results in a lower signal-to-noise ratio of the signal receiving system and affects the ranging accuracy.
In summary, in the signal receiving system based on the array sensor provided in the embodiment, the control unit generates the demodulation signal based on the electrical signal generated by the signal receiving unit, and instructs the signal receiving unit to receive the external signal based on the demodulation signal based on the generated demodulation signal. Through the updating of the demodulation signal, the control unit can control the signal conversion unit to update the signal receiving time sequence so as to change the receiving time length and/or the time point of starting receiving, which is beneficial to receiving the echo signal with a narrower pulse width at a position closer to the echo, thereby effectively inhibiting the interference of background light, effectively improving the signal-to-noise ratio of the received signal and improving the ranging precision.
Optionally, as shown in fig. 2, the signal receiving system may further include a signal processing unit, where the signal receiving unit is connected to each signal receiving unit, and is configured to process the electrical signal output by each integration unit to obtain a corresponding processing result, generate a target demodulation signal parameter based on the processing result and a preset demodulation signal update rule, and send the target demodulation signal parameter to a corresponding control unit; and the control unit is used for generating at least one second demodulation signal based on the target demodulation signal parameter, and each second demodulation signal is used for indicating the corresponding signal conversion unit to receive the external signal based on the second demodulation signal.
It should be noted that, in the signal receiving system provided in the present application, at least one signal receiving unit included in each array module may multiplex the signal processing unit. A signal processing unit may be connected to each signal receiving unit. Specifically, the signal processing unit may receive the electrical signal output by each integration unit, process the electrical signal, and calculate to obtain a processing result corresponding to each integration unit.
The processing procedure of the signal processing unit may include analog-to-digital conversion and/or calculation between digital signals, where the calculation includes addition, subtraction, multiplication, division calculation of data, calculation according to a formula, comparison operation, logic operation, and the like.
Alternatively, the signal processing unit may determine whether the current demodulation signal (the first demodulation signal) satisfies a preset condition according to the acquired processing result corresponding to the signal conversion unit, if not, generate a target demodulation signal parameter based on the processing result and a preset demodulation signal update rule, generate a second demodulation signal based on the target demodulation signal parameter, and send the generated second demodulation signal to the control unit, so that the control unit instructs the signal conversion unit to receive the external signal according to the second demodulation signal. Wherein, for different signal conversion units, the corresponding second demodulation signals may be different, and each signal conversion unit receives the external signal based on the second demodulation signal corresponding thereto.
Alternatively, the first demodulated signal and the second demodulated signal may include at least one of a time signal, an electrical signal, a thermal signal, a magnetic signal, an acoustic signal, an energy signal, and a distance signal.
Optionally, in this embodiment, taking the first demodulated signal as a time signal, the array unit includes at least two integration units, for example, where at least two of the integration units are configured as a group; each integration unit is used for receiving the electric signals generated by the signal conversion unit; the signal processing unit is further configured to determine that the first demodulation signal does not meet a preset integration condition if a ratio of a current pulse width of the first demodulation signal to a pulse width of the target signal is not a first preset ratio and/or there is no difference between signal quantities corresponding to at least two integration units, where the signal quantity corresponding to the integration unit is determined by an accumulated count value corresponding to the electrical signal output by the integration unit, and the external signal includes the target signal.
When the ratio of the current pulse width of the first demodulation signal to the pulse width of the echo signal meets a first preset proportion and the first demodulation signal is overlapped with the echo signal, it is determined that the first demodulation signal meets a preset integration condition. The signal processing unit may acquire the charge amount corresponding to each integration unit based on the current first demodulation signal, thereby determining the distance between the sensor and the target object according to the charge amount corresponding to each integration unit.
Illustratively, the pulse width of the first demodulation signal is smaller than or equal to the pulse width of the echo signal, and preferably, the ratio between the pulse width of the demodulation signal and the pulse width of the echo signal satisfies 1/K, where K is a positive integer.
And when the ratio of the current pulse width of the first demodulation signal to the pulse width of the target signal is not a first preset ratio and/or the signal quantities corresponding to the at least two integration units are not different, determining that the first demodulation signal does not meet a preset integration condition, and further generating a target demodulation signal parameter according to a preset demodulation signal updating rule by the signal processing unit.
It should be noted that the array unit includes at least two integration units, one of the integration units may be configured to receive the echo signal and the background light signal, and the other integration unit may be configured to receive the background light separately, so that the signal processing unit may perform a difference calculation according to the received echo signal and the received background light signal to obtain the distance between the sensor and the target object.
Optionally, each integration unit is in communication connection with the signal conversion unit and the signal processing unit; and the integrating unit is also used for receiving the electric signal transferred by the signal conversion unit based on the first demodulation signal and sending the electric signal to the signal processing unit.
In this embodiment, the integration unit may include a plurality of capacitors, and optionally, the integration unit is configured to transfer the received electrical signal to different capacitors based on the electrical signal generated by the received signal conversion unit and according to the input information of the control unit. The control unit can generate a plurality of demodulation signals according to the signals input by the signal processing unit, and is used for controlling the electric signals generated by the signal conversion unit to be respectively transferred to different integration units (capacitors).
And the signal processing unit is further used for generating a target demodulation signal parameter based on a preset demodulation signal updating rule and sending the target demodulation signal parameter to the control unit if the first demodulation signal is determined not to meet the preset integration condition based on the accumulated count value and the electric signal corresponding to the electric signal output by each integration unit.
In some embodiments, the signal processing unit is configured to perform cyclic processing and obtain information on an amount of charge transferred by each capacitor in the integration unit, determine whether the demodulation signal meets a preset condition, and if not, generate information for controlling an initial phase and/or a pulse width of the demodulation signal according to an update rule of a preset demodulation signal according to the amount of charge transferred by each capacitor, and input the information to the control unit; and if so, determining the distance between the sensor and the target object according to the charge amount transferred by each current capacitor. Alternatively, the information on the amount of charge transferred into the capacitor may be represented as a digital signal and/or an analog signal.
In some embodiments, the distance between the sensor and the target object is determined according to the amount of charge currently transferred into each capacitor, and the function can be implemented in the signal processing unit, and the function can also be implemented by transferring the amount of charge currently transferred into each capacitor to a subsequent unit.
Optionally, the signal processing unit is further configured to obtain a maximum semaphore from the at least two semaphores, and obtain a current phase of the first demodulated signal corresponding to the maximum semaphore as a target phase, and/or reduce a current pulse width of the first demodulated signal by a preset value to obtain a target pulse width; the target phase and/or the target pulse width are determined as target demodulation signal parameters.
It should be noted that the preset demodulation signal update rule may include: taking the current phase of the first demodulation signal corresponding to the capacitor receiving more echo signals as output phase information; and reducing the current pulse width according to a preset proportion or a preset value to be used as output pulse width information. Further, the signal processing unit adjusts the first demodulation signal by using the updated phase information and pulse width information as target demodulation signal parameters to generate at least one second demodulation signal, and sends the at least one second demodulation signal to the control unit, so that the control unit controls the electric signal generated by the signal conversion unit to be transferred to the corresponding integration unit based on the at least one second demodulation signal.
Fig. 4 is a schematic diagram of a signal pulse width according to an embodiment of the present disclosure, wherein fig. 4(a) and fig. 4(b) are schematic diagrams of signal pulse widths corresponding to two adjacent frames of images, respectively.
In order to improve the anti-interference capability of the signal receiving system, the control unit introduces a modulation signal for modulation, and generates a plurality of demodulation signals according to different states of the modulation signal, so as to receive the echo signal and the background light signal, or only receive the background light signal, as shown in fig. 4 (b). The modulated signal includes a pseudo random code including, but not limited to, an m-sequence, a Gold sequence, a GMW sequence, a Bent sequence. In the ranging application scenario, the modulated signal is simultaneously used to modulate the transmitted signal.
Taking a 4-Tap pixel as an example for describing the distance measurement principle of the present application, the 4-Tap pixel refers to a Photodiode (PD) connected to four capacitors, each capacitor receives photo-generated charges transferred out of the PD under the control of corresponding TX, the four capacitors are respectively used for receiving a background plus a part of echo (a1), the background (a2), the background plus another part of echo (A3), the background (a4), the four capacitors are configured into two groups, a1 and a2 are one group, and A3 and a4 are one group, as shown in fig. 3, a1 and A3 are respectively acquired by controlling TX1 and TX3, a2 and a4 are respectively acquired by controlling TX2 and TX4, TX control signals of the same group of capacitors have a preset phase relationship for respectively realizing a function of receiving the background plus a part of echo and a function of only receiving the background. And finally, calculating the distance from the sensor to the target object according to the following formula 1:
in the prior art, the energy of an echo signal received by an image sensor is very weak relative to the energy of a received background signal, in this case, the magnitude difference of an electric signal generated by the image sensor based on the echo signal relative to an electric signal generated based on the background signal is large, and a large calculation error may be caused if the calculation is directly based on the data. In order to reduce errors, the signal-to-noise ratio of the output signal needs to be improved to improve the ranging accuracy. As shown in fig. 4(a) and 4(b), the second frame image (fig. 4(b)) performs phase shift and pulse width reduction of the demodulation signals TX1-TX4 based on the case of the first frame image (fig. 4 (a)). In fig. 4(a), it can be determined from the calculation between a1 and a4 that all the electrical signals generated by the echo signal fall into A3, based on the determination, the signal receiving system shifts back the initial phase of the demodulated signal when the demodulated signal of the second frame is sent out, and receives the echo after the pulse width is reduced, and so on, a plurality of phase shifting and pulse width reducing processes can be performed, so as to receive the echo signal with a smaller pulse width at the echo, reduce the background light, improve the signal-to-noise ratio, and improve the ranging accuracy.
Optionally, the signal receiving system of the present application further includes an initial reset unit for generating a reset signal (TX) as shown in fig. 3RS) When TXRSWhen the signal is at high level, the signal conversion unit is controlled to generate an electric signal which is transferred to a power supply. TXRSAnd the high level of the plurality of demodulated signals do not overlap.
Alternatively, the array type sensor includes an image sensor, and the external signal includes a target signal and a reference signal reflected by an object to be detected; and the signal processing unit is further used for determining the distance of the object to be detected based on the accumulated count value corresponding to the electric signal output by each integration unit if the first demodulation signal is determined to meet the preset integration condition based on the accumulated count value corresponding to the electric signal output by each integration unit.
In the above embodiment, the specific description is mainly given based on the case that the first adjustment signal does not satisfy the preset integration condition, and when the signal processing unit determines that the first adjustment signal satisfies the preset integration condition based on the accumulated count value corresponding to the electrical signal output by each integration unit, the distance from the sensor to the object to be detected is calculated directly according to the accumulated count value corresponding to the electrical signal output by each integration unit, by using the above formula 1.
Optionally, as shown in fig. 3, each array module further includes a comparing unit and a counting unit, and each array unit is communicatively connected to the comparing unit and the counting unit, respectively. The comparison unit is used for comparing the electric signal with a first preset electric signal and sending a comparison result to the counting unit; and the counting unit is used for determining an accumulated count value corresponding to the electric signal output by the integrating unit based on the comparison result.
In some embodiments, in order to accurately and quickly obtain the charge amount information transferred into each capacitor in the integrating unit, the signal receiving system provided by the application further comprises a charge resetting unit, a comparing unit and a counting unit.
In a modulation period, the electric signal generated by the signal conversion unit is sequentially and circularly transferred to different integration units (capacitors) under the control of a plurality of demodulation signals, and the electric charge amount in the capacitors is gradually increased and the voltage is increased along with the increase of the electric charge amount. The capacitor voltages are sequentially and circularly input into the comparison unit to be compared with the reference voltage, the comparison result is fed back to the charge reset unit on one hand, and when the capacitor voltage is less than or equal to the reference voltage, the charge reset unit injects a preset amount of charges into the capacitor to reset; on the other hand, the input counting unit is used for accumulating and recording the information of the charge injection times of the capacitor, and when one modulation period is finished, the accumulated counting results corresponding to a plurality of capacitors in the counting unit and the voltages of the corresponding capacitors are transmitted to the signal processing unit and are used for calculating the accumulated counting value (the charge amount information transferred by each capacitor) corresponding to the electric signal output by each integrating unit.
Optionally, the charge resetting unit is configured to provide a preset number of charges to be injected into the integrating units, one charge resetting unit corresponds to one or more integrating units, and when the charge resetting unit corresponds to a plurality of integrating units, a time-sharing mode is adopted. The charge resetting unit judges whether the integration unit is started or not based on a comparison result of the capacitance voltage of the integration unit and the reference voltage, and when the capacitance voltage is less than or equal to the reference voltage, the charge resetting unit obtains and transfers a preset amount of charges to the integration unit for resetting.
And the comparison unit is used for comparing the electric signal (capacitor voltage) with a first preset electric signal (reference voltage) and outputting a comparison result to the charge resetting unit to start resetting. A latch is preferably provided between the charge reset unit and the comparison unit for storing the comparison result and inputting the comparison result to the charge reset unit to initiate a reset based on timing or other output instructions. The comparison unit can be shared by a plurality of integration units in a time-sharing manner, and sequentially outputs a comparison result to the charge reset unit corresponding to each integration unit to start resetting, or temporarily stored in the corresponding latch to be output to the charge reset unit to start resetting based on a time sequence or other control instructions.
And the counting unit is used for circularly accumulating and recording the capacitance voltage comparison results of the plurality of integrating units, and the number of times of charge injection corresponding to the plurality of integrating units is obtained when the integration is finished and is output to the signal processing unit as a counting result to be used for calculating an accumulated counting value (charge amount information transferred by each capacitor into) corresponding to the electric signal output by each integrating unit.
The signal receiving system provided by the present application is described below in a complete embodiment with reference to fig. 3 and 4.
Take the example that each signal receiving unit includes i integrating units. The signal conversion unit receives an external signal to generate an electric signal, the control unit generates i demodulation signals TX1 to Txi with the same pulse width under the modulation of a modulation signal M sequence, the i demodulation signals are divided into n groups, each group at least comprises a demodulation signal used for controlling the receiving of a background and adding a part of echo and a demodulation signal used for receiving only background light, and the phase between each group is sequentially increased by a current pulse width.
The signal conversion unit performs multiple integrations under modulation of the M-sequence in one modulation period, and transfers the generated electric signals to the corresponding integration units based on control of the demodulation signal. When the demodulation signal is at high level, the corresponding transmission gate is switched on, and the electric signal is transferred to the corresponding integration unit. The capacitance voltage of the integration unit is sequentially and circularly input into the comparison unit to be compared with the reference voltage, the comparison result is fed back to the charge reset unit on one hand, and when the capacitance voltage is less than or equal to the reference voltage, the charge reset unit transfers a preset amount of charges into the integration unit to reset; on the other hand, the comparison results are sequentially input to the counting unit for cycle accumulation counting at the time of charge injection of the corresponding integrating unit.
The charge resetting units to be described may correspond to the integrating units one by one, and in order to save area and save cost, a mode that one charge resetting unit corresponds to a plurality of integrating units may also be adopted, and the integrating units in the same modulation state preferably correspond to different charge resetting units, so as to implement simultaneous resetting, for example, when M-sequence modulation is performed, the M-sequence modulation includes two modulation states "1" and "0", and the integrating units in high-level "1" modulation preferably reset different charge resetting units.
When one modulation period is finished, the accumulated counting result and the capacitance voltage of the integrating unit at the moment are respectively transmitted to the signal processing unit, and the accumulated counting result and the capacitance voltage are used for calculating an accumulated counting value (charge amount information transferred by each capacitor) corresponding to the electric signal output by each integrating unit.
And the signal processing unit determines the integrating units which receive more echo signals according to the calculated accumulated count value corresponding to the electric signals output by each integrating unit, judges the rough position of the echo signal, takes the current phase of the integrating unit as the phase information input to the control unit, and reduces the pulse width to 1/n of the current pulse width as the pulse width information input to the control unit. And performing the demodulation process of the next modulation period based on the phase and the pulse width until the demodulation signal reaches a preset condition, and calculating the distance from the sensor to the detected object according to formula 1 by using the charge amount information transferred in each integration unit in the pixel. The demodulation signal reaching the preset condition comprises: the pulse width of the demodulation signal is smaller than or equal to the pulse width of the echo signal, and preferably, the ratio between the pulse width of the demodulation signal and the pulse width of the echo signal satisfies 1/M, where M is a positive integer.
Through multiple phase shift and pulse width reduction, the demodulation signal is moved to a position close to the echo to demodulate and calculate with a smaller pulse width, so that the integration time is effectively shortened, the background light is reduced, the signal-to-noise ratio is improved, and the ranging precision is improved.
In order to prevent noise caused by residual charge in the signal conversion unit from affecting the ranging accuracy, the signal receiving system is provided with an initial reset unit for generating a reset signal TXRSWhen TXRSWhen the signal is at high level, the charge generated by the signal conversion unit is controlled to be transferred to the power supply. TXRSAnd the high level of the plurality of demodulated signals do not overlap.
In some embodiments, in order to save area, a plurality of pixels are divided into a group, share a comparison unit and a counting unit in a time sharing mode, and jointly form a pixel module. In one modulation period, a plurality of integrating unit voltages contained in a plurality of pixels are sequentially input to the comparison unit in a circulating mode, compared with the reference voltage and output a comparison result, and the comparison result is used for starting the charge resetting unit to reset on one hand and input to the counting unit to accumulate and count in a circulating mode on the other hand. At the end of a modulation period, the counting unit inputs the recorded charge accumulation injection times of each integration unit of the group of pixels into the signal processing unit through a column bus, and simultaneously, the voltage of each integration unit of the group of pixels is transmitted to the signal processing unit for calculating charge amount information transferred by each integration unit of the group of pixels.
And determining the integrating unit which receives more echoes in each pixel according to the calculated charge amount information transferred by each integrating unit, judging the rough position of the echo, taking the current phase of the capacitor as the phase information input to the pixel control unit, and reducing the pulse width to 1/n of the current pulse width as the pulse width information input to the pixel control unit. The phase and pulse width information inputted by the control unit of each pixel is determined according to the charge amount calculation result of the pixel integration unit, and the phase and pulse width information obtained by different actual calculation results among the pixels are different.
In summary, in the signal receiving system based on the array sensor provided in this embodiment, the control unit generates the demodulation signal based on the electrical signal generated by the signal receiving unit, and instructs the signal receiving unit to receive the external signal based on the demodulation signal based on the generated demodulation signal. Through the updating of the demodulation signal, the control unit can control the signal conversion unit to update the signal receiving time sequence so as to change the receiving time length and/or the time point of starting receiving, which is beneficial to receiving the echo signal with a narrower pulse width at a position closer to the echo, thereby effectively inhibiting the interference of background light, effectively improving the signal-to-noise ratio of the received signal and improving the ranging precision.
And secondly, the charge reset unit is adopted to reset the corresponding integration unit, so that the accurate control of the reset charge quantity is realized, the accurate charge quantity is favorably obtained, and the ranging precision is further improved.
In addition, the system is also provided with an initial reset unit, so that when the reset signal is at a high level, the charge generated by the signal conversion unit can be controlled to be transferred to a power supply, and the ranging precision is effectively prevented from being influenced by noise caused by residual charge in the signal conversion unit.
Fig. 5 is a schematic flowchart of a signal receiving method based on an array-type sensor according to an embodiment of the present application, where the signal receiving method is applied to the signal receiving system based on an array-type sensor according to the foregoing embodiment, and the method may include:
s101, the signal conversion unit receives an external signal based on a corresponding first demodulation signal, generates a corresponding electric signal and sends the electric signal to the integration unit, wherein the first demodulation signal is generated by the control unit.
S102, the integrating unit receives the electric signal based on the corresponding first demodulated signal.
S103, the signal processing unit processes the electric signals generated by the signal conversion units to obtain corresponding processing results, generates target demodulation signal parameters based on the processing results and preset demodulation signal updating rules, and sends the target demodulation signal parameters to the corresponding control units.
And S104, the control unit generates at least one second demodulation signal based on the target demodulation signal parameter, wherein each second demodulation signal is used for instructing the corresponding signal conversion unit to receive the external signal based on the second demodulation signal.
Optionally, the integrating unit further receives the electrical signal transferred by the signal converting unit based on the first demodulated signal, and sends the electrical signal to the signal processing unit;
and if the signal processing unit determines that the first demodulation signal does not meet the preset integration condition based on the accumulated count value and the electric signal corresponding to the electric signal output by each integration unit, the signal processing unit generates a target demodulation signal parameter based on a preset demodulation signal updating rule and sends the target demodulation signal parameter to the control unit.
Optionally, the determining, by the signal processing unit, that the first demodulation signal does not satisfy the preset integration condition based on the accumulated count value and the electrical signal corresponding to the electrical signal output by each integration unit includes:
and if the ratio of the current pulse width of the first demodulation signal to the pulse width of the target signal is not a first preset proportion and/or the signal quantities corresponding to at least two integration units do not have a difference value, determining that the first demodulation signal does not meet a preset integration condition, wherein the signal quantities corresponding to the integration units are determined by the accumulated count values corresponding to the electric signals output by the integration units, and the external signal comprises the target signal.
Optionally, generating the target demodulation signal parameter based on a preset demodulation signal update rule includes:
the signal processing unit acquires the maximum semaphore from the at least two semaphores, acquires the current phase of the first demodulation signal corresponding to the maximum semaphore as a target phase, and/or reduces the current pulse width of the first demodulation signal by a preset value to obtain a target pulse width; the target phase and/or the target pulse width are determined as target demodulation signal parameters.
Optionally, if the signal processing unit determines that the first demodulation signal satisfies the preset integration condition based on the accumulated count value corresponding to the electrical signal output by each integration unit, the signal processing unit determines the distance to the object to be detected based on the accumulated count value corresponding to the electrical signal output by each integration unit.
Optionally, each array module further includes a comparing unit and a counting unit, each array unit is in communication connection with the comparing unit and the counting unit, and determines an accumulated count value corresponding to the signal converting unit based on the electrical signal corresponding to the signal converting unit, including:
the comparison unit is used for comparing the electric signal with a first preset electric signal and sending a comparison result to the counting unit;
and the counting unit is used for determining an accumulated count value corresponding to the electric signal output by the integrating unit based on the comparison result.
Alternatively, the present application also proposes an array type sensor provided with a signal receiving system based on the array type sensor as in the foregoing embodiments.
For a detailed explanation of the method and the array type sensor, reference may be made to the foregoing embodiments of the signal receiving system based on the array type sensor, which implement the principle and the technical effect similar to each other, and therefore, the detailed description thereof is omitted here.
In the several embodiments provided in the present application, it should be understood that the above-described apparatus embodiments are merely illustrative, and the disclosed apparatus and method may be implemented in other ways. For example, the division of the unit is only a logical function division, and in actual implementation, there may be another division manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed, for example, each unit may be integrated into one processing unit, each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (16)
1. A signal receiving system based on an array type sensor, comprising at least one array module, each array module comprising at least one array unit, each array unit comprising a control unit and at least one signal receiving unit;
the signal receiving unit is used for receiving an external signal based on a corresponding first demodulation signal and generating a corresponding electric signal, wherein the first demodulation signal is generated by the control unit;
the control unit is configured to generate at least one second demodulation signal based on the electrical signal generated by the signal receiving unit, where each second demodulation signal is used to instruct a corresponding signal receiving unit to receive the external signal based on the second demodulation signal, and the second demodulation signal is within the range of the first demodulation signal.
2. The system of claim 1, wherein the signal receiving unit comprises: a signal conversion unit and an integration unit;
the signal conversion unit is used for receiving an external signal based on the corresponding first demodulation signal, generating a corresponding electric signal and sending the electric signal to the integration unit;
the integration unit is configured to receive the electrical signal based on a corresponding first demodulation signal.
3. The system of claim 2, further comprising a signal processing unit connected to each of the signal receiving units, configured to process the electrical signal output by each of the integrating units to obtain a corresponding processing result, generate a target demodulation signal parameter based on the processing result and a preset demodulation signal update rule, and send the target demodulation signal parameter to a corresponding control unit; the control unit is configured to generate at least one second demodulation signal based on the target demodulation signal parameter, where each second demodulation signal is used to instruct a corresponding signal conversion unit to receive the external signal based on the second demodulation signal.
4. The system of claim 1, wherein the first demodulated signal and the second demodulated signal comprise at least one of a time signal, an electrical signal, a thermal signal, a magnetic signal, an acoustic signal, an energy signal, and a distance signal.
5. The system of claim 3, wherein each of said integration units is communicatively coupled to said signal conversion unit and said signal processing unit;
the integration unit is further configured to receive the electrical signal transferred by the signal conversion unit based on the first demodulation signal, and send the electrical signal to the signal processing unit;
the signal processing unit is further configured to generate the target demodulation signal parameter based on the preset demodulation signal update rule if it is determined that the first demodulation signal does not satisfy the preset integration condition based on the accumulated count value corresponding to the electrical signal output by each integration unit, and send the target demodulation signal parameter to the control unit.
6. The system of claim 5, wherein the first demodulated signal is a time signal, the array unit comprises at least two integration units, each of the integration units is configured to receive the electrical signal produced by the signal conversion unit, wherein at least two of the integration units are configured as a group;
the signal processing unit is further configured to determine that the first demodulation signal does not satisfy the preset integration condition if a ratio of a current pulse width of the first demodulation signal to a pulse width of a target signal is not a first preset ratio, and/or there is no difference between signal quantities corresponding to the at least two integration units, where the signal quantity corresponding to the integration unit is determined according to the accumulated count value corresponding to the electrical signal output by the integration unit, and the external signal includes the target signal.
7. The system according to claim 6, wherein the signal processing unit is further configured to obtain a maximum semaphore from at least two semaphores, and obtain a current phase of the first demodulated signal corresponding to the maximum semaphore as a target phase, and/or reduce a current pulse width of the first demodulated signal by a preset value to obtain a target pulse width; determining the target phase and/or the target pulse width as the target demodulated signal parameter.
8. The system of claim 5, wherein the array type sensor includes an image sensor, and the external signal includes a target signal and a reference signal reflected by an object to be detected;
the signal processing unit is further configured to determine the distance of the object to be detected based on the accumulated count value corresponding to the electrical signal output by each of the integrating units if it is determined that the first demodulation signal satisfies a preset integration condition based on the accumulated count value corresponding to the electrical signal output by each of the integrating units.
9. The system of any of claims 5-8, wherein each of the array modules further comprises a comparison unit and a counting unit, each of the array units being communicatively coupled to the comparison unit and the counting unit, respectively;
the comparison unit is used for comparing the electric signal with a first preset electric signal and sending a comparison result to the counting unit;
and the counting unit is used for determining the accumulated count value corresponding to the electric signal output by the integrating unit based on the comparison result.
10. A method for receiving a signal based on an array sensor, the method being applied to a signal receiving system based on an array sensor according to any one of claims 1 to 9, the system comprising at least one array module and a signal processing unit, each array module being communicatively connected to the signal processing unit, each array module comprising at least one array unit, each array unit comprising a control unit and at least one signal receiving unit, the signal receiving unit comprising: a signal conversion unit and an integration unit; the method comprises the following steps:
the signal conversion unit receives an external signal based on a corresponding first demodulation signal, generates a corresponding electric signal and sends the electric signal to the integration unit, wherein the first demodulation signal is generated by the control unit;
the integration unit receives the electrical signal based on the corresponding first demodulation signal;
the signal processing unit processes the electric signals generated by the signal conversion units to obtain corresponding processing results, generates target demodulation signal parameters based on the processing results and a preset demodulation signal updating rule, and sends the target demodulation signal parameters to corresponding control units;
the control unit generates at least one second demodulation signal based on the target demodulation signal parameter, and each second demodulation signal is used for instructing the corresponding signal conversion unit to receive the external signal based on the second demodulation signal.
11. The method of claim 10, wherein the integration unit further receives the electrical signal transferred by the signal conversion unit based on the first demodulated signal and sends the electrical signal to the signal processing unit;
and if the signal processing unit determines that the first demodulation signal does not meet the preset integration condition based on the accumulated count value corresponding to the electric signal output by each integration unit and the electric signal, the signal processing unit generates the target demodulation signal parameter based on the preset demodulation signal updating rule and sends the target demodulation signal parameter to the control unit.
12. The method of claim 11, wherein the signal processing unit determining that the first demodulated signal does not satisfy a preset integration condition based on an accumulated count value corresponding to the electrical signal output by each of the integration units and the electrical signal comprises:
and if the ratio of the current pulse width of the first demodulation signal to the pulse width of the target signal is not a first preset proportion, and/or there is no difference between the signal quantities corresponding to at least two integration units, determining that the first demodulation signal does not satisfy the preset integration condition, wherein the signal quantity corresponding to the electric signal output by the integration unit is determined according to the accumulated count value corresponding to the electric signal output by the integration unit, and the external signal includes the target signal.
13. The method of claim 12, wherein generating the target demodulation signal parameters based on the preset demodulation signal update rule comprises:
the signal processing unit acquires a maximum semaphore from at least two semaphores, acquires a current phase of the first demodulation signal corresponding to the maximum semaphore as a target phase, and/or reduces a current pulse width of the first demodulation signal by a preset value to obtain a target pulse width; determining the target phase and/or the target pulse width as the target demodulated signal parameter.
14. The method according to claim 10, wherein if the signal processing unit determines that the first demodulation signal satisfies the predetermined integration condition based on the accumulated count value corresponding to the electrical signal output by each of the integration units, the signal processing unit determines the distance to the object to be detected based on the accumulated count value corresponding to the electrical signal output by each of the integration units.
15. The method according to any one of claims 10-14, wherein each of the array modules further comprises a comparing unit and a counting unit, each of the array units is respectively communicatively connected to the comparing unit and the counting unit, and the determining the accumulated count value corresponding to the signal converting unit based on the electrical signal corresponding to the signal converting unit comprises:
the comparison unit is used for comparing the electric signal with a first preset electric signal and sending a comparison result to the counting unit;
and the counting unit is used for determining an accumulated count value corresponding to the electric signal output by the integrating unit based on the comparison result.
16. An array-type sensor, characterized in that the array-type sensor is provided with a signal receiving system based on an array-type sensor according to any of claims 1-9.
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