WO2021196193A1

WO2021196193A1 - Lidar and self-driving device

Info

Publication number: WO2021196193A1
Application number: PCT/CN2020/083290
Authority: WO
Inventors: 马丁昽
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2020-04-03
Filing date: 2020-04-03
Publication date: 2021-10-07
Also published as: CN113227827A

Abstract

A lidar (100) and a self-driving device (200). The lidar (100) comprises an emitting drive system (1), a laser light transceiver system (2) and a control and signal processing system (3); the laser light transceiver system (2) comprises an emitting module (21), a deflection mechanism (23) and a receiving module (22); the receiving module (22) comprises an array detector (222); the emitting module (21) is used to emit outgoing laser light; the deflection mechanism (23) is used to receive the outgoing laser light and reflect the outgoing laser light into a detection region of the array detector (222), and enabling the outgoing laser light to traverse all of the detection regions of the array detector (222) in a scanning manner; the deflection mechanism (23) is also used to receive echo laser light and reflect the echo laser light to the receiving module (22), wherein the echo laser light is laser light returned after the outgoing laser light is reflected by an object in the detection region, and the size of the image of the echo laser light for the single scanning on the array detector (222) is smaller than the size of the entire picture element of the array detector (222), which can reduce the emitting energy, and can increase the detection distance when the emitting energy is the same.

Description

Lidar and autonomous driving equipment

Technical field

The embodiment of the present invention relates to the field of radar technology, in particular to a laser radar and automatic driving equipment.

Background technique

Lidar is a radar system that uses lasers to detect the position and speed of the target object. Its working principle is that the transmitting module first transmits the outgoing laser to the target for detection, and then the receiving module receives the feedback reflected from the target object. Wave laser, after processing the received echo laser, the relevant information of the target object, such as distance, azimuth, height, speed, posture, and even shape parameters, can be obtained.

An implementation form of the receiving module is an array detector, which is composed of a plurality of detection pixels arranged in an array to form an array detector. With the improvement of the detection resolution requirement, the pixel size on the unit area pixel in the array detector is getting smaller and smaller. If the receiving lens remains the same, it is necessary to increase the power of the signal light source or increase the size of the receiving surface of the array detector. Increasing the size of the receiving surface will directly affect the design difficulty of the receiving lens, increase the cost of the array detector itself, and increase the overall size of the lidar product.

Summary of the invention

In view of the above-mentioned defects in the prior art, the main purpose of the embodiments of the present invention is to provide a lidar and automatic driving equipment, which can reduce the required light source without increasing the size of the receiving surface of the array detector and ensuring the detection resolution. The peak power is lower, the emission energy is reduced, and the detection range can be increased when the emission energy is the same.

A technical solution adopted by the embodiment of the present invention is to provide a laser radar, the laser radar includes a transmission drive system, a laser transceiver system, and a control and signal processing system;

The laser transceiver system includes a transmitting module, a deflection mechanism, and a receiving module; the receiving module includes an array detector;

The emitting module is used for emitting outgoing laser;

The deflection mechanism is used to receive the outgoing laser light, reflect the outgoing laser light and shoot it into the detection area of the array detector, and make the outgoing laser light traverse all the detections of the array detector in a scanning manner Area; the deflection mechanism is also used to receive the echo laser and reflect the echo laser to the receiving module, wherein the echo laser is the outgoing laser reflected by the object in the detection area For the later returning laser, the imaging size of the echo laser on the array detector in a single scan is smaller than the overall pixel size of the array detector;

The receiving module is used to receive the echo laser;

The emission driving system is used to drive the emission module;

The control and signal processing system is used for controlling the emission driving system to drive the emission module, and controlling the receiving module to receive the echo laser.

Optionally, the receiving module is configured to simultaneously turn on all the pixels corresponding to the first area in the array detector to receive back when the outgoing laser scans the first area in the detection area Wave laser to detect the first area.

Optionally, the array detector includes m*n pixels that can be individually switched on and off, and both m and n are integers greater than 1.

Optionally, the deflection mechanism is a MEMS micromirror, a reflecting mirror or a transmissive prism.

Optionally, the deflection mechanism includes a mirror, a first rotating shaft, and a second rotating shaft;

The mirror surface is used to rotate around the first rotation axis so that the emitted laser light scans the detection area of the array detector in a horizontal direction; the mirror surface is also used to rotate around the second rotation axis so that the emitted laser light Scanning the detection area of the array detector in a vertical direction; the mirror is also used to receive the echo laser and reflect the echo laser to the receiving module;

The size of the echo laser imaging on the array detector in the horizontal direction and the vertical direction is smaller than the size of the overall pixel of the array detector in the corresponding direction.

Optionally, the deflection mechanism includes a mirror surface and a rotating shaft;

The mirror surface is used to rotate around the rotation axis, so that the outgoing laser light scans the detection area of the array detector in a first direction; the mirror surface is also used to receive the echo laser light and reflect the echo laser light Shot back to the receiving module;

The size of the echo laser on the array detector in the first direction is smaller than the size of the overall pixel of the array detector in the first direction, and the echo laser on the array detector The size of the imaging in the second direction is equal to or greater than the size of the overall pixel of the array detector in the second direction;

The first direction is a horizontal direction and the second direction is a vertical direction; alternatively, the first direction is a vertical direction and the second direction is a horizontal direction.

The emitting module includes at least two emitting components, each emitting component includes a laser emitting unit and a emitting optical unit, the laser emitting unit is used to emit the first outgoing laser, and the emitting optical unit is used for collimation. The first outgoing laser, and the collimated first outgoing laser is incident on the two-dimensional MEMS micromirror; the outgoing laser is composed of all the first outgoing lasers, and the first outgoing laser is along Arranged in the first direction; the mirror is used to rotate around the axis of rotation, so that the outgoing laser scans the detection area of the array detector in the second direction; the mirror is also used to receive the first echo laser and The first echo laser light is reflected and then directed to the receiving module, wherein the first echo laser light is the laser light that returns after the first outgoing laser light is reflected by an object in the detection area, and the echo The laser is composed of all the first echo lasers;

The size of the imaging of the first echo laser on the array detector in the first direction and the second direction is smaller than the size of the overall pixel of the array detector in the corresponding direction; The size of the imaging on the array detector in the first direction is equal to or larger than the size of the entire pixel of the array detector in the first direction;

Optionally, the at least two emitting components sequentially emit the first outgoing laser light in a sequence.

Optionally, the transmitting module includes three transmitting components.

Optionally, the echo laser is a circular spot, and the imaging of the echo laser on the array detector is located in a single pixel of the array detector.

Optionally, the echo laser is a circular spot, and the imaging of the echo laser on the array detector exceeds a single pixel of the array detector, but does not exceed the adjacent single pixel. Pixel.

Optionally, the imaging of the echo laser on the array detector is located within 1/2 of the pixel of the array detector, and a single pixel of the array detector is used according to the output laser In the scanning sequence, the echo laser light is received in the first pixel area and the second pixel area respectively.

Optionally, the imaging of the echo laser on the array detector is located within 1/4 pixel of the array detector, and the single pixel detected by the array is used for scanning according to the emitted laser light. The echo laser is received in the first pixel area, the second pixel area, the third pixel area, and the fourth pixel area in sequence.

Optionally, the emitting module includes a laser emitting unit and a emitting optical unit;

The laser emitting unit is used to emit outgoing laser;

The emission optical unit is used for collimating the emitted laser light, and incident the collimated emitted laser light to the deflection mechanism.

Optionally, the receiving module further includes a receiving optical unit;

The receiving optical unit is used to converge the echo laser, and shoot the collected echo laser to the array detector;

The array detector is used to receive the echo laser.

An embodiment of the present invention also provides an automatic driving device, including a driving device body and the above-mentioned lidar, and the lidar is installed on the driving device body.

The beneficial effects of the embodiments of the present invention are: on the basis of the existing conventional detectors, the outgoing laser is shaped to make the outgoing laser spot be a spot spot, a block spot or a line spot, and a deflection mechanism is added, and a traversal is adopted. The scanning method completes the detection of the detection area. Due to the use of spot, block or line spots, the peak power of the required light source and the emission energy can be reduced without increasing the size of the receiving surface of the array detector and ensuring the detection resolution. The emission energy can be increased when the emission energy is the same Detection distance. Compared with the prior art, it is necessary to increase the size of the receiving surface of the array detector to meet the high resolution requirements. The embodiment of the present invention reduces the size of the image surface of the array detector, thereby reducing the size of the array detector. In the case of surface size, the number of pixels can be increased, and the detection resolution can be improved.

Description of the drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. The elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the attached drawings do not constitute a scale limitation.

Figure 1 shows a structural block diagram of a lidar provided by an embodiment of the present invention;

Figure 2 shows a structural block diagram of a lidar provided by another embodiment of the present invention;

Figure 3a shows a schematic diagram of scanning a block of light spots in an embodiment of the present invention;

Figure 3b shows a schematic diagram of scanning a line spot in an embodiment of the present invention;

Fig. 3c shows a schematic diagram of scanning a spot light spot in an embodiment of the present invention;

FIG. 4a shows a schematic diagram of a laser transceiver system according to an embodiment of the present invention adopting a two-dimensional MEMS micromirror, a spot light spot, and a horizontal scanning first;

4b shows a schematic diagram of the laser transceiver system according to an embodiment of the present invention adopting a two-dimensional MEMS micromirror, a spot light spot, and vertical scanning first;

Fig. 5a shows a schematic diagram of a laser transceiver system according to an embodiment of the present invention adopting a two-dimensional MEMS micromirror and a 1/2-point spot;

Figure 5b shows a schematic diagram of a single pixel of the array detector divided into two pixel regions in an embodiment of the present invention;

FIG. 5c shows a schematic diagram of a laser transceiver system according to another embodiment of the present invention adopting a two-dimensional MEMS micromirror and a 1/2-point spot;

Fig. 6a shows a schematic diagram of a laser transceiver system according to an embodiment of the present invention adopting a two-dimensional MEMS micromirror and a 1/4 point spot;

Figure 6b shows a schematic diagram of a single pixel of the array detector divided into four pixel regions in an embodiment of the present invention;

FIG. 7a shows a schematic diagram of a laser transceiver system according to an embodiment of the present invention adopting a two-dimensional MEMS micromirror, a small area light spot, and a horizontal scanning first;

FIG. 7b shows a schematic diagram of the laser transceiver system according to an embodiment of the present invention adopting a two-dimensional MEMS micromirror, a small area light spot, and vertical scanning first;

FIG. 8a shows a schematic diagram of a laser transceiver system according to an embodiment of the present invention adopting a two-dimensional MEMS micromirror, a short-line light spot, and a horizontal scanning first;

FIG. 8b shows a schematic diagram of the laser transceiver system according to an embodiment of the present invention adopting a two-dimensional MEMS micromirror, a short-line light spot, and vertical scanning first;

FIG. 8c shows a schematic diagram of a laser transceiver system according to another embodiment of the present invention using a two-dimensional MEMS micromirror, a 1/4 short-line light spot, and a horizontal scan first;

FIG. 9a shows a schematic diagram of a laser transceiver system according to an embodiment of the present invention adopting a one-dimensional MEMS micromirror, a long-line light spot, and a horizontal scanning first;

FIG. 9b shows a schematic diagram of the laser transceiver system according to an embodiment of the present invention adopting a one-dimensional MEMS micro-mirror, a long-line light spot, and vertical scanning first;

FIG. 9c shows a schematic diagram of a laser transceiver system according to another embodiment of the present invention using a one-dimensional MEMS micromirror, a 1/4 long-line light spot, and a horizontal scan first;

FIG. 10a shows a schematic diagram of a laser transceiver system according to an embodiment of the present invention using a one-dimensional MEMS micromirror, a large area light spot, and lateral scanning first;

FIG. 10b shows a schematic diagram of a laser transceiver system according to an embodiment of the present invention adopting a one-dimensional MEMS micromirror, a large area light spot, and vertical scanning first;

FIG. 11a shows a schematic diagram of a laser transceiver system according to an embodiment of the present invention adopting a one-dimensional MEMS micromirror, a line spot, a plurality of emitters, and a horizontal scanning first;

FIG. 11b shows a schematic diagram of the laser transceiver system according to an embodiment of the present invention adopting a one-dimensional MEMS micromirror, a line spot, a plurality of emitters, and a vertical scanning first;

Fig. 12a shows a schematic diagram of a partial optical path of a laser radar according to an embodiment of the present invention using an optical deflection module;

FIG. 12b shows a schematic diagram of a partial optical path of a laser radar using an optical deflection module according to another embodiment of the present invention;

Figure 13a shows a schematic diagram of the optical path of a lidar according to another embodiment of the present invention;

Figure 13b shows a schematic diagram of the optical path of a lidar according to still another embodiment of the present invention;

FIG. 14 shows a schematic diagram of a partial optical path of a lidar according to another embodiment of the present invention;

FIG. 15a shows a schematic diagram of a partial light path of a laser radar according to an embodiment of the present invention including an optical shaping module;

15b shows a schematic diagram of a partial light path of a laser radar including an optical shaping module according to another embodiment of the present invention;

Fig. 15c shows a schematic diagram of the deflection mechanism and the optical shaping module in Fig. 15b;

Figure 16a shows a schematic structural diagram of an automatic driving device provided by an embodiment of the present invention;

Fig. 16b shows a schematic structural diagram of an automatic driving device provided by another embodiment of the present invention.

The reference signs in the specific implementation are as follows:

Lidar 100, emission drive system 1, laser transceiver system 2, control and signal processing system 3, emission module 21, emission assembly 210, laser emission unit 211, emission optical unit 212, lens 213, optical deflection module 214, optical shaping Module 215, mirror 216, receiving module 22, receiving optical unit 221, array detector 222, deflection mechanism 23, two-dimensional MEMS micromirror 23a, one-dimensional MEMS micromirror 23b, rotation axis x, first rotation axis x1, second The shaft x2, the automatic driving device 200, and the driving device body 201.

Detailed ways

The embodiments of the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, and therefore are only used as examples, and cannot be used to limit the protection scope of the present invention.

It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present invention should have the usual meanings understood by those skilled in the art to which the present invention belongs.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", " The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the indicated device or element must be It has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. In the description of the present invention, "plurality" and "several" mean two or more (including two), unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.

In the present invention, unless expressly stipulated and defined otherwise, the “on” or “under” of the first feature on the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. touch. Moreover, the "above", "above" and "above" of the first feature on the second feature may mean that the first feature is directly above or diagonally above the second feature, or it simply means that the level of the first feature is higher than that of the second feature. The “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

In the conventional array detector, the emission light source covers the entire detection field of view through the emission beam shaping system, which requires high peak power of the signal light source, and the signal light received by a single pixel is limited, which is only suitable for detection in close-range occasions. . With the increasing requirements for the detection angle resolution, it is difficult to meet the needs of long-distance detection, so the detection range is limited. And the resolution of the entire array detector is limited by the pixel distribution and number of the array device itself, and increasing the corresponding number of pixels will cause the image surface to increase, and when the peak power of the signal light source remains unchanged, the single pixel will be reduced. The detection energy value increases the cost and reduces the yield, and is not conducive to the miniaturization of the product.

As shown in FIG. 1, an embodiment of the present invention provides a laser radar 100, which includes a transmission drive system 1, a laser transceiver system 2, and a control and signal processing system 3. Among them, the laser transceiver system 2 includes a transmitting module 21, a receiving module 22 and a deflection mechanism 23. The emitting module 21 is used for emitting outgoing laser light. The deflection mechanism 23 is used to receive the outgoing laser and reflect the outgoing laser to the detection area of the receiving module 22, and make the outgoing laser traverse all the detection areas of the receiving module 22 in a scanning manner. The deflection mechanism 23 is also used to receive The echo laser reflects the echo laser and shoots it toward the receiving module 22. The echo laser is the laser returned after the outgoing laser is reflected by an object in the detection area. The receiving module 22 is used for receiving echo laser light. The emission driving system 1 is used to drive the emission module 21. The control and signal processing system 3 is used for controlling the transmitting driving system 1 to drive the transmitting module 21 and controlling the receiving module 22 to receive the echo laser.

As shown in FIG. 2, the emission module 21 includes a laser emission unit 211 and an emission optical unit 212. The laser emission unit 211 is used to emit the emitted laser light, and the emission optical unit 212 is used to shape the emitted laser light and incident the shaped emitted laser light. To the deflection mechanism 23. The reshaped light spot may be a point light spot, a line light spot or a block light spot, which is reflected by the deflection mechanism 23 and then enters a local detection area, that is, a part of the detection area. The laser emitting unit 211 may be various types of signal light sources, such as laser diode (LD), vertical cavity surface emitting laser (VCSEL), edge emitting laser (Edge Emitting Laser, EEL), light emitting Diode (Light Emitting Diode, LED) optical fiber and other devices.

The transmitting optical unit 212 can adopt a lens and a lens group, an optical fiber and a ball lens group, a separate ball lens group, a cylindrical lens group, a slow-axis-collimator lens (Slow-Axis-Collimator LENS, SAC LENS), and fast-axis collimation. Mirror (Fast-Axis-Collimator LENS), micro lens array, diffractive optical elements (DOE), diffuser (Diffuser), etc. For example, if the laser emitting unit 211 adopts EEL, FAC and SAC can be used to respectively perform fast and slow axis collimation and shaping of the emitted laser. If the laser emitting unit 211 adopts an array arrangement device such as a VCSEL array, a lens can be used for shaping. If the laser emitting unit 211 adopts a signal light source arranged in a non-array arrangement, a collimating lens and a micro lens (or a micro cylindrical lens) can be used to shape the emitted laser light.

The receiving module 22 includes a receiving optical unit 221 and an array detector 222. The receiving optical unit 221 is used for condensing the echo laser and shooting the collected echo laser to the array detector 222; the array detector 222 is used for receiving the echo laser. The receiving optical unit 221 may adopt a ball lens, a ball lens group, a cylindrical lens group, or the like. The array detector 222 can use an avalanche photodiode (APD) array, a silicon photomultiplier (SiPM), a multi-pixel photon counter (MPPC) array, and a photomultiplier tube. , PMT) array, single-photon avalanche diode (SPAD) array, fast charge-coupled device (CCD) and complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS), etc. can form an array The receiving device. The array detector 222 may be a surface array detector, which has m*n pixels that can be individually controlled on and off, and both m and n are integers greater than one.

The control and signal processing system 3 may adopt a Field Programmable Gate Array (FPGA), and the FPGA is connected to the emission driving system 1 to perform emission control of the emitted laser. The FPGA is also connected to the clock pin, data pin, and control pin of the receiving module 22 respectively to control the receiving and controlling of the echo laser.

The deflection mechanism 23 is used to receive the shaped outgoing laser, reflect the outgoing laser, and shoot it toward the local detection area of the array detector 222, and perform deflection so that the outgoing laser traverses all the detection areas of the array detector 222 in a scanning manner. The deflection mechanism 23 is also used for receiving the echo laser and reflecting the echo laser and shooting it towards the receiving module 22. The echo laser is the laser returning after the outgoing laser is reflected by the object in the detection area. Among them, the spot size of the outgoing laser is the same as the spot size of the echo laser. The spot size of the emitted laser is controlled by beam shaping, so that the imaging size of the echo laser of a single scan on the array detector 222 is smaller than the overall pixel size of the array detector 222, that is, smaller than the receiving surface of the array detector 222.

The receiving module 22 is used to simultaneously turn on all the pixels corresponding to the first area in the array detector 222 to receive the echo laser to detect the first area when the outgoing laser scans the first area in the detection area. For example, when the outgoing laser is incident on the first pixel in the detection area, the array detector 222 turns on the first pixel for detection. At this time, other pixels are in the off state, and then the outgoing laser is incident on the second pixel. Then the array detector 222 turns on the second pixel for detection, and at this time turns off the detection of the first pixel... and so on, the dynamic detection of each pixel is performed in turn. Of course, when the emitted laser light is incident on multiple pixels in the detection area, the array detector 222 turns on the multiple pixels corresponding to it for detection. Of course, the array detector can also turn on all the pixels at the same time, but since the detection area corresponding to some pixels is not scanned by the emitted laser at the same time, this method will increase the power consumption and the loss of the array detector 222.

As shown in Figure 3a, the spot of the emitted laser can be a block spot (small area spot) with a small diffusion angle; as shown in Figure 3b, it can also be a line spot; correspondingly, the spot of the echo laser can also be a block spot or a line. The light spot, as shown in FIG. 3c, can also be a point light spot (the light spot is located in a single pixel). The collimated outgoing laser is deflected by the deflection mechanism 23 to be within the detection range of one or some pixels in the detection area of the array detector 222, and the array detector 222 turns on the corresponding pixels to start ranging, and you can get The distance value of the corresponding position. Through the scanning of the deflection mechanism 23, the detection area of all the pixels of the entire array detector 222 is traversed to obtain the distance value of each position, thereby obtaining the 3D point cloud data of the entire detection area.

On the basis of the existing conventional detectors, the embodiment of the present invention reshapes the outgoing laser to make the outgoing laser spot a point spot, block spot or line spot, and adds a deflection mechanism to complete the detection of the detection area by means of traversal scanning. . Due to the use of spot, block or line spots, the peak power of the required light source and the emission energy can be reduced without increasing the size of the receiving surface of the array detector and ensuring the detection resolution. The emission energy can be increased when the emission energy is the same Compared with the prior art, it is necessary to increase the size of the receiving surface of the array detector to meet the high-resolution requirements. The embodiment of the present invention reduces the size of the image surface of the array detector, thereby reducing the size of the array detector. In the case of the same image size, the number of pixels can be increased, and the detection resolution can be improved.

The deflection mechanism 23 can use a MEMS micromirror, a reflecting mirror, a transmission prism, etc., to realize scanning of the detection area.

The following further describes several embodiments of using different light spots for emitting laser light:

(1) Using two-dimensional MEMS micro-mirror, point light spot

In this embodiment, both the outgoing laser and the echo laser are circular spot spots, and the imaging of the echo laser on the array detector 222 is located in a single pixel of the array detector 222.

As shown in FIG. 4a, the deflection mechanism is a two-dimensional MEMS micromirror 23a, and the two-dimensional MEMS micromirror 23a includes a mirror surface, a first rotation axis x1, and a second rotation axis x2. The spot size of the outgoing laser and the echo laser is a point spot. By controlling the spot size of the outgoing laser (that is, controlling the divergence angle of the outgoing laser), the spot size of the echo laser is controlled, so that the echo laser is imaged on the array detector 222 It is located in a single pixel of the array detector 222 and covers most of the sensing area of the single pixel. The mirror is used to rotate around the first rotation axis x1, so that the emitted laser light scans the detection area of the array detector 222 in the horizontal direction. The mirror surface is also used to rotate around the second rotation axis x2, so that the emitted laser light scans the detection area of the array detector 222 in the vertical direction. The mirror is also used to receive the echo laser and reflect the echo laser to the receiving module 22.

The specific scanning process is as follows: the mirror rotates in the first direction around the first rotation axis x1, so that the outgoing laser scans the detection area of the array detector 222 to the right in the horizontal direction; when the outgoing laser completes the first horizontal scan, the mirror rotates around the second The shaft x2 rotates in the second direction, so that the outgoing laser scans the detection area of the array detector 222 downward in the vertical direction. The outgoing laser only needs to scan to the position of the second row of pixels with its spot in the vertical direction to complete the vertical direction. Then, the mirror rotates in the third direction around the first axis of rotation x1, so that the emitted laser scans the detection area of the array detector 222 to the left in the horizontal direction, and the third direction is the opposite direction of the first direction; After the laser completes the second horizontal scan, the mirror rotates in the second direction around the second rotation axis x2, so that the outgoing laser scans the detection area of the array detector 222 downward in the vertical direction. The outgoing laser only needs to scan until its spot is in the vertical direction. The position of the third row of pixels in the vertical direction is the second vertical scan; after the second vertical scan is completed, the mirror rotates in the first direction around the first axis of rotation x1...and scans back and forth in this way until the traversal is completed The detection area of the entire array detector 222. Of course, the outgoing laser can also scan to the left in the horizontal direction at the beginning.

It is understandable that, as shown in Figure 4b, when scanning, you can also scan in the vertical direction first, and then move the light spot to the second vertical scan position by scanning in the horizontal direction, and then perform a second vertical scan. The direction of the scan.

It is understandable that in other embodiments, the divergence angle of the outgoing laser collimated may be slightly larger than the angular resolution of the array detector 222, that is, the imaging of the echo laser on the array detector 222 slightly exceeds that of the array detector 222. A single pixel of (222), but not beyond the pixel adjacent to the single pixel. However, this method will affect the photoelectric efficiency of the system, and the influencing factor is about divergence angle/angle resolution.

In the above embodiment, the collimated outgoing laser beam is deflected by the two-dimensional MEMS micromirror 23a to the detection range of a certain pixel in the detection area of the array detector 222, and the signal light source shapes the divergence angle of the beam (that is, collimation). The divergence angle of the subsequent emitted laser light is smaller than the angular resolution of a single pixel, and a larger light energy utilization rate is achieved. The array detector 222 synchronously turns on its corresponding pixel to start ranging, and then the distance value of the corresponding position can be obtained. Through the scanning of the two-dimensional MEMS micromirror 23a, the detection area of all the pixels of the entire array detector 222 is traversed to obtain the distance value of each position, thereby obtaining the 3D point cloud data of the entire detection area.

The current array detector 222 is on the order of 100,000 pixels. Through the above embodiment, using the same receiving optical unit 221 and array detector 222, the required laser energy can be reduced by 10 ⁵ orders of magnitude when testing the same distance. The cost of the signal light source is reduced and the reliability is improved. By adopting the above-mentioned embodiment, the size of the image surface of the array detector 222 can be compressed to meet the miniaturization requirements of products.

As shown in Fig. 5a, in another embodiment, the imaging of the echo laser on the array detector 222 is located within 1/2 of the pixel of the array detector 222, and a single pixel of the array detector 222 is used according to the output The laser scanning sequence receives the echo laser in the first pixel area and the second pixel area (please refer to Figure 5b). The scanning method is similar to the scanning method of the embodiment in FIG. 4a. The difference is that, as shown in FIG. When scanning in the horizontal direction within each pixel first, to complete the scanning of each row of pixels, it is necessary to scan once in the horizontal direction, once in the vertical direction, and once again in the horizontal direction. That is, it needs to scan twice in the horizontal direction to complete the scanning of each row of pixels. As shown in FIG. 5c, when the echo laser imaging on the array detector 222 is located in half of the pixel in the horizontal direction of the array detector 222 and the horizontal scanning is performed first, the scanning of each row of pixels is completed , Similar to the embodiment in FIG. 4a, only one horizontal scan is required.

In the above-mentioned embodiment, in a single pixel area, the laser emitting unit 211 needs to emit twice, and the pixels of the corresponding array detector 222 perform coordinated work twice simultaneously, and finally the effect of increasing the resolution by two times can be achieved. Take a single pixel as an example: at t ₁ , the spot of the echo laser is imaged on the left half (or upper half) of the pixel, at this time the angle of the two-dimensional MEMS micromirror 23a is α ₁ ; at t ₂ At time, the spot of the echo laser is imaged on the right half (or lower half) of the pixel, and the angle of the two-dimensional MEMS micromirror 23a is α ₂ ; then the azimuth angles of the objects detected at t1 and t2 can be determined by α ₁ and α _{2 are} determined. Among them, the angle of the two-dimensional MEMS micromirror 23a can be directly read from the MEMS. When the spot of the echo laser is imaged on the left and right parts of the pixel, the read angle of the two-dimensional MEMS micromirror 23a is around the first axis of rotation. The deflection angle of x1, when the spot of the echo laser is imaged on the upper and lower parts of the pixel, the read angle of the two-dimensional MEMS micromirror 23a is the deflection angle around the second rotation axis x2. Compared with the case where a single pixel is scanned only once, this embodiment can detect whether the target object is located in the first pixel area or the second pixel area of the pixel, and the angular resolution is doubled. It can be understood that the imaging size of the echo laser on the array detector 222 can be further reduced, and the corresponding detection times of a single pixel can be further increased, thereby further improving the angular resolution of the detection.

As shown in Fig. 6a, in another embodiment, the imaging of the echo laser on the array detector 222 is located within 1/4 of the pixel of the array detector 222, and a single pixel of the array detector 222 is used according to the output The laser scanning sequence receives the echo laser in the first pixel area, the second pixel area, the third pixel area, and the fourth pixel area (please refer to Figure 6b). The scanning method is similar to the scanning method of the embodiment in FIG. 4a, and the difference is that to complete the scanning of each row of pixels, it is necessary to scan once in the horizontal direction, once in the vertical direction, and once again in the horizontal direction. That is, it needs to scan twice in the horizontal direction to complete the scanning of each row of pixels. In a single pixel area, the laser emitting unit 211 needs to be fired four times, and the pixels of the corresponding array detector 222 perform four times of coordinated work simultaneously, which can detect that the target object is located in the first pixel area and the second pixel area of the pixel. The pixel area, the third pixel area or the fourth pixel area can finally achieve the effect of increasing the resolution by four times.

In the above-mentioned embodiment where the echo laser imaging on the array detector 222 is located in 1/2 pixel of the array detector 222 or located in 1/4 pixel of the array detector 222, since a single pixel performs Therefore, when the same receiving optical unit 221 and array detector 222 are used, the above method can effectively improve the angular resolution of the array detector 222 and achieve the purpose of identifying smaller objects. Without increasing other costs. For example, the corresponding horizontal angle of view of a single pixel is between 0 and 0.2°, and the vertical angle of view is also between 0 and 0.2°; after scanning a single pixel twice in the horizontal direction, the deflection is added. The angle of the mechanism, that is, the angle of the two-dimensional MEMS micromirror 23a, so that it can be known that the detection object is within the field of view angle of 0～0.1° or the field of view angle of 0.1～0.2°, so the resolution is increased by two times; After the pixel has been scanned four times in the horizontal and vertical directions, the angle of the deflection mechanism, that is, the angle of the two-dimensional MEMS micromirror 23a, is added, so that it can be known that the detection object is located at a horizontal field of view angle of 0～0.1° and a vertical field of view. The angle of view is 0～0.1°, or the horizontal angle of view is 0.1～0.2°, the vertical angle of view is 0～0.1°, the horizontal angle of view is 0～0.1°, the vertical angle of view is 0.1～0.2°, or horizontal The field of view is within 0.1-0.2°, and the vertical field of view is within 0.1-0.2°, so the resolution is increased by four times. Under the condition that the resolution requirement remains unchanged, choose to use a lower resolution array device to increase the photosensitive area of a single pixel, which can improve the ranging performance and reduce the cost. The above-mentioned resolution increase is not limited to four times, and higher resolution can also be achieved. When the divergence angle of the emitted laser is less than the original resolution of the array device with the corresponding magnification, the imaging of the echo laser on the array detector 222 The smaller the size, the higher the magnification that a single pixel can increase.

(2) Using two-dimensional MEMS micromirror and small area spot scanning

As shown in FIG. 7a, in this embodiment, the deflection mechanism is a two-dimensional MEMS micromirror 23a, and the two-dimensional MEMS micromirror 23a includes a mirror surface, a first rotation axis x1, and a second rotation axis x2. The spot of the outgoing laser is a small area spot, that is, the size of the echo laser imaging on the array detector 222 in the horizontal and vertical directions is smaller than the size of the overall pixel of the array detector 222 in the corresponding direction, but both are larger than The size of a single pixel on the receiving surface of the array detector 222 in the corresponding direction. The mirror is used to rotate around the first rotation axis x1, so that the emitted laser light scans the detection area of the array detector 222 in the horizontal direction. The mirror surface is also used to rotate around the second rotation axis x2, so that the emitted laser light scans the detection area of the array detector 222 in the vertical direction. The mirror is also used to receive the echo laser and reflect the echo laser to the receiving module 22.

The specific scanning process is as follows: the mirror rotates in the first direction around the first rotation axis x1, so that the outgoing laser scans the detection area of the array detector 222 to the right in the horizontal direction; when the outgoing laser completes the first horizontal scan, the mirror rotates around the second The shaft x2 rotates in the second direction to move the outgoing laser downward in the vertical direction to the position of the second horizontal scan, then the first vertical scan is completed; the mirror rotates in the third direction around the first shaft x1, so that The outgoing laser scans the detection area of the array detector 222 to the left in the horizontal direction, and the third direction is the opposite direction of the first direction; when the outgoing laser completes the second horizontal scan, the mirror rotates in the second direction around the second rotation axis x2 , The outgoing laser is moved down in the vertical direction to the position of the third horizontal scan, then the second vertical scan is completed; the mirror rotates in the first direction around the first rotation axis x1...and scans back and forth in this way until the traversal is completed The detection area of the entire array detector 222.

It is understandable that, as shown in Figure 7b, when scanning, you can also scan in the vertical direction first, and then move the light spot to the second vertical scanning position by scanning in the horizontal direction, and then perform a second vertical scan. The direction of the scan.

(3) Using two-dimensional MEMS micromirror and short-line spot scanning

As shown in FIG. 8a, in this embodiment, the deflection mechanism is a two-dimensional MEMS micromirror 23a, and the two-dimensional MEMS micromirror 23a includes a mirror surface, a first rotation axis x1, and a second rotation axis x2. The spot of the outgoing laser is a short vertical spot, that is, the size of the echo laser on the array detector 222 in the horizontal direction is less than or equal to the size of a single pixel on the receiving surface of the array detector 222 in the corresponding direction (the In the figure, it is equal to), the size of the echo laser on the array detector 222 in the vertical direction is larger than the size of a single pixel on the receiving surface of the array detector 222 in the corresponding direction, but the echo laser on the array detector The size of the image on the 222 in the vertical direction is smaller than the size of the overall pixel of the array detector 222 in the vertical direction. The mirror is used to rotate around the first rotation axis x1, so that the emitted laser light scans the detection area of the array detector 222 in the horizontal direction. The mirror surface is also used to rotate around the second rotation axis x2, so that the emitted laser light scans the detection area of the array detector 222 in the vertical direction. The mirror is also used to receive the echo laser and reflect the echo laser to the receiving module 22.

The specific scanning process is as follows: the mirror rotates in the first direction around the first rotation axis x1, so that the outgoing laser scans the detection area of the array detector 222 to the right in the horizontal direction; when the outgoing laser completes the first horizontal scan, the mirror rotates around the second The shaft x2 rotates in the second direction to move the outgoing laser downward in the vertical direction to the position of the second horizontal scan, then the first vertical scan is completed; the mirror rotates in the third direction around the first shaft x1, so that The outgoing laser scans the detection area of the array detector 222 to the left in the horizontal direction, and the third direction is the opposite direction of the first direction; when the outgoing laser completes the second horizontal scan, the mirror rotates in the second direction around the second rotation axis x2 , The outgoing laser is moved down in the vertical direction to the position of the third horizontal scan. Scanning the detection area of the array detector 222, then the second vertical scan is completed; the mirror rotates in the first direction around the first rotation axis x1... ...Scan back and forth in this way until the detection area of the entire array detector 222 is traversed.

In another embodiment, as shown in FIG. 8b, the light spot can also be a short-line light spot in the transverse direction, that is, the size of the echo laser imaging on the array detector 222 in the vertical direction is less than or equal to the receiving of the array detector 222. The size of the single pixel of the surface in the corresponding direction, the size of the echo laser on the array detector 222 in the horizontal direction is larger than the size of the single pixel on the receiving surface of the array detector 222 in the corresponding direction, but the echo laser The size of the image on the array detector 222 in the horizontal direction is smaller than the size of the entire pixel of the array detector 222 in the horizontal direction. The horizontal line spot can be scanned in the first vertical direction first, and then the spot is moved to the second vertical scanning position by horizontal scanning, and then the second vertical scanning is performed.

The difference from the above-mentioned embodiment (2) is that in this embodiment, a linear spot is adopted, and the area of a single detection is narrower than that in the embodiment (2), and the emission energy can be reduced, thereby reducing the power of the laser emitting unit 211. The total detection time required is longer than that of the second embodiment. If the length of the line spot in the horizontal or vertical direction is set reasonably, the total detection time can be kept within an acceptable range.

As shown in Fig. 8c, in another embodiment, unlike Fig. 8a, the size of the echo laser on the array detector 222 in the horizontal direction is smaller than that of a single pixel on the receiving surface of the array detector 222. The size of the corresponding direction, for example, the size of the echo laser imaging on the array detector 222 in the horizontal direction is only 1/4 of the size of a single pixel on the receiving surface of the array detector 222 in the corresponding direction. According to the description of FIG. 6, it can be seen that since a single pixel has been detected four times, when the same receiving optical unit 221 and array detector 222 are used, compared with the embodiment of FIG. 8a, this method can be effective. By increasing the angular resolution of the array detector 222, the effect of increasing the resolution by four times can finally be achieved, achieving the purpose of identifying smaller objects without increasing other costs.

(4) Using one-dimensional MEMS micro-mirror and long-line spot scanning

As shown in FIG. 9a, the deflection mechanism is a one-dimensional MEMS micromirror 23b, and the one-dimensional MEMS micromirror 23b includes a mirror surface and a rotation axis x. The spot of the outgoing laser is a vertical long-line spot, that is, the size of the echo laser on the array detector 222 in the horizontal direction is less than or equal to the size of a single pixel on the receiving surface of the array detector 222 in the corresponding direction. The vertical size of the imaging of the wave laser on the array detector 222 is greater than or equal to the size of the overall pixel of the array detector 222 in the vertical direction. The mirror is used to rotate around the rotation axis x, so that the emitted laser light scans the detection area of the array detector 222 in the horizontal direction. The mirror is also used to receive the echo laser and reflect the echo laser to the receiving module 22.

The specific scanning process is: the mirror rotates in the first direction around the rotation axis x, so that the emitted laser scans the detection area of the array detector 222 to the right in the horizontal direction until it traverses the entire detection area of the array detector 222. Since the spot of the outgoing laser is a long-line spot, the size of the echo laser on the array detector 222 in the vertical direction covers the entire receiving surface of the array detector 222, so one scan in the horizontal direction can complete the entire array detector 222 Traversal of the detection area.

In another embodiment, as shown in FIG. 9b, the light spot can also be a horizontal long-line light spot, that is, the size of the echo laser imaging on the array detector 222 in the vertical direction is less than or equal to that of the array detector 222. The size of a single pixel of the surface in the corresponding direction, and the size of the echo laser imaged on the array detector 222 in the horizontal direction is greater than or equal to the size of the entire pixel of the array detector 222 in the horizontal direction. The horizontal line spot scans in the vertical direction when scanning.

As shown in Fig. 9c, in another embodiment, the difference from Fig. 9a is that the size of the echo laser imaging on the array detector 222 in the horizontal direction is smaller than that of a single pixel on the receiving surface of the array detector 222. The size of the corresponding direction, for example, the size of the echo laser imaging on the array detector 222 in the horizontal direction is only 1/4 of the size of a single pixel on the receiving surface of the array detector 222 in the corresponding direction. According to the description of FIG. 6a, since a single pixel has been detected four times, when the same receiving optical unit 221 and array detector 222 are used, compared with the embodiment of FIG. 9a, this method can be effective By increasing the angular resolution of the array detector 222, the effect of increasing the resolution by four times can finally be achieved, achieving the purpose of identifying smaller objects without increasing other costs.

(5) Using one-dimensional MEMS micromirror and large-area spot scanning

As shown in FIG. 10a, the deflection mechanism is a one-dimensional MEMS micromirror 23b, and the one-dimensional MEMS micromirror 23b includes a mirror surface and a rotation axis x. The spot of the outgoing laser is a large vertical spot, that is, the size of the echo laser imaging on the array detector 222 in the horizontal direction is smaller than the size of the overall pixel of the array detector 222 in the horizontal direction, but larger than that of the array detector. The size of a single pixel on the receiving surface of 222 in the corresponding direction, and the size of the echo laser imaging on the array detector 222 in the vertical direction is greater than or equal to the size of the overall pixel of the array detector 222 in the vertical direction. The mirror is used to rotate around the rotation axis x, so that the emitted laser light scans the detection area of the array detector 222 in the horizontal direction. The mirror is also used to receive the echo laser and reflect the echo laser to the receiving module 22.

The specific scanning process is: the mirror rotates in the first direction around the rotation axis x, so that the emitted laser scans the detection area of the array detector 222 to the right in the horizontal direction until it traverses the entire detection area of the array detector 222. Since the spot of the outgoing laser is a large area spot, the size of the echo laser on the array detector 222 in the vertical direction covers the entire receiving surface of the array detector 222, so one scan in the horizontal direction can complete the entire array detector 222 traversal of the detection area.

The difference from the above-mentioned embodiment (4) is that in this embodiment, a large-area spot is used, and the single detection area is wider than that in the embodiment (4), and the emission energy is larger, which increases the power of the laser emitting unit 211.

In another embodiment, as shown in FIG. 10b, the light spot can also be a lateral large-area light spot, that is, the imaging of the echo laser on the array detector 222 in the vertical direction is smaller than that of the array detector 222. The size of the overall pixel in the vertical direction, but larger than the size of a single pixel on the receiving surface of the array detector 222 in the corresponding direction, the size of the echo laser imaging on the array detector 222 in the horizontal direction is greater than or equal to that of the array detector The size of the overall pixel of the detector 222 in the horizontal direction. The horizontal line spot scans in the vertical direction when scanning.

(6) Using one-dimensional MEMS micro-mirror, line spot, and multiple emission stitching scanning

As shown in FIG. 11a, the deflection mechanism is a one-dimensional MEMS micromirror 23b, and the one-dimensional MEMS micromirror 23b includes a mirror surface and a rotation axis x. The emitting module includes three emitting components 210. Each emitting component 210 includes a laser emitting unit 211 and a emitting optical unit 212. The laser emitting unit 211 is used to emit the first outgoing laser, and the emitting optical unit 212 is used to collimate the first The laser light is emitted, and the collimated first emitted laser light is incident on the one-dimensional MEMS micromirror 23b. The outgoing laser is composed of all the first outgoing lasers, and the first outgoing lasers are arranged in the vertical direction. The spot size of the first outgoing laser after collimation is smaller than the receiving surface of the array detector 222, and all the spots of the first outgoing laser are combined into a long-line spot, that is, the imaging of the first echo laser on the array detector 222 is horizontal The size in the direction and the vertical direction are both smaller than the size of the overall pixel of the array detector 222 in the corresponding direction; the size of the echo laser imaging on the array detector 222 in the vertical direction is equal to or larger than the overall image of the array detector 222 The size of the element in the vertical direction. The mirror surface is used to rotate around the rotation axis, so that the emitted laser light scans the detection area of the array detector 222 in a horizontal direction. The mirror is also used to receive the first echo laser light and reflect the first echo laser light to the receiving module 22, where the first echo laser light is the laser light that returns after the first outgoing laser light is reflected by the object in the detection area. The wave laser is composed of all the first echo lasers.

The specific scanning process is: the mirror rotates in the first direction around the rotation axis x, so that the emitted laser scans the detection area of the array detector 222 to the right in the horizontal direction until it traverses the entire detection area of the array detector 222. Since the spot of the outgoing laser is a long-line spot, the imaging of the echo laser on the array detector 222 in the vertical direction covers the entire receiving surface of the array detector 222, so one scan in the horizontal direction can complete the detection of the entire array detector 222 The traversal of the area.

In order to reduce the crosstalk between the three emitting components 210 when emitting laser light at the same time, a polling and emitting manner of the three emitting components 210 can be adopted. For example, first the first launching component 210 launches, then the second launching component 210 launches, and finally the third launching component 210 launches, and again it is the first launching component 210 to launch...and so on in sequence until the entire array is traversed The detection area of the detector 222.

In another embodiment, as shown in FIG. 11b, the combined light spot may also be a horizontal long-line light spot, that is, the image of the combined echo laser on the array detector 222 in the vertical direction is less than or equal to The size of a single pixel on the receiving surface of the array detector 222 in the corresponding direction, and the size of the combined echo laser imaging on the array detector 222 in the horizontal direction is greater than or equal to the overall pixel size of the array detector 222 in the horizontal direction size of. The horizontal line spot scans in the vertical direction when scanning.

In other embodiments, the transmitting module may also include two, four, five, six, etc. multiple transmitting components 210, the size of the echo laser on the array detector 222 in the vertical or horizontal direction It is equal to or larger than the size of the overall pixel of the array detector 222 in the corresponding direction.

In other embodiments, the light spots of all the first outgoing lasers can be combined into a large area light spot, that is, the size of the echo laser on the array detector 222 in the horizontal direction is larger than that of a single receiving surface of the array detector 222. The size of the pixel in the corresponding direction, but is smaller than the size of the overall pixel of the array detector 222 in the horizontal direction, and the sum of the dimensions of the echo laser imaging on the array detector 222 in the vertical direction is greater than or equal to the array detector 222 The size of the overall pixel in the vertical direction.

In the above embodiment, the emitted laser is shaped by the emitting optical unit 212 to form a spot spot, a line spot or a block spot. When it is necessary to make the spot of the emitted laser light as a line spot, the following methods can also be used:

On the basis of FIG. 9a, please refer to FIG. 12a. In some embodiments, the emission module 21 includes a laser emission unit 211, an emission optical unit 212, and an optical deflection module 214. The optical deflection module 214 includes a plurality of devices arranged along a first direction. The deflection unit. The laser emitting unit 211 is used to emit the emitted laser light to the emitting optical unit 212 along the first direction. The emitting optical unit 212 collimates the emitted laser light and then enters the optical deflection module 214. Each deflection unit in the optical deflection module 214 is used to make The preset ratio of the emitted laser light is deflected and then emitted. The laser radar 100 further includes a deflection mechanism 23, which is used to receive the emitted laser light and reflect the emitted laser light to the detection area of the array detector 222, so that the emitted laser light scans the entire detection area. The deflection mechanism 23 can be a device capable of realizing light scanning, such as a MEMS micromirror, a reflecting mirror or a transmissive prism. In this embodiment, the linear light spot incident on the detection area covers the entire detection area in the second direction. Therefore, the deflection mechanism 23 can adopt a one-dimensional MEMS micromirror 23b, and scan in one direction through the one-dimensional MEMS micromirror 23b. If the line spot covers only part of the detection area in the second direction, a two-dimensional MEMS micromirror needs to be used to complete scanning in both directions.

The deflection unit adopts plane mirrors, and each plane mirror is used to deflect a preset proportion of the outgoing laser light and emit it. The preset ratio of the emitted laser light reflected by each plane mirror can be the same or different.

Specifically, each flat mirror has the same or different transmission/reflection ratio, so that the emitted laser light is reflected from each flat mirror according to a preset fixed ratio. The prepared plane mirror has a fixed transmission/reflection ratio. In some embodiments, the transmission/reflection ratio of each flat mirror is pre-calculated according to actual application requirements, and the corresponding flat mirror is selected or prepared according to the determined transmission/reflection ratio, so that the energy of the outgoing laser reflected by each flat mirror is the same or approximately same. For example, there are 5 plane mirrors in total; the transmittance of the first plane mirror is 80% and the reflectivity is 20%, the energy of the emitted laser light reflected by the first plane mirror is 20% of the total energy of the emitted laser; the second plane mirror The transmittance is 75% and the reflectivity is 25%. The energy of the emitted laser reflected by the second plane mirror is 80%*25%=20% of the total energy of the emitted laser; the transmittance of the third plane mirror is 67% , The reflectivity is 33%, the energy of the emitted laser reflected by the third plane mirror is 80%*75%*33%=19.8% of the total energy of the emitted laser, about 20%; the transmittance of the fourth plane mirror 50%, the reflectivity is 50%, the energy of the emitted laser reflected by the fourth plane mirror is 80%*75%*67%*50%=20.1%, which is about 20%; the fifth The transmittance of the plane mirror is close to 0% and the reflectivity is close to 100%. The energy of the emitted laser reflected by the fifth plane mirror is 80%*75%*67%*50%*100%=20.1% of the total energy of the emitted laser. About 20%. By selecting the above flat mirrors, the emitted laser energy reflected by each flat mirror is about 20% of the total emitted laser energy.

In other embodiments, in order to meet the demand for high-resolution detection of interest, the energy of the emitted laser reflected by the plane mirror that is incident on the region of interest in the detection area after being deflected may also be greater than that of the emitted laser reflected by other plane mirrors. energy. For example, there are 5 plane mirrors in total, and the central area is the region of interest. The energy of the outgoing laser reflected by the 3 plane mirrors in the detection center needs to be greater than the energy of the outgoing laser reflected by the other two plane mirrors; the transmittance of the first plane mirror is 90% , The reflectivity is 10%, the energy of the outgoing laser reflected by the first plane mirror is 10% of the total energy of the outgoing laser; the transmittance of the second plane mirror is 71%, and the reflectivity is 29%, then it will pass through the second plane mirror. The energy of the outgoing laser reflected by the plane mirror is 90%*29%=26.1% of the total energy of the outgoing laser; the transmittance of the third plane mirror is 58%, and the reflectivity is 42%. The energy is 90%*71%*42%=26.8% of the total energy of the emitted laser; the transmittance of the fourth plane mirror is 28%, the reflectivity is 72%, and the energy of the emitted laser reflected by the fourth plane mirror is the emission 90%*71%*58%*72%=26.7% of the total laser energy; the transmittance of the fifth plane mirror is 0%, and the reflectivity is close to 100%, then the energy of the emitted laser reflected by the fifth plane mirror is the emission 90%*71%*58%*28%*100% of the total laser energy = 10.4%. By selecting the above-mentioned plane mirrors, the energy of the emitted laser light reflected by the three plane mirrors in the detection center area needs to be greater than the energy of the emitted laser light reflected by the remaining two plane mirrors. The transmittance/reflectance of the plane mirror can be changed according to the actual situation. After determining the transmittance/reflectance of each plane mirror, select or prepare the corresponding plane mirror to meet the actual detection requirements.

Regarding the angle of the flat mirrors, all the flat mirrors may be 45 degrees, so that the emitted laser light is uniformly distributed in a stripe shape. However, in this case, a larger area of the deflection mechanism 23 is required to receive the emitted laser light reflected by all the plane mirrors. Therefore, the placement angle of the plane mirror can be changed to change the deflection direction, so that the outgoing laser light passing through the plane mirror can converge, thereby reducing the size of the deflection mechanism 23. For example, as shown in FIG. 12b, the angles between the plurality of plane mirrors and the outgoing laser light emitted by the laser emitting unit 211 are sequentially reduced along the first direction, so that the outgoing laser light passing through each plane mirror is converged toward the center direction.

As shown in Fig. 13a, the deflection mechanism 23 is just at the focal position where the outgoing laser light converges. When the deflection mechanism 23 is at this position, the size of the deflection mechanism 23 can be minimized. Of course, the deflection mechanism 23 may also be located at a non-focus position, such as the position shown in FIG. 13b. At this time, the size of the deflection mechanism 23 is larger than that in FIG. 13a.

As shown in FIG. 14, in another embodiment, in addition to collimating the outgoing laser light emitted by the laser emitting unit 211 by the emitting optical unit 212, a lens 213 is also used to condense the outgoing laser light deflected by each flat mirror and make it incident. To the deflection mechanism 23. There is an optical path gap between the outgoing laser beams collimated by the emission optical unit 212, which will cause the light spot reflected by the deflection mechanism 23 to not be a continuous line light spot, and there is a blind spot in the detection. A lens 213 is arranged on the light path of the outgoing laser reflected by the plane mirror to converge the light beam, so that the light spot incident on the deflection mechanism 23 is a continuous linear light spot without gaps, so the light spot reflected by the deflection mechanism 23 is also a continuous linear light spot without gaps. , Avoid detecting blind spots.

Hereinafter, when the spot of the outgoing laser in the above embodiment is a line spot, the situation of shaping the line spot will be described:

There is an optical path gap between the outgoing laser beams collimated by the laser emitting unit 211, which will cause the spot reflected by the deflection mechanism 23 to not be a continuous line spot, and there is a blind spot in the detection. Therefore, as shown in FIG. 15a, in some embodiments, the laser radar 100 may also be provided with an optical shaping module 215 between the transmitting optical unit 212 and the deflection mechanism 23. The laser emitting unit 211 uses a laser 2112. The laser emitting unit 211 is used to emit the emitted laser light to the emitting optical unit 212, which is collimated into a line spot by the emitting optical unit 212 and then incident to the optical shaping module 215. The optical shaping module 215 is used to converge and emit the laser light. And make it incident on the deflection mechanism 23. The deflection mechanism 23 is used to receive the outgoing laser light and reflect the outgoing laser light to be directed into the detection area of the array detector 222. The deflection mechanism 23 is also used to scan the outgoing laser light in a linear spot to traverse the entire detection area. The optical shaping module 215 may adopt a cylindrical lens or a micro-cylindrical lens array. The deflection mechanism 23 can be a device capable of realizing light scanning, such as a MEMS micromirror, a reflecting mirror or a transmissive prism. In this embodiment, the line spot covers the entire detection area in the vertical direction. Therefore, the deflection mechanism 23 can adopt a one-dimensional MEMS micromirror 23b, and scan in one direction through the one-dimensional MEMS micromirror 23b. If the linear spot only covers part of the detection area in the vertical direction, a two-dimensional MEMS micromirror is required. In order to reduce the size of the product, a reflective module can also be provided in the optical path. For example, in this embodiment, a reflective mirror 216 is provided between the transmitting optical unit 212 and the optical shaping module 215.

In this embodiment, an optical shaping module 215 is arranged between the emitting optical unit 212 and the deflection mechanism 23. The optical shaping module 215 condenses the emitted laser light and then enters the deflection mechanism 23, so that the spot of the emitted laser light reflected by the deflection mechanism 23 is continuous and non-continuous. Line spots in the gap avoid detection blind spots.

The position of the optical shaping module 215 can also be adjusted. As shown in FIG. 15b, in another embodiment, the optical shaping module 215 is disposed on the light path of the outgoing laser reflected by the deflection mechanism 23. The laser emission unit 211 is used to emit the emitted laser light to the emission optical unit 212, which is collimated into a line spot by the emission optical unit 212 and then enters the deflection mechanism 23; the deflection mechanism 23 is used to receive the emitted laser light and reflect it to the optical shaping module 215; The optical shaping module 215 is used to shape the outgoing laser into a continuous line spot without gaps and then project into the detection area of the array detector 222; the deflection mechanism 23 is also used to scan the line spot to traverse the entire detection area. The optical shaping module 215 is a cylindrical mirror or a micro-cylindrical lens array. For example, the cross section of the optical shaping module 215 in the rotation plane of the deflection mechanism 23 is arc-shaped and symmetrical around the deflection mechanism 23, as shown in FIG. 15c. The deflection mechanism 23 can be a device capable of realizing light scanning, such as a MEMS micromirror, a reflecting mirror or a transmissive prism. In this embodiment, the line spot covers the entire detection area in the vertical direction. Therefore, the deflection mechanism 23 can adopt a one-dimensional MEMS micromirror 23b, and scan in one direction through the one-dimensional MEMS micromirror 23b. If the linear spot only covers part of the detection area in the vertical direction, a two-dimensional MEMS micromirror is required.

In this embodiment, the optical shaping module 215 is arranged on the light path of the outgoing laser reflected by the deflection mechanism 23, and the optical shaping module 215 shapes the outgoing laser reflected by the deflection mechanism 23 into a continuous line spot with no gaps and then sends it to the array detector 222 for detection. Area, the final outgoing laser spot is a continuous line spot with no gaps to avoid detection blind spots.

Based on the above-mentioned lidar 100, an embodiment of the present invention proposes an automatic driving device 200 that includes the lidar 100 in the above-mentioned embodiment. The automatic driving device 200 can be a car, an airplane, a boat, or other related to the use of lidar for intelligence. A device for sensing and detection. The automatic driving device 200 includes a driving device body 201 and the lidar 100 in the above embodiment, and the lidar 100 is installed on the driving device body 201.

As shown in FIG. 16a, the automatic driving device 200 is an unmanned car, and the lidar 100 is installed on the side of the car body. As shown in FIG. 16b, the automatic driving device 200 is also an unmanned car, and the lidar 100 is installed on the roof of the car.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. The scope shall be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any manner. The present invention is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

A lidar (100), characterized in that the lidar (100) includes a transmission drive system (1), a laser transceiver system (2), and a control and signal processing system (3);

The laser transceiver system (2) includes a transmitting module (21), a deflection mechanism (23) and a receiving module (22); the receiving module (22) includes an array detector (222);

The emitting module (21) includes a laser emitting unit (211) and a emitting optical unit (212). The laser emitting unit (211) is used for emitting laser light, and the emitting optical unit (212) is used for Shaping the outgoing laser, and incident the shaped outgoing laser to the deflection mechanism (23);

The deflection mechanism (23) is used to receive the shaped outgoing laser, reflect the outgoing laser, and shoot it toward the local detection area of the array detector (222), and perform deflection to make the outgoing laser light The scanning mode traverses all the detection areas of the array detector (222); the deflection mechanism (23) is also used to receive the echo laser and reflect the echo laser to the receiving module (22) , Wherein the echo laser light is the laser light that returns after the outgoing laser light is reflected by the object in the detection area;

The receiving module (22) is used to receive the echo laser;

The emission driving system (1) is used to drive the emission module (21);

The control and signal processing system (3) is used for controlling the transmitting driving system (1) to drive the transmitting module (21), and controlling the receiving module (22) to receive the echo laser.
The lidar (100) according to claim 1, wherein the receiving module (22) is used to synchronously turn on the array detection when the outgoing laser scans the first area in the detection area. All the pixels in the device (222) corresponding to the first area receive echo laser light to detect the first area.
The lidar (100) according to claim 2, wherein the array detector (222) comprises m*n pixels that can be individually controlled on and off, and both m and n are integers greater than 1.
The lidar (100) according to any one of claims 1 to 3, wherein the deflection mechanism (23) is a MEMS micromirror, a reflecting mirror or a transmissive prism.
The lidar (100) according to any one of claims 1 to 3, wherein the deflection mechanism (23) comprises a mirror, a first rotating shaft (x1) and a second rotating shaft (x2);

The mirror surface is used to rotate around the first rotation axis (x1), so that the outgoing laser scans the detection area of the array detector (222) in a horizontal direction; the mirror surface is also used to rotate around the second rotation axis ( x2) Rotate, so that the outgoing laser scans the detection area of the array detector (222) in the vertical direction; the mirror is also used to receive the echo laser and reflect the echo laser to the laser The receiving module (22);

The size of the echo laser imaging on the array detector (222) in the horizontal direction and the vertical direction is smaller than the size of the overall pixel of the array detector (222) in the corresponding direction.
The lidar (100) according to any one of claims 1-3, wherein the deflection mechanism (23) comprises a mirror surface and a rotating shaft (x);

The mirror is used to rotate around the rotation axis (x), so that the outgoing laser scans the detection area of the array detector (222) in a first direction; the mirror is also used to receive the echo laser and The echo laser is reflected and directed toward the receiving module (22);

The size of the echo laser imaging on the array detector (222) in the first direction is smaller than the size of the overall pixel of the array detector (222) in the first direction, and the echo laser is in the first direction. The size of the imaging on the array detector (222) in the second direction is equal to or greater than the size of the overall pixel of the array detector (222) in the second direction;

The first direction is a horizontal direction and the second direction is a vertical direction; alternatively, the first direction is a vertical direction and the second direction is a horizontal direction.
The lidar (100) according to any one of claims 1-3, wherein the deflection mechanism (23) comprises a mirror surface and a rotating shaft (x);

The emitting module (21) includes at least two emitting components (210), each emitting component (210) includes a laser emitting unit (211) and a emitting optical unit (212), the laser emitting unit (211) Used to emit a first outgoing laser, the emitting optical unit (212) is used to collimate the first outgoing laser, and the collimated first outgoing laser is incident on the two-dimensional MEMS micromirror (23a) ); The outgoing laser is composed of all the first outgoing lasers, and the first outgoing lasers are arranged in a first direction; the mirror is used to rotate around the rotation axis (x) so that the outgoing lasers are along Scan the detection area of the array detector (222) in the second direction; the mirror is also used to receive the first echo laser and reflect the first echo laser to the receiving module (22), The first echo laser light is the laser light that returns after the first outgoing laser light is reflected by the object in the detection area, and the echo laser light is composed of all the first echo laser light;

The size of the imaging of the first echo laser on the array detector (222) in the first direction and the second direction is smaller than the size of the overall pixel of the array detector (222) in the corresponding direction; The size of the echo laser imaging on the array detector (222) in the first direction is equal to or greater than the size of the overall pixel of the array detector (222) in the first direction;

The first direction is a horizontal direction and the second direction is a vertical direction; alternatively, the first direction is a vertical direction and the second direction is a horizontal direction.
The lidar (100) according to claim 7, wherein the at least two emitting components (210) sequentially emit the first outgoing laser light in a sequence.
The lidar (100) according to claim 7 or 8, characterized in that the transmitting module (21) comprises three transmitting components (210).
The laser radar (100) according to any one of claims 1-3, wherein the echo laser is a circular spot, and the imaging of the echo laser on the array detector (222) is located at Within a single pixel of the array detector (222).
The laser radar (100) according to any one of claims 1-3, wherein the echo laser is a circular spot, and the imaging of the echo laser on the array detector (222) exceeds The single pixel of the array detector (222), but does not exceed the pixel adjacent to the single pixel.
The lidar (100) according to claim 10, characterized in that the imaging of the echo laser on the array detector (222) is located at 1/2 pixel of the array detector (222) Inside, a single pixel of the array detector (222) is used to receive the echo laser light in the first pixel area and the second pixel area according to the scanning sequence of the emitted laser light.
The lidar (100) according to claim 10, characterized in that the imaging of the echo laser on the array detector (222) is located at 1/4 pixel of the array detector (222) Inside, the single pixel of the array detector (222) is used to receive the first pixel area, the second pixel area, the third pixel area, and the fourth pixel area according to the scanning sequence of the emitted laser light. The echo laser.
The lidar (100) according to any one of claims 1-13, wherein the transmitting module (21) comprises a laser transmitting unit (211) and a transmitting optical unit (212);

The laser emitting unit (211) is used for emitting outgoing laser;

The emitting optical unit (212) is used for collimating the emitted laser light, and incident the collimated emitted laser light to the deflection mechanism (23).
The lidar (100) according to any one of claims 1-13, wherein the receiving module (22) further comprises a receiving optical unit (221);

The receiving optical unit (221) is used to converge the echo laser, and shoot the collected echo laser to the array detector (222);

The array detector (222) is used to receive the echo laser.
An automatic driving device (200), characterized by comprising a driving device body (201) and the lidar (100) according to any one of claims 1-15, and the lidar (100) is installed on the Driving equipment body (201).