WO2023197532A1 - Transceiver device of laser radar, and laser radar - Google Patents

Abstract

A transceiver device of a laser radar, and a laser radar. The transceiver device comprises: a transmitting module (110), comprising a linear array light source (111), which comprises: a plurality of light-emitting units (111i) arranged in a first direction, each light-emitting unit (111i) being suitable for emitting detection light; a scanning device (120), suitable for reflecting the detection light to a three-dimensional space, the detection light being reflected by an obstacle to form echo light; and a detection module (130), comprising an area array detector (131), which comprises a plurality of receiving units (131i) arranged in an array in the first direction and a second direction. The scanning device (120) rotates around at least one rotating shaft (121), so that the plurality of receiving units (131i) arranged in the second direction of the area array detector (131) sequentially receive the echo light. The linear array light source and the scanning device jointly enable the linear array light source to correspond to the area array detector.

Description

LiDAR transceiver device and LiDAR

This application claims priority to the Chinese patent application filed with the China Patent Office on April 14, 2022, with the application number 202210391721.4 and the invention title "Lidar transceiver device and lidar", the entire content of which is incorporated into this application by reference. .

Technical field

The invention relates to laser detection, and in particular to a laser radar transceiver device and a laser radar.

Background technique

Lidar is a commonly used ranging sensor with the characteristics of long detection range, high resolution, and low environmental interference. It is widely used in fields such as intelligent robots, drones, and unmanned driving. The working principle of lidar is to use the time it takes for laser light to travel back and forth between the radar and the target, or the frequency shift produced by the frequency-modulated continuous light traveling back and forth between the radar and the target to evaluate information such as the distance or speed of the target.

All-solid-state flash lidar has attracted much attention from the industry due to its small size and integrated features. It has the advantages of compactness and low cost. The transmitting end of Flash lidar is based on an area array laser, and the receiving end is based on an area array detector. The spatial field of view of a single scan becomes larger, which can increase the acquisition speed of each frame of image. In addition, the area array device is easy to integrate with the front-end circuit, and has It is conducive to the development of lidar towards miniaturization and low cost.

However, existing all-solid-state lidar often requires a large number of lasers to ensure the field of view, which is very costly.

Contents of the invention

The problem solved by the present invention is to provide a laser radar transceiver device and a laser radar to save the number of lasers and reduce costs.

In order to solve the above problems, the present invention provides a laser radar transceiver device, which includes:

A transmitting module, the transmitting module includes: a linear array light source, the linear array light source includes: a plurality of light-emitting units arranged along the first direction, each light-emitting unit is suitable for emitting detection light;

A scanning device, the scanning device is adapted to reflect the detection light into a three-dimensional space;

The detection light is reflected by obstacles to form echo light;

A detection module, the detection module includes: an area array detector, the area array detector includes: a plurality of receiving units arranged in an array along the first direction and the second direction;

The scanning device rotates around at least one rotation axis, so that a plurality of receiving units arranged along the second direction of the area array detector receive the echoed light in sequence.

Optionally, each of the light-emitting units is an independently addressable and independently controlled light-emitting unit.

Optionally, the light-emitting unit is a single-grain laser; or the multiple light-emitting units are integrated on the same chip.

Optionally, the receiving unit includes: a plurality of receiving pixels arranged along the first direction of the area array detector.

Optionally, the cross-sectional area of the detection light beam generated by each light-emitting unit is larger along the first direction of the linear array light source than along the second direction of the linear array light source.

Optionally, the receiving unit includes: k receiving pixels, where k is an integer greater than 1; the cross-sectional area of the detection light beam generated by each light-emitting unit, the size along the first direction of the linear array light source is the same as the size along the first direction of the linear array light source. The ratio of the dimensions of the linear array light source in the second direction is k:1.

Optionally, the size of the light-emitting area of each light-emitting unit along the first direction of the linear array light source is larger than the size along the second direction of the linear array light source, wherein the second direction of the linear array light source is perpendicular to the The first direction of the linear array light source.

Optionally, the ratio of the size of the light-emitting area of each light-emitting unit along the first direction of the linear array light source to the size along the second direction of the linear array light source is k:1.

Optionally, it also includes: an emitting optical component located on the optical path of the detection light, the emitting optical component including: at least one beam expansion element; the detection light transmitted through the emitting optical component, along the The divergence angle of the linear array light source in the first direction is greater than the divergence angle of the linear array light source in the second direction.

Optionally, the ratio of the divergence angle of the detection light transmitted through the emission optical component along the first direction of the linear array light source to the divergence angle along the second direction of the linear array light source is k:1.

Optionally, the size of the light-emitting area of each light-emitting unit along the first direction of the linear array light source is equal to the size along the second direction of the linear array light source.

Optionally, the number of receiving pixels in the multiple receiving units is equal.

Optionally, the scanning unit includes: a rotating mirror, the rotating axis of the rotating mirror is parallel to the first direction of the linear array light source.

Correspondingly, the present invention also provides a laser radar, including:

Transceiver device, the transceiver device is the transceiver device of the present invention.

Compared with the existing technology, the technical solution of the present invention has the following advantages:

The technical solution of the present invention is that multiple light-emitting units of the linear array light source generate detection light respectively; the scanning device causes the detection light to emit in sequence in different directions of the three-dimensional space in a direction perpendicular to the rotation axis of the scanning device; the multiple The echoed light is successively received by a plurality of receiving units arranged in the second direction of the area array detector. Therefore, the combination of the linear array light source and the scanning device allows the linear array light source to correspond to the area array detector. Under the same angular resolution, lasers can be saved and the cost of the transmitter device can be reduced. Moreover, the use of linear array light sources can effectively reduce the area occupied by the isolation structure between the light-emitting units, and the setting of the light-emitting units is more flexible. For example, multiple densely arranged lasers can be used to simultaneously emit and shape into a beam of detection light. Therefore, Compared with area array lasers, linear array light sources can achieve the purpose of increasing power density and improving distance measurement capabilities.

In an optional solution of the present invention, the receiving unit includes: a plurality of receiving pixels arranged along the first direction of the area array detector. One light-emitting unit corresponds to multiple receiving pixels, which can further save the number of lasers and reduce the cost of the transmitter device.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of an embodiment of a laser radar transceiver device of the present invention;

Figure 2 is a schematic top structural view of the embodiment of the laser radar transceiver device shown in Figure 1;

Figure 3 is a schematic diagram of the corresponding relationship between the linear array light source and the area array detector in the embodiment of the laser radar transceiver device shown in Figure 1;

Figure 4 is a schematic structural diagram of a light-emitting unit in the embodiment of the laser radar transceiver device shown in Figure 1;

Figure 5 is a schematic structural diagram of a light-emitting unit and the light spot formed by it in another embodiment of the laser radar transceiver device of the present invention;

Figure 6 is a schematic flow chart of an embodiment of the detection method used by the laser radar of the present invention;

Figure 7 is a schematic diagram of accumulating multiple corresponding detection data obtained to obtain the first signal in the embodiment of the lidar detection method shown in Figure 6;

Figure 8 is a schematic flow chart of the step of obtaining the second power configuration based on a plurality of the first signals in the lidar detection method shown in Figure 6;

FIG. 9 is a schematic diagram of information on the reflection position corresponding to the second light-emitting unit obtained according to the first signal in the embodiment of the lidar detection method shown in FIG. 6 .

Detailed ways

It can be seen from the background technology that laser radar in the existing technology has the problem of large number of lasers and high cost. Now let’s analyze the reasons for its high cost in combination with a kind of lidar:

In the early flash LiDAR (basic flash LiDAR), the entire area array laser was turned on during a single scan, illuminating the entire field of view. This working method requires all detectors at the receiving end to work at the same time, making the system very complex; if only some detectors work, it will cause more laser energy loss.

On the basis of surface-emitting flash lidar, multi-beam flash lidar (multi-beam flash lidar) has been developed. In multi-beam flash lidar, only part of the laser is turned on at a time, and multiple laser beams are emitted to illuminate the local area. Field of view, correspondingly turn on some detectors in the corresponding field of view to receive signals. The energy efficiency of this flash lidar is improved.

Sequential flash LiDAR has been further developed. The working method is generally that one column (row) or multiple columns (rows) of lasers emit light at the same time, and the receiving end receives correspondingly in columns (rows) or multiple columns (rows) at the same time. The echo signal is then worked column by column to form the entire frame image. Continuous light-emitting flash lidar can perform one-dimensional addressing and control a certain column (row) or multiple columns (rows) of lasers.

In order to obtain a large field of view, a large-area area array detector is used at the receiving end. The relationship between the area array laser and the area array detector is one-to-one. The required laser array area is large, and the number of lasers is large and densely arranged. Array lasers have high cost and low yield. At the same time, when a column (row) of lasers emits light at the same time, the drive signal is loaded from one end of the column (row) laser. Because the column (row) size is large, the drive signal transmission is uneven, resulting in uneven laser luminous power at different positions. Therefore, lidar Detection performance is uneven across the field of view.

In addition, in order to realize multi-beam flash or sequential flash, many isolation structures need to be made on the area array laser to isolate the entire laser area array according to columns (rows) or other shaped light-emitting units to achieve individual addressing and control, resulting in laser The arrangement of lasers is greatly restricted, and the lasers are sparsely arranged, which greatly reduces the power density and makes the distance measurement capability of lidar poor.

In order to solve the technical problems described above, the present invention provides a laser radar transceiver device, including:

A transmitting module, the transmitting module includes: a linear array light source, the linear array light source includes: a plurality of light-emitting units arranged along the first direction, each light-emitting unit is suitable for emitting detection light; a scanning device, the scanning device is suitable for The detection light is reflected to a three-dimensional space; the detection light is reflected by obstacles to form echo light; a detection module, the detection module includes: an area array detector, and the area array detector includes: along the first direction and a plurality of receiving units arranged in an array in the second direction; the scanning device rotates around at least one axis of rotation, so that the multiple receiving units arranged in the second direction of the area array detector receive echo light in sequence.

The technical solution of the present invention uses the cooperation of the linear array light source and the scanning device to make the linear array light source correspond to the field of view of the area array detector. Under the condition of the same angular resolution, it can save lasers and reduce the cost of the transmitting end device. Using the linear array light source of the technical solution of the present invention, the area occupied by the isolation structure between the multiple light-emitting units arranged along the first direction is relatively small, and the setting of the light-emitting units is flexible. For example, multiple densely arranged lasers can be used , simultaneously emit and shape into a beam of detection light. Compared with area array lasers, the linear array light source of the technical solution of the present invention can increase the power density and effectively improve the distance measurement capability of lidar.

In order to make the above objects, features and advantages of the present invention more obvious and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Referring to FIG. 1 , a schematic structural diagram of an embodiment of a laser radar transceiver device according to the present invention is shown.

The laser radar transceiver device includes: a transmitting module 110. The transmitting module 110 includes: a linear array light source 111. The linear array light source 111 includes: a plurality of light-emitting units 111i arranged along a first direction. Each light-emitting unit 111i is suitable for emitting detection light; scanning device 120, the scanning device 120 is suitable for reflecting the detection light into a three-dimensional space; the detection light is reflected by obstacles to form echo light; detection module 130, the detection module 130 It includes: an area array detector 131, the area array detector 131 includes: a plurality of receiving units 131i arranged in an array along the first direction and the second direction; the scanning device 120 rotates around at least one rotation axis 121, so that along the The multiple receiving units 131i arranged in the second direction of the area array detector 131 receive the echoed light in sequence.

With the cooperation of the linear array light source 111 and the scanning device 120, the field of view of the linear array light source 111 corresponds to that of the area array detector 131. With the same angular resolution, lasers can be saved and the cost of the transmitter device can be reduced.

With reference to FIG. 2 , a schematic top structural view of an embodiment of the laser radar transceiver device shown in FIG. 1 is shown.

The emission module 110 including a linear array light source 111 is adapted to generate light for detection.

The linear array light source 111 means that the light-emitting units 111i that generate detection light are arranged along the first direction to form a one-dimensional array. Each said light-emitting unit 111i is adapted to generate detection light. Specifically, in some embodiments of the present invention, the first direction of the linear array light source 111 is a direction perpendicular to the horizontal plane. Specifically, the linear array light source 111 includes M light-emitting units 111i.

In some embodiments of the present invention, each of the light-emitting units 111i is an independently addressed and independently controlled light-emitting unit 111i. That is to say, each of the light-emitting units 111i can be powered on and driven independently, or can only be powered on and driven. The light-emitting unit 111i on the specific address line is driven to turn the specific light-emitting unit 111i on or off.

According to embodiments of the present invention, each light-emitting unit is driven independently, that is, a driving signal is independently loaded to each light-emitting unit, which effectively shortens the transmission path of the driving signal and reduces or even eliminates the difference in luminous power of multiple light-emitting units on the linear array light source. , improve the uniformity of lidar detection capabilities within the field of view.

In some embodiments of the present invention, the light-emitting unit 111i is a single-grain laser, that is, each light-emitting unit is an independent laser chip.

In other embodiments of the present invention, the plurality of light-emitting units 111i can also be integrated on the same chip. That is to say, the linear array light source 111 can also be a linear laser chip, that is, the linearly arranged light-emitting units are integrated on the same chip. On the same chip, individual driving and individual control are achieved through structural isolation of each light-emitting unit.

The linear array light source of the present invention consists of light-emitting units forming a one-dimensional array, which can be easily controlled independently. Moreover, compared with area array lasers, the one-dimensional array of light-emitting units can achieve a denser laser arrangement, resulting in greater power density; compared with the existing area array lasers, the linear array light source of the present invention can also increase the relative For the light-emitting area of the light-emitting unit within the same field of view, for example, a larger number of lasers are used, thereby further increasing the light-emitting power. Therefore, the transmitting module 110 of the present invention, that is, the transmitting module 110 including the linear array light source 111, can effectively improve the distance measurement capability of the laser radar.

The scanning device 120 is suitable for deflecting the detection light generated by the emission module 110. The scanning device 120 rotates around at least one rotation axis to deflect the detection light to different directions to achieve scanning.

In some embodiments of the present invention, the scanning device 120 includes a rotating mirror (not labeled in the figure), and the rotating axis 121 of the rotating mirror is parallel to the first direction of the linear array light source. As shown in Figures 1 and 2, in some embodiments, the scanning device 120 is suitable for scanning the detection light within the horizontal field of view, that is, the rotating mirror 120 directs the detection light toward different horizontal field of view angles. When exiting, the rotating axis 121 of the rotating mirror is perpendicular to the horizontal plane,

The first direction of the linear array light source is a direction perpendicular to the horizontal plane. Specifically, the rotating mirror is a multi-faceted rotating mirror. The rotating mirror illustrated in Figure 1 is a three-sided rotating mirror, that is, the rotating mirror has three reflecting surfaces.

It should be noted that, as shown in Figures 1 and 2, in some embodiments of the present invention, the transceiver device further includes: a transmitting optical component 112, which is located between the transmitting module 110 and the scanning device. 120 on the optical path of the detection light. The detection light generated by the emission module 110 is reflected to the three-dimensional space by the scanning device 120 after undergoing operations such as beam expansion and collimation by the emission optical component 112 .

The reflected detection light is reflected by obstacles in the three-dimensional space to form echo light. The detection module 130 including the area array detector 131 is adapted to receive the echoed light.

It should be noted that in some embodiments of the present invention, the transceiver device further includes: a receiving optical component 132, which is located on the optical path of the echoed light from the side of the detection module 130 facing the obstacle. The echo light formed by reflection from the obstacle is transmitted through the receiving optical component 132 and then projected to the detection module 130 .

With reference to FIG. 3 , a schematic diagram of the corresponding relationship between the linear array light source and the area array detector in the embodiment of the laser radar transceiver device shown in FIG. 1 is shown.

The plurality of receiving units 131i in the area array detector 131 are arranged in an array with the intersecting first direction Y and the second direction X serving as the column direction and the row direction. Specifically, in some embodiments, the first direction Y and the second direction X of the area array detector 131 are perpendicular to each other, the first direction Y of the area array detector 131 is a direction perpendicular to the horizontal plane, and the plane The second direction X of the array detector 131 is parallel to the horizontal plane.

Referring to FIGS. 1 to 3 , as the scanning device 120 rotates around the rotation axis 121 , the emission direction of the detection light generated by the linear array light source 111 continuously changes, and the echo light formed is received by different receiving units 131 i take over. Specifically, as the rotating mirror rotates, the multiple receiving units 131i arranged along the second direction of the area array detector 131 receive the echoed light in sequence.

As shown in FIG. 3 , when the scanning device 120 rotates to the j-th angle, the plurality of light-emitting units 111i in the linear array light source 111 and the j-th column receiving unit 131i in the area array detector 131 one by one. correspond to form a detection channel, that is, when the scanning device 120 turns to the j-th angle, the linear array light source 111 and the corresponding j-th column receiving unit 131i correspond to the same field of view in the far field; the light-emitting unit The echo light formed after reflection of the detection light generated by 111i is received by the corresponding receiving unit 131i in the j-th column.

When the scanning device 120 turns to the (j+1)th angle, the plurality of light-emitting units 111i in the linear array light source 111 and the (j+1)th column receiving unit 131i in the area array detector 131 There is a one-to-one correspondence to form a detection channel, that is, when the scanning device 120 turns to the (j+1)th angle, the linear array light source 111 and the corresponding (j+1)th column receiving unit 131i are in the far field and The same field of view corresponds; the echo light formed after reflection of the detection light generated by the light-emitting unit 111i is received by the corresponding receiving unit 131i in the (j+1)th column.

In some embodiments of the present invention, the receiving unit 131i includes a receiving pixel 131p.

In some embodiments of the present invention, the receiving unit 131i includes: a plurality of receiving pixels 131p. The plurality of receiving pixels 131p are a plurality of receiving pixels arranged in the Y direction, or a plurality of receiving pixels arranged in the X direction, or a plurality of receiving pixels arranged in a two-dimensional array in the X direction and the Y direction. In addition, various receiving unit compositions can also be used in the same embodiment.

In some embodiments of the present invention, the plurality of receiving pixels 131p are arranged along the first direction Y of the area array detector 131. Specifically, when the scanning device 120 turns to the i-th angle, the echo light formed after reflection of the detection light generated by the light-emitting unit 111i is received by the plurality of receiving pixels 131p in the corresponding receiving unit 131i.

Specifically, the receiving pixel 131p is a receiving pixel based on the Geiger mode, that is, the receiving pixel 131p is a device whose reverse bias exceeds the breakdown voltage. Specifically, the receiving pixel 131p includes: a Single Photon Avalanche Diode (SPAD). In some embodiments of the present invention, the receiving pixel 131p includes a plurality of single-photon avalanche diodes connected in parallel.

In some embodiments of the present invention, the cross-sectional area of the detection light beam generated by each light-emitting unit 111i is larger along the first direction of the linear array light source than along the second direction of the linear array light source, so that the same receiving unit 131i The multiple receiving pixels 131p in the same receiving unit 131i can be covered by the same echo light at the same time, that is, the multiple receiving pixels 131p in the same receiving unit 131i can all receive the echo light formed by the same detection light.

As mentioned above, the first direction Y of the linear light source 111 is a direction perpendicular to the horizontal plane, and the first direction Y of the area array detector 131 is also a direction perpendicular to the horizontal plane. That is to say, the linear light source 111 The first direction Y is parallel to the first direction Y of the area array detector 131 .

Therefore, in some embodiments of the present invention, the receiving unit 131i includes: k receiving pixels 131p, k is an integer greater than 1; the cross-sectional area of the detection light beam generated by each light-emitting unit 111i, along the linear array light source The ratio of the Y dimension of 111 in the first direction to the dimension in the second direction of the linear array light source is k:1.

With reference to FIG. 4 , a schematic structural diagram of a light-emitting unit 111i in the embodiment of the laser radar transceiver device shown in FIG. 1 is shown.

In some embodiments of the present invention, the detection light that meets the requirements is formed by arranging the laser in a strip shape, that is, arranging the light-emitting area of the laser in a long strip shape.

As shown in FIG. 4 , the size of the light-emitting area 111 l of each light-emitting unit 111 i along the first direction Y of the linear array light source 111 (as shown in FIG. 3 ) is larger than the size along the second direction X of the linear array light source 111 . size, wherein the second direction X of the linear array light source 111 is perpendicular to the first direction Y of the linear array light source 111 .

Specifically, the size W1 of the light-emitting area 111l of each light-emitting unit 111i along the first direction Y of the linear array light source 111i (as shown in Figure 3) is the same as the size W1 along the linear array light source 111 (as shown in Figure 3). The ratio of the dimension H1 in the second direction X is k:1. When the shape of the light-emitting area 111l of the light-emitting unit 111i meets the above conditions, after the detection light generated by the light-emitting unit 111i is shaped, the ratio of the vertical divergence angle and the horizontal divergence angle of the emitted detection light is k: 1.

In some embodiments of the present invention, the light emitting unit 111i includes: a vertical cavity surface emitting laser. The vertical cavity surface emitting laser includes a plurality of resonant cavities that are electrically connected to each other. The plurality of resonant cavities are arranged in a two-dimensional array, and the size of the two-dimensional array along the first direction Y of the linear array light source is the same as the size along the second direction X of the linear array light source. The size ratio is k:1. Multiple resonators emit light at the same time driven by the same driving signal. After shaping, a beam of detection light is emitted, so that the ratio of the vertical divergence angle and the horizontal divergence angle of the emitted detection light is k:1.

It should be noted that in some embodiments of the present invention, the number of receiving pixels 131p in the multiple receiving units 131i is equal. The number of receiving pixels 131p in different receiving units 131i is made equal so that the lidar has uniform ranging capabilities within the field of view.

It should also be noted that the plurality of receiving units 131i are evenly spaced, and the field of view angle corresponding to each receiving unit 131i (ie, the pixel of the area array detector 131) is Φ(H)×Φ(V) . The horizontal field of view Φ(H) and the vertical field of view Φ(V) of each receiving unit 131i determine the maximum horizontal resolution and vertical resolution of the lidar.

Furthermore, the area array detector 131 has N columns along the row direction and k×M rows along the column direction. That is, the area array detector 131 has N columns along the second direction and k×M rows along the first direction. The detectable field of view angle of the lidar is N·Φ(H)×k·M·Φ(V). Therefore, the use of the large area array detector 131 can obtain a large field of view.

On the other hand, the echo light formed by the detection light generated by one light-emitting unit 111i is collected by k receiving pixels 131p in one receiving unit 131i. The linear array light source 111 in the transmitting module 110 only includes M light-emitting units 111i. The number of light-emitting units 111i in the transmitting module 111 is much smaller than the number of receiving pixels 131p in the detection module 131. That is, the light-emitting units 111i in the transceiver device can be greatly reduced. The quantity can effectively reduce device costs and improve processing yield, equipment energy consumption, heat dissipation and other related issues.

It should be noted that when the size of the spot formed by the echo light on the area array detector 131 is larger than the receiving pixel 131p, the minimum resolution of the signal obtained by the lidar is determined by the size of the receiving pixel 131p. ; When the size of the spot formed by the echo light on the area array detector 131 is smaller than the receiving pixel 131p, the minimum resolution of the signal obtained by the laser radar is determined by the divergence angle of the detection light generated by the linear array light source. Size determines. It can be seen that along the second direction X of the area array detector 131, the smaller divergence angle of the outgoing detection light can achieve higher horizontal angular resolution; along the first direction Y of the area array detector 131, Multiple receiving pixels 131p are provided in the receiving unit 131i corresponding to the light-emitting unit 111i. The smaller-sized receiving pixels 131p effectively ensure higher vertical angular resolution. Therefore, the arrangement method in which the echo light formed by the detection light generated by one light-emitting unit 111i is detected by a receiving unit with multiple receiving pixels can reduce the number of light-emitting units 111i in the transceiver device while maintaining the resolution of the lidar. Change.

In the above embodiment, the size of the light-emitting area 111l of each light-emitting unit 111i along the first direction Y and the second direction X of the linear array light source 111i (as shown in FIG. 3) is proportional to form a detector with a suitable cross-sectional area Light, thereby realizing that the echo light formed by the detection light generated by a light-emitting unit 111i is detected by a receiving unit having multiple receiving pixels, that is, a one-to-many correspondence between transmitting and receiving is achieved through the strip laser design.

However, this setting method is only an example. In other embodiments of the present invention, it can also be implemented through uniform light design.

Referring to FIG. 5 , there is shown a schematic structural diagram of a light-emitting unit and the light spot formed by it in another embodiment of the laser radar transceiver device of the present invention.

In order to form a detection light with a suitable cross-sectional area to achieve a one-to-many relationship between sending and receiving, in some embodiments of the present invention, the sending and receiving device further includes: a transmitting optical component 221, which is located between the detecting light 201 and the detecting light 201. On the way, the emitting optical component 221 includes: at least one beam expansion element 222; the detection light 201 transmitted through the emitting optical component 221 has a divergence angle along the first direction Y of the linear array light source greater than that along the linear array. The divergence angle of the second direction X of the light source.

In some embodiments of the present invention, the receiving unit (not shown in the figure) includes: k receiving pixels 131p, where k is an integer greater than 1; therefore, the detection light 201 transmitted through the transmitting optical component 222 passes along all the The ratio of the divergence angle of the linear array light source in the first direction Y to the divergence angle of the linear array light source along the second direction X is k:1.

The beam expansion element 222 is suitable for expanding the detection light along the first direction Y of the area array detector, so that the detection light emitted toward the obstacle meets the requirements of vertical divergence angle and horizontal divergence angle. Specifically, in some embodiments, the beam expansion element 222 may be configured as a cylindrical lens.

In addition, in some embodiments of the present invention, the size of the light-emitting area 211l of each light-emitting unit 211i along the first direction Y of the linear array light source is equal to the size along the second direction X of the linear array light source. By adjusting the divergence angles of the outgoing detection light in different directions through the beam expander, there is no need to change the shape of the light-emitting area of the light-emitting unit 211i, and the size of the light-emitting unit and the linear array light source in the first direction Y can be reduced, which is beneficial to lidar. of miniaturization.

On the other hand, Flash LiDAR in the existing technology requires multiple receiving pixels at the receiving end to work in parallel. When encountering objects with high reflectivity, such as signs on the road, the signs have retroreflective surfaces that can almost completely reflect the incident light back. The way flash lidar works makes the problem of optical crosstalk between pixels working at the same time become serious. For example, in continuous luminescence flash lidar, it is assumed that there is a high reflection point at the detection position corresponding to a certain pixel. Due to the large energy of the echo signal reflected by the high reflection point and the fact that the light is not completely concentrated in space, the same column Multiple adjacent pixels or even entire columns of pixels respond simultaneously, causing crosstalk between pixels in the same column.

Correspondingly, the present invention also provides a lidar detection method. With reference to FIG. 6 , a schematic flow chart of an embodiment of the lidar detection method of the present invention is shown.

As shown in Figure 6, the detection method includes: step S110, the first collection, and step S120, the second collection, performed successively.

Wherein, step S110, the first collection includes: first performing step S111 to emit a plurality of first detection lights in parallel through the plurality of light-emitting units with a first power configuration, the first power configuration includes emitting the first When detecting light, the power of each of the light-emitting units, the plurality of first detection lights and the plurality of light-emitting units correspond one to one; each of the first detection lights is reflected to form a corresponding first echo light ; Then perform step S112, receive the first echo light to obtain the corresponding first signal; step S120, the second collection includes: first perform step S121, passing through the at least one light-emitting unit in parallel with the second power configuration Emitting at least one second detection light, the second power configuration includes the power of each light-emitting unit when the second detection light is emitted, the second power configuration includes: standard power, the standard power is greater than the The power of the corresponding light-emitting unit when the first detection light is emitted; the second detection light is reflected to form the corresponding second echo light; then step S122 is performed to receive the second echo light to obtain the corresponding the second signal.

The detection method also includes: performing step S130 to obtain the second power configuration based on a plurality of the first signals to suppress optical crosstalk caused by reflection echoes from high reflectivity obstacles, that is, performing step S110, Between performing the first acquisition and executing step S120 and performing the second acquisition, step S130 is executed to obtain the second power configuration based on a plurality of the first signals.

The first acquisition at lower power is used as a pre-acquisition to detect the field of view angle of a high-reflectivity obstacle, or the reflection position of a high reflectivity; while the second power configuration in the second acquisition is based on the The result of the first acquisition is obtained by the plurality of first signals. Therefore, when a reflection position with high reflectivity is found, the second power configuration used in the second acquisition as the current acquisition is adjusted to reduce the second acquisition time. The light intensity of the detection light projected to the reflection position with high reflectivity can effectively avoid the crosstalk caused by the strong echo light at the reflection position with high reflectivity, and can effectively improve the optical crosstalk problem between receiving pixels.

It should be noted that the laser radar transceiver device used in the detection method is the transceiver device of the present invention. However, the laser radar transceiver device used in the detection method may not be the transceiver device of the present invention. The technical solution of the detection method does not place specific restrictions on the laser radar transceiver device used.

In some embodiments of the present invention, the laser radar emission module 110 includes a linear array light source 111, and the laser radar detection module 130 includes the area array detector; the laser radar has a scanning device 120 to enable the emission The detection light generated by the module 110 is deflected to achieve scanning. Therefore, as shown in FIG. 6 , before performing step S110 and performing the first acquisition step, the detection method further includes: performing step S101 to determine the detection angle.

Specifically, the scanning device 120 includes a rotating mirror. Therefore, step S101 is performed. In the step of determining the detection angle, at time t _n , the rotating mirror rotates to the detection angle θ _n .

Continuing to refer to FIG. 6 , after the detection angle θ _n is determined, step S110 , the first acquisition, and step S120 , the second acquisition, are executed successively.

Step S110: The first acquisition is used as a pre-acquisition to detect reflection positions with high reflectivity.

In some embodiments of the present invention, the first collection includes multiple measurements. In each measurement, each light-emitting unit 111i transmits the first detection pulse in parallel with the corresponding power in the first power configuration, and receives the first echo pulse formed by reflection of the first detection pulse within the time window of one measurement; The laser radar receives the first echo pulse and obtains detection data corresponding to the measurement. The detection data includes time information and intensity information corresponding to the time information.

Specifically, in a measurement, each light-emitting unit 111i transmits a first detection pulse in parallel with the corresponding power in the first power configuration, and receives the first echo formed by reflection of the first detection pulse within the time window of a measurement. Pulse; the laser radar receives the first echo pulse and obtains the detection data corresponding to the measurement. In the next measurement, the light-emitting unit 111i emits the first detection pulse again, and the receiving unit receives the first echo pulse formed by reflection of the first detection pulse within the time window of one measurement to obtain the detection data corresponding to the measurement. A plurality of measurement steps of the first acquisition are completed, and detection data corresponding to multiple first echo pulses are accumulated to obtain the first signal.

Specifically, in the lidar embodiment shown in FIG. 1 , multiple light-emitting units 111i of the linear array light source 111 in the lidar transmitting module 110 emit multiple first detection lights in parallel with a first power configuration. Wherein, the M light-emitting units 111i in the linear array light source 111 all emit the first detection light in parallel with the power in the first power configuration.

The first detection light is reflected to form corresponding first echo light, and the area array detector 131 receives all the first echo light in parallel. Specifically, a row of k×M receiving units 131i corresponding to the detection angle θ _n in the area array detector 131 receives all the first echo lights in parallel.

As mentioned above, in some embodiments of the present invention, the receiving unit 131i is a receiving unit based on the Geiger mode, and the receiving unit 131i includes a plurality of parallel single photon avalanche diodes (Single Photon Avalanche Diode, SPAD).

In some embodiments of the present invention, the receiving unit 131i includes one or more receiving pixels, and the receiving pixels include a plurality of single-photon avalanche diodes connected in parallel.

Therefore, in step S110, the first collection includes multiple measurements. Specifically, each of the light-emitting units 111i emits a first detection pulse with the corresponding power in the first power configuration, and the corresponding receiving unit 131i receives the optical signal within a preset time window, thereby completing a measurement. . As shown in Figure 7, for each measurement, the receiving unit 131i receives an optical signal, responds to the received optical signal, and obtains corresponding detection data. The corresponding detection data includes time information and the intensity corresponding to the time information. information. Specifically, the time information in the corresponding detection data refers to the time interval between the response time of the receiving unit 131i and the emission time of the first detection pulse, and the intensity information corresponding to the time information refers to the time interval between the response time of the receiving unit 131i and the transmission time of the first detection pulse. 131The intensity of light received. In some embodiments, in the first collection, the time intervals of the time windows for each measurement are the same.

It should be noted that the receiving pixel 131p includes a plurality of single-photon avalanche diodes connected in parallel. Each time a measurement is performed, the single-photon avalanche diode receives an optical signal within a time window, and after responding to the optical signal, a corresponding response is obtained. Detection data, the corresponding detection data includes the time information and intensity information of the response.

Specifically, the time information can be the time stamp quantified by a time-to-digital converter (TDC) and the time interval obtained by subtracting the first detection pulse emission moment. The intensity information can be triggered by the receiving pixel 131p. expressed as the number of single photon avalanche diodes. The single-photon avalanche diode is quenched after being triggered by a photon. After a recovery time, it can return to the Geiger mode and can be triggered by a photon again. The recovery time is much smaller than the time window of a measurement, so in time Single-photon avalanche diodes within the window can trigger multiple times in response to a light signal. The detection data of a measurement includes time information and intensity information corresponding to each response of the single-photon avalanche diode in the receiving pixel 131p within the time window of a measurement.

With reference to FIG. 7 , the light-emitting unit 111i successively emits i first detection pulses with the corresponding power in the first power configuration, and the corresponding receiving unit 131i sequentially receives i first detection pulses after reflection. The first echo pulse is formed to obtain i-time corresponding detection data; the laser radar accumulates the i-time corresponding detection data to obtain the first signal to complete the first collection. Since the corresponding detection data includes time information and intensity information corresponding to the time information, the accumulation is to accumulate multiple intensity information corresponding to the same time information, so the first result obtained by accumulating the corresponding detection data is The signal includes: the distribution of time information of i detections and the intensity distribution corresponding to the time information. That is to say, the first signal is a relationship between signal intensity changing with time.

Specifically, the receiving unit 131i includes multiple single-photon avalanche diodes connected in parallel, and the intensity information in the corresponding detection data is represented by the number of single-photon avalanche diodes triggered at the same time; therefore, the corresponding detection data accumulated i times is obtained The first signal is a time-photon number histogram, in which the horizontal axis of the histogram represents time and the vertical axis represents the sum of the number of triggers at the same time information in i measurements, which can reflect the light intensity.

It should be noted that in the first collection, the plurality of light-emitting units 111i emit multiple first detection lights in parallel, so the multiple receiving units 131i receive multiple first echo lights in parallel to obtain multiple first echo lights. corresponding first signal. The plurality of first signals correspond to the plurality of light-emitting units 111i on a one-to-one basis.

Step S120, the second acquisition is used as the current acquisition to obtain the distance information of the reflection position.

In some embodiments of the present invention, the second collection includes multiple measurements. In each measurement, at least one light-emitting unit 111i emits multiple second detection pulses in parallel with the corresponding power in the second power, and receives the second echo pulse formed by reflection of the second detection pulse within the time window of one measurement. ; The laser radar receives the second echo pulse and obtains detection data corresponding to the measurement. The detection data includes time information and intensity information corresponding to the time information.

Specifically, in one measurement, at least one light-emitting unit 111i emits multiple second detection pulses with corresponding power in the second power, and receives the second echo formed by reflection of the second detection pulse within the time window of one measurement. Pulse; the laser radar receives the second echo pulse and obtains the detection data corresponding to this measurement. In the next measurement, the light-emitting unit 111i emits the second detection pulse again, and the receiving unit receives the second echo pulse formed by reflection of the second detection pulse within the time window of one measurement to obtain the detection data corresponding to the measurement. Complete multiple measurement steps of the second acquisition, and accumulate detection data corresponding to multiple second echo pulses to obtain the second signal.

Specifically, in the lidar embodiment shown in FIG. 1 , at least one light-emitting unit 111i of the linear array light source 111 in the lidar transmitting module 110 emits multiple second detection lights in parallel with a second power configuration. Wherein, at least one light-emitting unit 111i in the linear array light source 111 emits the second detection light in parallel with the power in the second power configuration.

The second detection light is reflected to form corresponding second echo light, and the area array detector 131 receives all the second echo light in parallel. Specifically, in the area array detector 131, in a row of k×M receiving units 131i corresponding to the detection angle _θn , at least k receiving units 131i corresponding to the at least one light-emitting unit 111i receive All of the second echo light.

As mentioned before, the receiving unit 131i includes a receiving pixel, and the receiving pixel includes a plurality of single-photon avalanche diodes connected in parallel.

Therefore, similar to step S110, the first acquisition, step S120, the second acquisition includes multiple measurements. Specifically, in each measurement, at least one of the light-emitting units 111i emits a second detection pulse with the corresponding power in the second power configuration, and the corresponding receiving unit 131i receives the optical signal within a preset time window. , thus completing a measurement. For each measurement, the receiving unit 131i receives an optical signal, responds to the received optical signal, and obtains corresponding detection data. The corresponding detection data includes time information and intensity information corresponding to the time information. Specifically, the time information in the corresponding detection data refers to the time interval between the response time of the receiving unit 131i and the transmission time of the second detection pulse, and the intensity information corresponding to the time information refers to the time interval between the response time of the receiving unit 131i and the transmission time of the second detection pulse. 131The intensity of light received. In some embodiments, in the second collection, the time intervals of the time windows of each measurement are the same.

It should be noted that when the receiving unit 131i includes multiple single-photon avalanche diodes connected in parallel, each time a measurement is performed, the single-photon avalanche diode receives an optical signal within a time window and responds to the optical signal to obtain a response corresponding to The corresponding detection data includes the time information and intensity information of the response.

Specifically, the time information can be the time interval obtained by subtracting the time stamp quantized by the time-to-digital converter from the second detection pulse emission moment, and the intensity information can be represented by the number of single-photon avalanche diodes triggered in the receiving pixel 131p. The single-photon avalanche diode is quenched after being triggered by a photon. After a recovery time, it can return to the Geiger mode and can be triggered by a photon again. The recovery time is much smaller than the time window of a measurement, so in time Single-photon avalanche diodes within the window can trigger multiple times in response to a light signal. The detection data of a measurement includes time information and intensity information corresponding to each response of the single-photon avalanche diode in the receiving pixel 131p within the time window of a measurement.

At least one of the light-emitting units 111i successively emits j second detection pulses with the corresponding power in the second power configuration, and the corresponding receiving unit 131i sequentially receives j times of the second detection pulses formed by reflection. Two echo pulses are used to obtain j corresponding detection data; the laser radar accumulates the obtained j detection data to obtain the second signal to complete the second collection. Since the corresponding detection data includes time information and intensity information corresponding to the time information, the accumulation is to accumulate multiple intensity information corresponding to the same time information, so the third value obtained by accumulating the corresponding detection data is The second signal includes: the distribution of time information of j detections and the intensity distribution corresponding to the time information. That is to say, the second signal is the relationship between signal intensity changing with time.

Specifically, when the receiving unit 131i includes multiple single-photon avalanche diodes connected in parallel, the intensity information of the corresponding detection data is represented by the number of single-photon avalanche diodes triggered at the same time; therefore, the corresponding detection data accumulated i times is obtained The second signal is a time-photon number histogram, in which the horizontal axis of the histogram represents time and the vertical axis represents the sum of the number of triggers at the same time information in i measurements, which can reflect the light intensity.

It should be noted that in the second collection, the at least one light-emitting unit 111i emits the second detection light, so the corresponding receiving unit 131i receives the corresponding second echo light to obtain the corresponding second signal. . When there are multiple light-emitting units 111i that emit second detection light, the multiple light-emitting units 111i emit the second detection light in parallel, and the corresponding receiving unit 131i receives the multiple second echo lights in parallel.

Continuing to refer to Figure 6, step S110 is executed. After the first acquisition, step S120 is executed. Before the first acquisition, the detection method further includes: executing step S130 to obtain the second power configuration based on a plurality of the first signals. .

With reference to FIG. 8 , a schematic flowchart of the step of obtaining the second power configuration based on a plurality of the first signals in the detection method shown in FIG. 6 is shown.

As shown in Figure 8, executing step S130 to obtain the second power configuration based on a plurality of the first signals includes: first, executing step S131 to determine whether to transmit the first signal based on the first signals. The light-emitting unit corresponding to the first detection light is the first light-emitting unit or the second light-emitting unit.

Wherein, the first light-emitting unit refers to a light-emitting unit whose first detection light is reflected by a non-high reflectivity obstacle, that is, the reflection position of the first detection light emitted by the first light-emitting unit is reflected. The reflectivity is relatively low. The second light-emitting unit refers to a light-emitting unit in which the first detection light emitted is reflected by a high reflectivity obstacle, that is, the reflectivity of the reflection position of the first detection light emitted by the second light-emitting unit is reflected. higher. Specifically, high-reflectivity obstacles are angular reflective objects with a reflectivity close to 100%, such as signs on the road.

Specifically, step S131 is performed. Based on the first signal, the step of determining whether the light-emitting unit that emits the first detection light corresponding to the first signal is the first light-emitting unit or the second light-emitting unit includes: comparing the first signal The relative size of the intensity to the preset threshold; when the intensity of the first signal is less than or equal to the preset threshold, it is determined that the light-emitting unit that emits the first detection light corresponding to the first signal is the first light-emitting unit. Unit; when the intensity of the first signal is greater than the preset threshold, determine that the light-emitting unit that emits the first detection light corresponding to the first signal is the second light-emitting unit.

Because when the detection light irradiates the reflection position with high reflectivity, since the reflectivity of the reflection position is higher, the corresponding echo light intensity formed is greater. Therefore, by comparing the intensity of the first signal with the preset threshold The relative size of the first echo light can be judged to obtain the light intensity of the first echo light received by the first signal, judge whether the reflection position where the first echo light is formed by the reflection is a reflection position with high reflectivity, and then emit the The light-emitting unit corresponding to the first detection light is the first light-emitting unit or the second light-emitting unit.

In some embodiments of the present invention, since the first signal light includes: the distribution of time information of i detections and the intensity distribution corresponding to the time information, that is to say, the first signal is the signal intensity over time. Changing relationships. Therefore, the intensity of the first signal refers to the peak value of the signal intensity.

As shown in Figure 8, when it is determined that the light-emitting unit that emits the first detection light corresponding to the first signal is the first light-emitting unit, step S132 is executed. During the second collection process, the power of the first emission unit is The standard power is to set the power of the light-emitting unit that emits the first detection light corresponding to the first signal in the second power configuration to the standard power.

It is determined that the light-emitting unit that emits the first detection light corresponding to the first signal is the first light-emitting unit, that is, the reflectivity of the reflection position forming the first signal light is low. Therefore, the power of the corresponding light-emitting unit in the second power configuration is set to the standard power.

It should be noted that the standard power refers to the luminous power determined based on the distance measurement capability of the lidar. Therefore, the size of the standard power is related to the technical requirements of the distance measurement capability of the lidar.

As shown in Figure 8, in some embodiments of the present invention, the second power configuration further includes: adjusting power, the adjusted power is less than the power of each light-emitting unit when the first detection light is emitted; judging When the light-emitting unit that emits the first detection light corresponding to the first signal is a second light-emitting unit, step S133 is performed. During the second acquisition process, the power of the second emission unit is the adjusted power, that is, the In the second power configuration, the power of the light-emitting unit that emits the first detection light corresponding to the first signal is set to the adjusted power.

It is determined that the light-emitting unit that emits the first detection light corresponding to the first signal is the second light-emitting unit, that is, the reflectivity of the reflection position forming the first signal light is higher. Therefore, the power of the corresponding light-emitting unit in the second power configuration is set to the adjusted power.

The standard power is greater than the power of the corresponding light-emitting unit when the first detection light is emitted, and the adjusted power is smaller than the power of each light-emitting unit when the first detection light is emitted, that is to say , the adjusted power is smaller than the standard power. In the second collection, the light-emitting unit corresponding to the high reflectivity reflection position is made to emit detection light with lower power, which can effectively reduce the light intensity of the echo light formed by the high reflectivity reflection position in the second collection. , which can effectively improve the optical crosstalk problem between receiving pixels.

In some embodiments of the present invention, the adjusted power is equal to 0, that is, in step S120, during the second collection process, the second light-emitting unit does not emit light, that is, in step S120, during the second collection process, the second light-emitting unit is turned off. Two light-emitting units. In other embodiments of the present invention, the adjusted power is greater than 0, that is, step S120, during the second collection process, the power of the second light-emitting unit emitting the second detection light is reduced, that is, step S120, the second collection process. During the process, the second light-emitting unit emits light, but the luminous power is smaller than the luminous power in step S110, the first collection process.

Continuing to refer to Figure 6, the detection method further includes: step S120. After the second acquisition, step S140 is performed to obtain the reflection position corresponding to each light-emitting unit based on at least one of the first signal and the second signal. distance information.

It should be noted that in some embodiments of the present invention, the flight time is obtained based on the principle of flight time. Therefore, based on at least one of the first signal and the second signal, the flight time corresponding to each receiving unit and further the distance information of the reflection position corresponding to each light-emitting unit are obtained.

It should also be noted that in some embodiments of the present invention, the detection method further includes: obtaining the reflectance of the reflection position corresponding to each light-emitting unit based on at least one of the first signal and the second signal.

In some embodiments of the present invention, when it is determined that the light-emitting unit that emits the first detection light corresponding to the first signal is the first light-emitting unit, step S140 is performed, based on at least one of the first signal and the second signal, The step of obtaining the distance information of the reflection position corresponding to each light-emitting unit includes: obtaining the distance information of the reflection position corresponding to the first emission unit based on the first signal and the second signal.

Specifically, based on the first signal and the second signal, the step of obtaining the distance information of the reflection position corresponding to the first transmitting unit includes accumulating the first signal and the second signal to obtain Distance information of the reflection position corresponding to the first transmitting unit. The first signal is obtained by accumulating multiple detection data corresponding to the first echo light, and the second signal is obtained by accumulating multiple detection data corresponding to the second echo light. Therefore, the more accumulated measurement times, the more effective it is. Improve measurement probability and measurement accuracy; therefore, accumulating the first signal and the second signal can effectively improve the accuracy of the obtained distance information.

When the receiving unit 131i includes multiple single-photon avalanche diodes connected in parallel, the first signal is a histogram superimposed on the detection data of i measurements, and the second signal is a histogram superimposed on the detection data of j measurements; Therefore, the step of accumulating the first signal and the second signal includes: based on the first signal and the second signal, obtaining a cumulative and superimposed histogram of (i+j) measured detection data, and then obtaining the first Distance information of the reflection position corresponding to a transmitting unit.

It should be noted that the method of obtaining the distance information of the reflection position corresponding to the first transmitting unit based on the first signal and the second signal is only an example. In other embodiments of the present invention, it can also be based on One of the first signal and the second signal is used to obtain the distance information of the reflection position corresponding to the first transmitting unit.

In some embodiments of the present invention, when it is determined that the light-emitting unit that emits the first detection light corresponding to the first signal is the second light-emitting unit, and the adjusted power is equal to 0, step S140 is performed. Based on the first signal and the The step of obtaining the distance information of the reflection position corresponding to each light-emitting unit further includes: based on the first signal, obtaining the distance information of the reflection position corresponding to the second emission unit based on at least one of the second signals.

Due to the execution of step S120, during the second collection process, the adjusted power is equal to 0, that is, step S120, during the second collection process, the second light-emitting unit does not emit light. Therefore, only step S110 is executed. During the first acquisition process, the reflection position corresponding to the second light-emitting unit is detected. Step S120 is executed. During the second acquisition process, the reflection position corresponding to the second light-emitting unit is detected. The position has not been detected, so the second signal does not include information about the reflection position corresponding to the second light-emitting unit. Only the first signal includes the reflection corresponding to the second light-emitting unit. Location information.

As shown in Figure 9, after the first collection, the light-emitting unit 118 is determined to be the second light-emitting unit, that is, during the second collection process, the power of the light-emitting unit 118 is set to 0; therefore, it corresponds to the detection angle θ _n In a row of k×M receiving units 131i, the k receiving units corresponding to the light-emitting unit 118 did not receive the second echo light (as shown in the middle circle 118a in Figure 9). During the second collection process , the reflection position corresponding to the light-emitting unit 118 is not detected; therefore, the information about the reflection position corresponding to the light-emitting unit 118 is obtained only based on the first signal (shown as circle 118b in FIG. 9 ).

It can be seen that although the reflection position corresponding to the second light-emitting unit is not detected during the second collection process, the reflection position corresponding to the second light-emitting unit can be obtained based on the first signal obtained in the first collection process. Information. On the one hand, during the second scanning process with greater power, the reflection position corresponding to the second light-emitting unit is not detected, which can effectively avoid the optical crosstalk problem caused by excessively strong echo light; on the other hand, based on the first acquisition, The first signal can still obtain the information of the reflection position corresponding to the second light-emitting unit, so the resolution will not be affected.

In other embodiments of the present invention, when it is determined that the light-emitting unit that emits the first detection light corresponding to the first signal is the second light-emitting unit, and the adjusted power is greater than 0, step S140 is executed. Based on the first signal and In at least one of the second signals, the step of obtaining the distance information of the reflection position corresponding to each light-emitting unit further includes: based on the first signal and the second signal, obtaining the distance information corresponding to the second emission unit. Distance information of the reflection location.

Since step S120 is executed, during the second collection process, the adjusted power is greater than 0, that is, step S120. During the second collection process, the second light-emitting unit emits light, but the luminous power is less than step S110. During the first collection process, Luminous power. Therefore, the reflection position corresponding to the second light-emitting unit is detected during the execution of step S110, the first acquisition process and the execution of step S120, the second acquisition process, so the first signal and the second signal are both including information on the reflection position corresponding to the second light-emitting unit; and combining the first signal and the second signal to obtain distance information on the reflection position corresponding to the second emission unit, which can increase the number of cumulative measurements , which is conducive to improving detection probability and detection accuracy.

It should be noted that in some embodiments of the present invention, the laser radar transmitting module 110 includes a linear array light source 111, and the laser radar detection module 130 includes the area array detector; the laser radar scans The device 120 is configured so that the echo light formed by the detection light generated by the linear array light source 111 is sequentially received by a plurality of receiving units arranged in the second direction of the area array detector. Therefore, step S120 is executed. After the second acquisition, the detection method further includes: executing step S101 again to determine the detection angle. Specifically, at time t _n+1 , the rotating mirror rotates to the detection angle θ _n+1 to enter the first acquisition and the second acquisition at the next detection angle until the entire field of view is scanned. After completing the scanning of the entire field of view, a point cloud is generated based on the distance information at different detection angles and different reflection positions.

Each light-emitting unit of the linear array light source is an independently addressed and independently controlled light-emitting unit, so that the luminous power of each light-emitting unit can be controlled separately in the second collection, and the reflection at the reflection position of the first signal light is formed When the rate is high, the luminous power of the corresponding light-emitting unit in the second collection is reduced, thereby effectively suppressing crosstalk between receiving pixels caused by highly reflective objects.

Correspondingly, the present invention also provides a laser radar, including: the transceiver device of the present invention.

The transceiver device is the transceiver device of the present invention. Therefore, for the specific technical solution of the transceiver device, refer to the foregoing embodiment of the transceiver device, and the present invention will not be described in detail here.

In addition, in some embodiments of the present invention, the lidar further includes: a detection device, and the detection device is suitable for implementing the detection method of the present invention.

For the specific technical solution of the detection method implemented by the detection device, please refer to the embodiments of the detection method mentioned above, which will not be described in detail here.

To sum up, according to the technical solution of the present invention, multiple light-emitting units of the linear array light source generate multiple detection lights successively; the scanning device causes the multiple detection lights to emit in sequence in different directions in the three-dimensional space; the multiple echo lights formed A plurality of receiving units are successively arranged in the second direction of the area array detector. Therefore, the combination of the linear array light source and the scanning device allows the linear array light source to correspond to the area array detector. Under the same angular resolution, lasers can be saved and the cost of the transmitter device can be reduced.

Furthermore, the receiving unit includes: a plurality of receiving pixels arranged along the first direction of the area array detector. One light-emitting unit corresponds to multiple receiving pixels, which can further save the number of lasers and reduce the cost of the transmitter device.

Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be subject to the scope defined by the claims.

Claims (14)

1. A laser radar transceiver device, characterized by including:

   A transmitting module, the transmitting module includes: a linear array light source, the linear array light source includes: a plurality of light-emitting units arranged along the first direction, each light-emitting unit is suitable for emitting detection light;

   A scanning device, the scanning device is adapted to reflect the detection light into a three-dimensional space;

   The detection light is reflected by obstacles to form echo light;

   A detection module, the detection module includes: an area array detector, the area array detector includes: a plurality of receiving units arranged in an array along the first direction and the second direction;

   The scanning device rotates around at least one rotation axis, so that a plurality of receiving units arranged along the second direction of the area array detector receive the echoed light in sequence.
2. The transceiver device of claim 1, wherein each of the light-emitting units is an independently addressable and independently controlled light-emitting unit.
3. The transceiver device according to claim 2, wherein the light-emitting unit is a single-grain laser; or the plurality of light-emitting units are integrated on the same chip.
4. The transceiver device according to claim 1, wherein the receiving unit includes:

   A plurality of receiving pixels arranged along a first direction of the area array detector.
5. The transceiver device of claim 4, wherein the cross-sectional area of the detection light beam generated by each light-emitting unit is greater along the first direction of the linear array light source than along the second direction of the linear array light source.
6. The transceiver device according to claim 5, wherein the receiving unit includes:

   k receiving pixels, k is an integer greater than 1;

   The ratio of the cross-sectional area of the detection light beam generated by each light-emitting unit and the size along the first direction of the linear array light source to the size along the second direction of the linear array light source is k:1.
7. The transceiver device according to any one of claims 4 to 6, wherein the size of the light-emitting area of each light-emitting unit along the first direction of the linear array light source is larger than the size along the second direction of the linear array light source. The dimension of the direction, wherein the second direction of the linear array light source is perpendicular to the first direction of the linear array light source.
8. The transceiver device of claim 7, wherein the ratio of the size of the light-emitting area of each light-emitting unit along the first direction of the linear array light source to the size of the light-emitting area along the second direction of the linear array light source is k. :1.
9. The transceiver device according to any one of claims 4 to 6, further comprising:

   Emitting optical component, the emitting optical component is located on the optical path of the detection light, the emitting optical component includes: at least one beam expansion element;

   The divergence angle of the detection light transmitted through the emission optical component along the first direction of the linear array light source is greater than the divergence angle along the second direction of the linear array light source.
10. The transceiver device of claim 9, wherein the detection light transmitted through the emitting optical component has a divergence angle along the first direction of the linear array light source and a divergence angle along the second direction of the linear array light source. The ratio of divergence angles is k:1.
11. The transceiver device according to claim 9, wherein the size of the light-emitting area of each light-emitting unit along the first direction of the linear array light source is equal to the size along the second direction of the linear array light source.
12. The transceiver device according to claim 4, wherein the number of receiving pixels in the plurality of receiving units is equal.
13. The transceiver device according to claim 1, wherein the scanning unit includes:

    A rotating mirror, the rotating axis of the rotating mirror is parallel to the first direction of the linear array light source.
14. A lidar, characterized by including:

    A transceiver device, the transceiver device being the transceiver device according to any one of claims 1 to 13.

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