WO2023197532A1 - Dispositif émetteur-récepteur de radar laser et radar laser - Google Patents

Dispositif émetteur-récepteur de radar laser et radar laser Download PDF

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Publication number
WO2023197532A1
WO2023197532A1 PCT/CN2022/120778 CN2022120778W WO2023197532A1 WO 2023197532 A1 WO2023197532 A1 WO 2023197532A1 CN 2022120778 W CN2022120778 W CN 2022120778W WO 2023197532 A1 WO2023197532 A1 WO 2023197532A1
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Prior art keywords
light
detection
linear array
light source
emitting
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PCT/CN2022/120778
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English (en)
Chinese (zh)
Inventor
程为军
刘豪
田津铭
刘旭岗
陶俊
朱雪洲
向少卿
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上海禾赛科技有限公司
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Publication of WO2023197532A1 publication Critical patent/WO2023197532A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection

Definitions

  • the invention relates to laser detection, and in particular to a laser radar transceiver device and a laser radar.
  • 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.
  • 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.
  • 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.
  • the present invention provides a laser radar transceiver device, which includes:
  • a 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 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.
  • each of the light-emitting units is an independently addressable and independently controlled light-emitting unit.
  • the light-emitting unit is a single-grain laser; or the multiple light-emitting units are integrated on the same chip.
  • the receiving unit includes: a plurality of receiving pixels arranged along the first direction of the area array detector.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the number of receiving pixels in the multiple receiving units is equal.
  • 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.
  • the present invention also provides a laser radar, including:
  • Transceiver device the transceiver device is the transceiver device of the present invention.
  • 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.
  • 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.
  • 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.
  • 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.
  • Figure 1 is a schematic structural diagram of an embodiment of a laser radar transceiver device of the present invention
  • FIG 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 .
  • multi-beam flash lidar 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.
  • 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.
  • 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.
  • the present invention provides a laser radar transceiver device, including:
  • a 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.
  • 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.
  • multiple densely arranged lasers can be used , simultaneously emit and shape into a beam of detection light.
  • 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.
  • 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.
  • the field of view of the linear array light source 111 corresponds to that of the area array detector 131.
  • lasers can be saved and the cost of the transmitter device can be reduced.
  • 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.
  • the first direction of the linear array light source 111 is a direction perpendicular to the horizontal plane.
  • the linear array light source 111 includes M light-emitting units 111i.
  • 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.
  • 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.
  • the light-emitting unit 111i is a single-grain laser, that is, each light-emitting unit is an independent laser chip.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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
  • the plane The second direction X of the array detector 131 is parallel to the horizontal plane.
  • 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.
  • the multiple receiving units 131i arranged along the second direction of the area array detector 131 receive the echoed light in sequence.
  • 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.
  • the scanning device 120 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.
  • the receiving unit 131i includes a receiving pixel 131p.
  • 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.
  • various receiving unit compositions can also be used in the same embodiment.
  • 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.
  • 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.
  • the receiving pixel 131p includes: a Single Photon Avalanche Diode (SPAD).
  • the receiving pixel 131p includes a plurality of single-photon avalanche diodes connected in parallel.
  • 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.
  • the first direction Y of the linear light source 111 is a direction perpendicular to the horizontal plane
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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 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 .
  • 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 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.
  • 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.
  • 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.
  • each receiving unit 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 ⁇ (H) ⁇ (V) .
  • the horizontal field of view ⁇ (H) and the vertical field of view ⁇ (V) of each receiving unit 131i determine the maximum horizontal resolution and vertical resolution of the lidar.
  • 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 ⁇ (H) ⁇ k ⁇ M ⁇ (V). Therefore, the use of the large area array detector 131 can obtain a large field of view.
  • 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.
  • the minimum resolution of the signal obtained by the lidar is determined by the size of 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.
  • 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.
  • 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 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.
  • this setting method is only an example. In other embodiments of the present invention, it can also be implemented through uniform light design.
  • 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.
  • 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.
  • 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.
  • 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.
  • the beam expansion element 222 may be configured as a cylindrical lens.
  • 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.
  • Flash LiDAR in the existing technology requires multiple receiving pixels at the receiving end to work in parallel.
  • the signs 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.
  • flash lidar works makes the problem of optical crosstalk between pixels working at the same time become serious.
  • 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.
  • the present invention also provides a lidar detection method.
  • FIG. 6 a schematic flow chart of an embodiment of the lidar detection method of the present invention is shown.
  • the detection method includes: step S110, the first collection, and step S120, the second collection, performed successively.
  • 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
  • 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.
  • the laser radar transceiver device used in the detection method is the transceiver device of the present invention.
  • 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.
  • 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.
  • 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 ⁇ n .
  • 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.
  • the first collection includes multiple measurements.
  • 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.
  • 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.
  • 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.
  • 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.
  • a row of k ⁇ M receiving units 131i corresponding to the detection angle ⁇ n in the area array detector 131 receives all the first echo lights in parallel.
  • 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).
  • SPAD Single Photon Avalanche Diode
  • 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.
  • 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.
  • 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
  • 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.
  • the time intervals of the time windows for each measurement are the same.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second collection includes multiple measurements.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 ⁇ n , at least k receiving units 131i corresponding to the at least one light-emitting unit 111i receive All of the second echo light.
  • the receiving unit 131i includes a receiving pixel, and the receiving pixel includes a plurality of single-photon avalanche diodes connected in parallel.
  • 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.
  • 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
  • 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.
  • the time intervals of the time windows of each measurement are the same.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • step S110 is executed.
  • step S120 is executed.
  • the detection method further includes: executing step S130 to obtain the second power configuration based on a plurality of the first signals. .
  • 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.
  • 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.
  • 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.
  • high-reflectivity obstacles are angular reflective objects with a reflectivity close to 100%, such as signs on the road.
  • step S131 is performed.
  • 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.
  • 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.
  • the first signal light 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.
  • step S132 is executed.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • step S140 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.
  • 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
  • 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.
  • 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
  • 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.
  • 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.
  • step S140 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.
  • step S120 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.
  • the reflection position corresponding to the second light-emitting unit is detected.
  • Step S120 is executed.
  • 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.
  • 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 ⁇ 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).
  • 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 ).
  • 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.
  • 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.
  • 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.
  • step S120 Since step S120 is executed, during the second collection process, the adjusted power is greater than 0, that is, step S120.
  • the second light-emitting unit emits light, but the luminous power is less than step S110.
  • Luminous power 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.
  • the laser radar transmitting module 110 includes a linear array light source 111
  • 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.
  • 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 ⁇ 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.
  • 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.
  • the lidar further includes: a detection device, and the detection device is suitable for implementing the detection method 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.
  • 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.

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  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un dispositif émetteur-récepteur de radar laser et un radar laser. Le dispositif émetteur-récepteur comprend : un module de transmission (110), comprenant une source de lumière à réseau linéaire (111), qui comprend : plusieurs unités électroluminescentes (111i) agencées dans une première direction, chaque unité électroluminescente (111i) étant adaptée pour émettre une lumière de détection ; un dispositif de balayage (120), adapté pour réfléchir la lumière de détection vers un espace tridimensionnel, la lumière de détection étant réfléchie par un obstacle pour former un écho lumineux ; et un module de détection (130), comprenant un détecteur de zone en réseau (131), qui comprend plusieurs unités de réception (131i) disposées en réseau dans la première direction et dans la seconde direction. Le dispositif de balayage (120) tourne autour d'au moins un arbre rotatif (121), de telle sorte que les unités de réception (131i) agencées dans la seconde direction du détecteur de réseau de zones (131) reçoivent séquentiellement l'écho lumineux. La source de lumière à réseau linéaire et le dispositif de balayage permettent conjointement à la source de lumière à réseau linéaire de correspondre au détecteur à réseau de zones.
PCT/CN2022/120778 2022-04-14 2022-09-23 Dispositif émetteur-récepteur de radar laser et radar laser WO2023197532A1 (fr)

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